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https://github.com/firestar5683/StarPilot.git
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firestarsdog
57 lines
2.8 KiB
Python
57 lines
2.8 KiB
Python
"""Display historical starpilotPlan messages during replay.
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Event @113 is received as customReserved6 using its frozen Cap'n Proto layout.
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Activity is inferred from the restored SLC setting, target and MAX; no session
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or decision IDs are invented, so historical observations cannot enable actions.
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Retirement: remove the marked runtime_snapshot import/call, this module, and
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test_legacy_slc_is_replay_only_display_fallback in tests/test_runtime_snapshot.py.
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Remove the customReserved6 replay subscription in selfdrive/ui/ui_state.py and
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its cereal/services.py registration; regenerate cereal/services.h. Empty the
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CustomReserved6 struct in cereal/custom.capnp, preserving its type ID and the
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reserved Event @113 slot in cereal/log.capnp for wire compatibility.
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"""
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import math
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from openpilot.starpilot.ui.onroad_state import ObservationKind, SpeedLimitObservation
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from openpilot.starpilot.ui.unified_speed_presentation import retaining_limit
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def _speed(value, *, positive=False):
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try:
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value = float(value)
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except (TypeError, ValueError, OverflowError):
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return None
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return value if math.isfinite(value) and (value > 0 if positive else value >= 0) else None
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def speed_limit_fallback(ui, observation, now_ns, *, cruise_kph, car, read_message):
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"""Keep modern observations; adapt only fresh historical replay messages."""
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if (getattr(ui, 'replay_sample', None) is None or not ui.started or
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observation.kind == ObservationKind.VALID or retaining_limit(observation)):
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return observation
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legacy = read_message(ui.sm, 'customReserved6', now_ns, after_frame=ui.started_frame)
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limit = _speed(legacy.slcSpeedLimit, positive=True) if legacy is not None else None
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if limit is None:
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return observation
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offset = _speed(legacy.slcSpeedLimitOffset)
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target = _speed(limit + (offset or 0.0), positive=True)
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try:
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enabled = bool(ui.params.get_bool('SpeedLimitController'))
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except (KeyError, OSError, ValueError):
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enabled = False
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overridden = _speed(legacy.slcOverriddenSpeed, positive=True) is not None
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source = str(legacy.slcSpeedLimitSource).lower()
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return SpeedLimitObservation(
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kind=ObservationKind.VALID, speed_limit_mps=limit, offset_mps=offset,
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# Old-route replay: effective_cap_mps preserves legacy state and can be dropped; the new UI needs presentation_adjusted_limit_mps.
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effective_cap_mps=target, presentation_adjusted_limit_mps=target,
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effective_cluster_target_mps=target if enabled else None,
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action_enabled=enabled,
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limiting_max_set=bool(target is not None and cruise_kph is not None and target < cruise_kph / 3.6),
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driver_override_active=overridden,
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override_basis=('pedal' if car is not None and getattr(car, 'gasPressed', False) else 'persistent') if overridden else 'none',
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source='unknown' if source in ('', 'none') else source, status='legacy_replay',
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)
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