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firestarsdog
43 lines
2.7 KiB
Markdown
43 lines
2.7 KiB
Markdown
# SLC offset and speed coordinates
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`speed_domain.resolve` binds an actual acceptance decision to an explicit offset
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schedule and current raw/cluster speed pairs. Every number is m/s except the
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input to `selected_pair_from_kph`, which converts a selected cluster value from
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km/h. Each valid pair carries the same session ID and monotonic nanosecond
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timestamp as the acceptance decision; a mismatch is invalid. The schedule
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contains explicit half-open bands with signed m/s offsets;
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it supplies no settings defaults or source freshness policy. A missing band or
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unavailable target/pair produces `UNAVAILABLE`; malformed values produce
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`INVALID`. `SpeedPair` contains measured cluster speed, which may be below raw
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speed; resolution clamps each delta to `max(cluster - raw, 0)`. A nonvalid
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resolution with a context is malformed and triggers the override session-reset
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contract. Only a `VALID` context may enter `overrides.step(domain=...)`.
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A finite negative offset that would make the target nonpositive in cluster or
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planner coordinates is ignored for that limit. The unadjusted accepted limit
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is used instead; the result stays within the ordinary cruise-speed bounds.
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Malformed schedules still fail validation.
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Call order is acceptance, domain resolution, override reduction, then
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`to_planner_coordinate(context, contribution_raw_mps, basis)`. The reducer
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compares current selected and retained intent against `accepted raw + offset`
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in cluster coordinates. It keeps retained intent in raw selected-speed units,
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even when the current selected value later changes for an unrelated reason.
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The conversion adds the *current qualified selected cluster delta* to that
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retained raw speed. A current pedal contribution uses the current ego cluster
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delta. The larger of limit plus offset and override is converted to planner
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coordinates by subtracting the ego cluster delta exactly once. A nonpositive
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result gives no coordinate. The coordinate validates the composition; it is not
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a separate live planner ceiling. Runtime commands use the accepted adjusted
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cluster target to update Card's SET speed. See the [controller contract](README.md).
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These helpers are pure; the live composition supplies the qualified inputs.
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They have no Params access, source freshness policy or vehicle output. Current
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SLC overrides come from qualified SET changes. Accelerator use does not create
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an SLC override; ordinary actuator gating owns the temporary pedal override.
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The tests compose actual acceptance and causal override decisions, including
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retained raw intent with a changed current selected value, offset changes,
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negative offsets, missing coordinates, and one native planner/MPC case. These
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are deterministic software contracts, not on-road qualification.
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