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firestar5683
58427d61d9
Select qualified speed-limit sources, preserve acceptance and override decisions, and publish distinct control and display coordinates. Carry accepted and pending source identity with each displayed decision. Co-authored-by: firestarsdog <229254897+firestarsdog@users.noreply.github.com>
59 lines
3.3 KiB
Python
59 lines
3.3 KiB
Python
"""Versioned accepted-limit persistence with explicit identity applicability."""
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import json
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import math
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from openpilot.cereal import custom
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from openpilot.starpilot.schema_cache import schema_fingerprint
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from openpilot.starpilot.speed_limits import acceptance as acc
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FORMAT = "starpilot-slc-accepted"
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VERSION = 1
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def encode(accepted: acc.AcceptedLimit, saved_wall_ns: int) -> str:
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if not isinstance(accepted, acc.AcceptedLimit) or type(saved_wall_ns) is not int or saved_wall_ns <= 0:
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raise ValueError("invalid accepted history")
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candidate = accepted.candidate
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identity = candidate.observation_identity
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if not acc.observation_is_valid(acc.Observation(acc.ObservationKind.VALID, candidate), session_id=accepted.session_id):
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raise ValueError("invalid accepted candidate")
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return json.dumps({"format": FORMAT, "version": VERSION, "source_schema": schema_fingerprint(custom.SlcDashboardObservation.schema),
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"saved_wall_ns": saved_wall_ns, "source": candidate.source, "speed_mps": candidate.speed_mps,
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"identity_kind": identity.kind.value, "identity_value": identity.value,
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"origin_session": accepted.session_id}, sort_keys=True, separators=(",", ":"))
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def decode(raw: str | bytes | dict | None, *, session_id: str, current: acc.Observation,
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now_wall_ns: int, max_age_ns: int) -> acc.AcceptedLimit | None:
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"""Only durable geographic identity can be carried into a new drive.
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The caller sets an applicability age from its source contract. Dashboard TSR
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producer episodes are drive-local and cannot be restored across a new session.
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"""
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if raw is None or type(session_id) is not str or not session_id or type(now_wall_ns) is not int or type(max_age_ns) is not int:
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return None
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if max_age_ns < 0 or now_wall_ns <= 0:
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return None
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try:
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value = raw if isinstance(raw, dict) else json.loads(raw)
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if (type(value) is not dict or set(value) != {"format", "version", "source_schema", "saved_wall_ns", "source",
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"speed_mps", "identity_kind", "identity_value", "origin_session"} or
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value["format"] != FORMAT or type(value["version"]) is not int or value["version"] != VERSION or
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value["source_schema"] != schema_fingerprint(custom.SlcDashboardObservation.schema) or
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type(value["saved_wall_ns"]) is not int or value["saved_wall_ns"] > now_wall_ns or
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now_wall_ns - value["saved_wall_ns"] > max_age_ns or
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value["identity_kind"] != acc.IdentityKind.GEOGRAPHIC.value or
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not isinstance(value["identity_value"], str) or not value["identity_value"] or
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not isinstance(value["origin_session"], str) or not value["origin_session"] or
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type(value["speed_mps"]) not in (int, float) or not math.isfinite(value["speed_mps"])):
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return None
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candidate = acc.Candidate(value["source"], acc.ObservationIdentity(acc.IdentityKind.GEOGRAPHIC, value["identity_value"]),
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float(value["speed_mps"]))
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if (not acc.observation_is_valid(acc.Observation(acc.ObservationKind.VALID, candidate), session_id=session_id) or
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current != acc.Observation(acc.ObservationKind.VALID, candidate)):
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return None
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return acc.AcceptedLimit(candidate, session_id, 0)
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except (TypeError, ValueError, OverflowError):
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return None
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