mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-09 22:13:43 +08:00
Dom
2878c992b2
Enable compact Card phase capture for qualified Ioniq6 production runs, including unlatched ordinary control. Record publication gaps, source and receive clocks, thread CPU, settings-worker context, and latch-clear reasons. Add bounded SelfdriveD phase, admission, original-proof and Ratekeeper snapshots with off-thread reporting and suppression counters. Preserve control predicates, original deadlines, thresholds and scheduling policy. Validation: 583 combined tests pass on unchanged rerun; an initial host wall-time microbenchmark failure and isolated pass are retained. Exact-source import audits and independent review pass. Host overhead is measured, not a target-device bound. This adds diagnostics, not a producer-lag fix. Update protected source inventory receipt.
362 lines
16 KiB
Python
362 lines
16 KiB
Python
from __future__ import annotations
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from collections import deque
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from dataclasses import dataclass
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from pathlib import Path
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from opendbc.car.structs import car
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from openpilot.cereal import log
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from openpilot.selfdrive.car.cruise import CRUISE_LONG_PRESS
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from openpilot.system.manager.process_health import driving_process_failures
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from openpilot.starpilot.conditional_mode.manual import Button, ButtonTracker, Press
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ButtonType = car.CarState.ButtonEvent.Type
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GearShifter = car.CarState.GearShifter
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AOL_TOGGLE = 9
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PAUSE_LATERAL = 3
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PAUSE_LONGITUDINAL = 4
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@dataclass(frozen=True)
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class AolSettings:
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enabled: bool
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pause_brake_mps: float
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lkas_action: int
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main_action: int
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distance_actions: tuple[int, int, int]
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cancel_actions: tuple[int, int, int]
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mode_actions: tuple[int, int, int] = (0, 0, 0)
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custom_actions: tuple[int, int, int] = (0, 0, 0)
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def _button_action(params, key: str) -> int:
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try:
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value = int(params.get(key, return_default=True) or '0')
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except (TypeError, ValueError):
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return 0
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return value if value in (0, PAUSE_LATERAL, PAUSE_LONGITUDINAL, AOL_TOGGLE) else 0
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def read_settings(params) -> AolSettings:
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# Legacy thresholds are effectively SI despite the mph label; preserve them until replaced.
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# Read raw bytes so malformed overrides cannot silently restore AOL.
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pause_mps = 0.0
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for key in ('AolBrakePauseSpeedMps', 'PauseAOLOnBrake'):
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try:
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pause_mps = float(Path(params.get_param_path(key)).read_bytes())
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except FileNotFoundError:
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continue
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except (OSError, ValueError):
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pause_mps = float('nan')
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break
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valid_pause = 0.0 <= pause_mps <= 100.0
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return AolSettings(
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enabled=params.get_bool('AlwaysOnLateral') and valid_pause, pause_brake_mps=pause_mps if valid_pause else 0.0,
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lkas_action=_button_action(params, 'LKASButtonControl'),
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main_action=_button_action(params, 'MainCruiseButtonControl'),
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distance_actions=(_button_action(params, 'DistanceButtonControl'),
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_button_action(params, 'LongDistanceButtonControl'),
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_button_action(params, 'VeryLongDistanceButtonControl')),
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mode_actions=(_button_action(params, 'ModeButtonControl'), _button_action(params, 'LongModeButtonControl'),
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_button_action(params, 'VeryLongModeButtonControl')),
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custom_actions=(_button_action(params, 'StarButtonControl'), _button_action(params, 'LongStarButtonControl'),
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_button_action(params, 'VeryLongStarButtonControl')),
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cancel_actions=(_button_action(params, 'CancelButtonControl'),
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_button_action(params, 'LongCancelButtonControl'),
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_button_action(params, 'VeryLongCancelButtonControl')),
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)
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def independent_axis_requested(settings: AolSettings, *, include_auxiliary: bool = False) -> bool:
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pause = (PAUSE_LATERAL, PAUSE_LONGITUDINAL)
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actions = (settings.lkas_action, settings.main_action, *settings.distance_actions)
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if include_auxiliary:
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actions += (*settings.cancel_actions, *settings.mode_actions, *settings.custom_actions)
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return settings.enabled or any(action in pause for action in actions)
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PROCESS_FAULT_MAX_AGE_NS = 1_500_000_000
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class AolProcessFaultContext:
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def __init__(self):
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self.history = deque(maxlen=4)
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def observe(self, sm, now_ns: int) -> None:
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stamp = int(sm.logMonoTime.get('managerState', 0))
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if not (getattr(sm, 'seen', {}).get('managerState', False) and
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sm.valid.get('managerState', False) and sm.alive.get('managerState', False) and
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0 < stamp <= now_ns and now_ns - stamp <= PROCESS_FAULT_MAX_AGE_NS):
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self.history.clear()
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return
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processes = sm['managerState'].processes
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ui_requested = any(p.name == 'ui' and p.shouldBeRunning for p in processes)
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if not ui_requested or (self.history and stamp < self.history[-1][0]):
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self.history.clear()
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return
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if not self.history or stamp > self.history[-1][0]:
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self.history.append((stamp, frozenset(driving_process_failures(processes))))
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def temporary_ui_failure(self, event_ns: int, now_ns: int) -> bool:
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if not self.history or not 0 < event_ns <= now_ns:
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return False
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latest_stamp, latest_failures = self.history[-1]
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if not (latest_stamp <= now_ns and now_ns - latest_stamp <= PROCESS_FAULT_MAX_AGE_NS and
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latest_failures <= {'ui'}):
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return False
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# Recovery may arrive before the corresponding onroadEvents update. Use
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# the manager observation that produced this fault, never later UI health.
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for stamp, failures in reversed(self.history):
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if stamp <= event_ns:
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return now_ns - stamp <= PROCESS_FAULT_MAX_AGE_NS and failures == {'ui'}
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return False
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def disarming_fault(events, CS, *, temporary_ui_process_failure: bool = False,
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temporary_selfdrive_lagging: bool = False, temporary_source_pause: bool = False) -> bool:
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"""Temporary steering/known non-driving gears pause output, not driver intent."""
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if CS.steerFaultPermanent:
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return True
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for event in events:
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if event.immediateDisable:
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if event.name == log.OnroadEvent.EventName.controlsMismatch and temporary_source_pause:
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continue
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return True
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if event.softDisable:
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if event.name == log.OnroadEvent.EventName.selfdrivedLagging and temporary_selfdrive_lagging:
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continue
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if event.name == log.OnroadEvent.EventName.processNotRunning and temporary_ui_process_failure:
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continue
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if event.name in (log.OnroadEvent.EventName.steerTempUnavailable, log.OnroadEvent.EventName.seatbeltNotLatched):
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continue
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if event.name == log.OnroadEvent.EventName.wrongGear and CS.gearShifter != GearShifter.unknown:
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continue
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return True
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return False
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class AolCardIntent:
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def __init__(self, settings: AolSettings, *, explicit_latch: bool = False, lkas_button_supported: bool = True):
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self.settings = settings
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self.explicit_latch = explicit_latch
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self.lkas_button_supported = lkas_button_supported
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self.allowed_latch = False
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# Observational only: records the exact branch that changed True to False.
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self.latch_clear_count = 0
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self.latch_clear_reason = ''
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self.pause_lateral = False
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self.pause_longitudinal = False
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self._gesture_neutral_seen = False
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self._distance_neutral_seen = False
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self._main_held = False
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self._lkas_held = False
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self._fault_inhibit = False
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self._last_latch_edge_ns = 0
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self._native_rejection_ns = 0
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self._calibration_inhibit = False
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self._calibration_fault = False
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self._calibration_rearm_required = False
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self._calibration_main = False
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self._calibration_engaged = False
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self._timers = {int(ButtonType.gapAdjustCruise): 0}
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self._held = {int(ButtonType.gapAdjustCruise): False}
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self._aux_cancel_tracker = ButtonTracker()
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self._aux_media_tracker = ButtonTracker()
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@property
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def lkas_action(self) -> int:
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return self.settings.lkas_action if self.lkas_button_supported else 0
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def _record_latch_clear(self, reason: str) -> None:
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if self.allowed_latch:
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self.latch_clear_count += 1
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self.latch_clear_reason = reason
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def _perform(self, action: int) -> None:
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if action == AOL_TOGGLE and self.settings.enabled and not self.explicit_latch:
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self._record_latch_clear('configured_toggle')
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self.allowed_latch = not self.allowed_latch
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if self.allowed_latch:
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self.pause_lateral = False
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elif action == PAUSE_LATERAL:
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self.pause_lateral = not self.pause_lateral
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elif action == PAUSE_LONGITUDINAL:
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self.pause_longitudinal = not self.pause_longitudinal
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def update(self, CS, *, consumed_buttons: frozenset[int] = frozenset(), fault_active: bool | None = None,
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now_ns: int = 0, native_rejection_ns: int = 0, standard_enabled: bool = False) -> None:
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if self.explicit_latch and self._native_rejection_ns < native_rejection_ns <= now_ns:
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self._native_rejection_ns = native_rejection_ns
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if self._last_latch_edge_ns < native_rejection_ns <= now_ns:
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# Native authorization was revoked. Keep neutral/held-button history so
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# the next fresh physical press arms once, without replaying a held one.
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self._record_latch_clear('native_rejection')
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self.allowed_latch = False
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if self.explicit_latch and (fault_active is not None or CS.steerFaultPermanent):
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self._fault_inhibit = bool(fault_active or CS.steerFaultPermanent)
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if self._fault_inhibit:
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self._record_latch_clear('disarming_fault')
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self.allowed_latch = False
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self._gesture_neutral_seen = False
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if not CS.canValid or CS.canTimeout:
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self._record_latch_clear('can_invalid_or_timeout')
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self.allowed_latch = False
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self._gesture_neutral_seen = False
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self._distance_neutral_seen = False
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self._main_held = False
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self._lkas_held = False
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for button in self._held:
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self._held[button] = False
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self._timers[button] = 0
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return
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if not self.settings.enabled:
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self._record_latch_clear('settings_disabled')
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self.allowed_latch = False
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if self.explicit_latch:
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self._gesture_neutral_seen = False
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if not independent_axis_requested(self.settings, include_auxiliary=self.auxiliary_supported()):
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self.pause_lateral = False
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self.pause_longitudinal = False
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lkas_managed = self.lkas_action == AOL_TOGGLE
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main_managed = self.settings.main_action == AOL_TOGGLE
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if self.explicit_latch and CS.accFaulted:
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self._record_latch_clear('acc_fault')
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self.allowed_latch = False
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self._gesture_neutral_seen = False
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elif self.settings.enabled and not self.explicit_latch and not lkas_managed and not main_managed:
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if not CS.cruiseState.available:
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self._record_latch_clear('cruise_unavailable')
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self.allowed_latch = bool(CS.cruiseState.available)
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elif not self.explicit_latch and not CS.cruiseState.available:
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self._record_latch_clear('cruise_unavailable')
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self.allowed_latch = False
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for button in consumed_buttons:
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if button in self._held:
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self._held[button] = False
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self._timers[button] = 0
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distance_events = [event for event in CS.buttonEvents if event.type in (ButtonType.gapAdjustCruise, ButtonType.lkas)]
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if not self._distance_neutral_seen:
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self._distance_neutral_seen = not any(event.pressed for event in distance_events)
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if self.explicit_latch:
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previously_held = self._main_held or self._lkas_held
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cancel_pressed = False
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for event in CS.buttonEvents:
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button = int(event.type.raw)
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if button == int(ButtonType.mainCruise):
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self._main_held = bool(event.pressed)
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elif button == int(ButtonType.lkas):
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self._lkas_held = bool(event.pressed)
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elif button == int(ButtonType.cancel) and event.pressed:
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cancel_pressed = True
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gesture_held = self._main_held or self._lkas_held
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if not previously_held and gesture_held:
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self._last_latch_edge_ns = now_ns
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if cancel_pressed:
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self._record_latch_clear('cancel_press')
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self.allowed_latch = False
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elif not self._gesture_neutral_seen:
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self._gesture_neutral_seen = not gesture_held
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elif not previously_held and gesture_held and self.settings.enabled and not CS.accFaulted and not self._fault_inhibit:
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# The physical gesture owns lateral intent even while ordinary cruise
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# is engaged. Dropping only the AOL latch leaves standard steering on.
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lateral_engaged = not self.pause_lateral and (self.allowed_latch or standard_enabled)
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if lateral_engaged:
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self._record_latch_clear('physical_toggle')
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self.allowed_latch = not lateral_engaged
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self.pause_lateral = lateral_engaged
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for event in CS.buttonEvents:
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button = int(event.type.raw)
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if button in consumed_buttons:
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continue
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if self.explicit_latch and button in (int(ButtonType.cancel), int(ButtonType.lkas), int(ButtonType.mainCruise)):
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continue
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if button == int(ButtonType.gapAdjustCruise) and not self._distance_neutral_seen:
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continue
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if button == int(ButtonType.lkas) and event.pressed:
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self._perform(self.lkas_action)
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elif button == int(ButtonType.mainCruise) and event.pressed:
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self._perform(self.settings.main_action)
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elif button in self._held:
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if event.pressed:
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self._held[button] = True
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self._timers[button] = 0
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else:
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ticks = self._timers[button]
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actions = self.settings.distance_actions if button == int(ButtonType.gapAdjustCruise) else self.settings.cancel_actions
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if 0 < ticks < CRUISE_LONG_PRESS:
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self._perform(actions[0])
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self._held[button] = False
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self._timers[button] = 0
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for button, held in self._held.items():
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if held:
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self._timers[button] += 1
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actions = self.settings.distance_actions if button == int(ButtonType.gapAdjustCruise) else self.settings.cancel_actions
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if self._timers[button] == CRUISE_LONG_PRESS:
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self._perform(actions[1])
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elif self._timers[button] == CRUISE_LONG_PRESS * 5:
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self._perform(actions[2])
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def observe_calibration(self, CS, *, events=None, standard_enabled: bool = False) -> None:
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if self.explicit_latch:
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return
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if events is not None:
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self._calibration_fault = disarming_fault(events, CS)
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self._calibration_inhibit = any(event.name in (
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log.OnroadEvent.EventName.calibrationInvalid,
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log.OnroadEvent.EventName.calibrationIncomplete,
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log.OnroadEvent.EventName.calibrationRecalibrating) for event in events)
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main = bool(CS.cruiseState.available)
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engaged = bool(CS.cruiseState.enabled or standard_enabled)
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main_derived = not self.explicit_latch and self.lkas_action != AOL_TOGGLE and self.settings.main_action != AOL_TOGGLE
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if not main_derived:
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self._calibration_rearm_required = False
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fresh_edge = ((main and not self._calibration_main) or (engaged and not self._calibration_engaged))
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rearm_safe = (CS.canValid and not CS.canTimeout and not self._calibration_fault and
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not CS.steerFaultPermanent and not CS.steerFaultTemporary and
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CS.gearShifter not in (GearShifter.park, GearShifter.neutral, GearShifter.reverse, GearShifter.unknown))
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if self._calibration_inhibit and main_derived:
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self._calibration_rearm_required = True
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elif self._calibration_rearm_required and fresh_edge and rearm_safe and self.settings.enabled:
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self._calibration_rearm_required = False
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if self._calibration_inhibit or self._calibration_rearm_required:
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self._record_latch_clear('calibration_inhibit')
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self.allowed_latch = False
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self._calibration_main = main
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self._calibration_engaged = engaged
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def auxiliary_supported(self) -> bool:
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return not self.explicit_latch
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def update_auxiliary(self, CS, *, media=None, media_eligible: bool = False, fault_active: bool | None = None) -> None:
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if (not self.auxiliary_supported() or not CS.canValid or CS.canTimeout or CS.steerFaultPermanent or
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fault_active is True or getattr(self, "_main_cycle_required", False)):
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self._aux_cancel_tracker = ButtonTracker()
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self._aux_media_tracker = ButtonTracker()
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return
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cancel = car.CarState(canValid=CS.canValid, canTimeout=CS.canTimeout, buttonEvents=[
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car.CarState.ButtonEvent(type=ButtonType.gapAdjustCruise, pressed=event.pressed)
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for event in CS.buttonEvents if event.type == ButtonType.cancel])
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for gesture in self._aux_cancel_tracker.observe(cancel.as_reader()):
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slot = (Press.SHORT, Press.LONG, Press.VERY_LONG).index(gesture.press)
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self._perform(self.settings.cancel_actions[slot])
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if not media_eligible:
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self._aux_media_tracker.invalidate_media()
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return
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for gesture in self._aux_media_tracker.observe(CS, media):
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if gesture.button not in (Button.MODE, Button.CUSTOM):
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continue
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slot = (Press.SHORT, Press.LONG, Press.VERY_LONG).index(gesture.press)
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actions = self.settings.mode_actions if gesture.button is Button.MODE else self.settings.custom_actions
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self._perform(actions[slot])
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def output(self, CS) -> tuple[bool, bool, bool]:
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driving = CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
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return (self.allowed_latch and self.settings.enabled and CS.canValid and driving,
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self.pause_lateral, self.pause_longitudinal)
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