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https://github.com/firestar5683/StarPilot.git
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firestarsdog
47 lines
2.4 KiB
Python
47 lines
2.4 KiB
Python
"""Current-road Maps projection; source ordering/freshness stays in MapTracker."""
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import hashlib
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import json
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from openpilot.starpilot.speed_limits import acceptance as acc
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from openpilot.starpilot.speed_limits import map_source as ms
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def copy_frame(road, *, event_valid: bool, event_boot_ns: int) -> ms.MapFrame:
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"""Copy a current mapdOut reader without retaining a mutable cereal view."""
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try:
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return ms.MapFrame(event_valid, event_boot_ns, int(road.sampleVersion), str(road.roadStatus),
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str(road.gpsSource), int(road.gpsMonoTime), int(road.computedMonoTime),
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int(road.sourceGeneration), int(road.producerSession), float(road.speedLimit),
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bool(road.tileLoaded), int(road.wayId), str(road.waySelectionType))
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except Exception as error: # pycapnp lazy reads may raise KjException, not ValueError
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raise ValueError('invalid mapdOut reader') from error
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class MapSource:
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"""Plannerd's map observation owner; never grants longitudinal authority."""
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def __init__(self):
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self.tracker = ms.MapTracker()
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def reset(self):
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self.tracker.reset()
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def step(self, frame: ms.MapFrame | None, *, received: bool, now_boot_ns: int,
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transport_alive: bool, drive_session: str, car_fingerprint: str) -> acc.Observation:
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evidence = self.tracker.step(frame, received=received, now_boot_ns=now_boot_ns,
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transport_alive=transport_alive)
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if evidence.observation.kind is acc.ObservationKind.STALE:
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return evidence.observation
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accepted = self.tracker.diagnostic(now_boot_ns=now_boot_ns).frame
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if (evidence.kind != 'matched_limit_unqualified' or accepted is None or
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accepted.way_selection != 'current' or
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any(type(value) is not str or not 0 < len(value) <= 256 or not value.strip() or
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any(ord(c) < 32 for c in value) for value in (drive_session, car_fingerprint))):
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# Missing speed metadata, coverage/GPS loss and ambiguous/lookahead ways
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# are incomplete evidence, not a new limit or regulatory absence.
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return acc.Observation(acc.ObservationKind.UNKNOWN)
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identity = hashlib.sha256(json.dumps((drive_session, car_fingerprint, accepted.producer_session,
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accepted.generation, accepted.source, accepted.way_id), separators=(',', ':')).encode()).hexdigest()
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return acc.Observation(acc.ObservationKind.VALID, acc.Candidate('map',
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acc.ObservationIdentity(acc.IdentityKind.GEOGRAPHIC, value=identity), accepted.speed_mps))
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