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Dom
091f640ac3
Use the existing settings worker for proactive conditional-mode source verification. Adopt one immutable snapshot per Card frame, with verified age strictly below 500 ms. Busy, invalid, or stale snapshots defer conditional proposals without disengaging ordinary control or AOL. Preserve fresh per-request SafeMode and gesture mapping checks. Replay retains its source-clock synchronous owner. Polling phase changes; no blanket one-second cached permission is added. Validation: 353 aggregate tests, independent boundary and actual-control continuity checks, exact source imports and inventory receipt verification. Measured conditional source reads on main drop from 36 to zero over a three-second initialized fixture; worker reads increase proactively. This removes a blocking path, not a demonstrated cure for all road stalls.
77 lines
3.2 KiB
Python
77 lines
3.2 KiB
Python
"""Worker-verified settings with one read-only, frame-local Card view.
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The live settings worker reads proactively on its existing ~100 ms cadence.
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Only conditional/Switchback proposals depend on this view: stale, busy or failed
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reads deny those proposals without changing ordinary control or AOL authority.
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Replay continues to use the synchronous source-clock owner.
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"""
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from dataclasses import dataclass
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from typing import Any
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from openpilot.starpilot.conditional_mode.runtime_settings import (
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REVERIFY_NS, ConditionalSettingsOwner, SettingsSnapshot,
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)
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@dataclass(frozen=True)
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class CardSettingsObservation:
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snapshot: SettingsSnapshot | None
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status: str
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read_started_ns: int
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class CardSettingsView(ConditionalSettingsOwner):
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"""Main-thread-only view. refresh/affirm never touch the filesystem."""
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def __init__(self, owner_token: str):
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super().__init__(None)
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self.owner_token = owner_token
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self.unavailable = self._unavailable(0)
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def adopt(self, observation: CardSettingsObservation) -> None:
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# Latch the whole immutable source once per frame. The worker never writes
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# this view; all consumers within that frame see the same revision.
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snapshot = observation.snapshot
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self.current = (snapshot if observation.status == 'verified' and
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type(snapshot) is SettingsSnapshot and snapshot.owner_token == self.owner_token
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else self.unavailable)
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def refresh(self, now_mono_ns: int, *, force: bool = False, wait: bool = False) -> SettingsSnapshot:
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assert self.current is not None
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return self.current
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def affirm(self, snapshot: SettingsSnapshot | None, *, now_mono_ns: int) -> bool:
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current = self.current
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return bool(current is not None and type(now_mono_ns) is int and
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0 <= now_mono_ns - current.verified_mono_ns < REVERIFY_NS and
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super().affirm(snapshot, now_mono_ns=now_mono_ns))
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class CardSettingsWorker:
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"""One worker-owned reader and an atomically replaced immutable publication."""
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def __init__(self, params: Any):
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self.reader = ConditionalSettingsOwner(params)
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self.view = CardSettingsView(self.reader.owner_token)
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self.published = CardSettingsObservation(None, 'startup', 0)
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def refresh(self, read_started_ns: int) -> None:
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# The caller samples MONOTONIC before I/O. Slow reads never receive a fresh
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# completion timestamp. A stalled worker cannot renew the view's authority.
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previous = self.reader.current
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try:
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snapshot = self.reader.refresh(read_started_ns, force=True)
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# With force=True only a busy writer lock returns the previous object.
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# Do not carry the old owner's one-second busy-lock permission extension.
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observation = CardSettingsObservation(None, 'busy', read_started_ns) if snapshot is previous else \
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CardSettingsObservation(snapshot, 'verified', read_started_ns)
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except Exception:
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# Observational settings failure must neither kill the worker nor escape
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# into Card. Missing publication remains restrictive until a good read.
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observation = CardSettingsObservation(None, 'error', read_started_ns)
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self.published = observation
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def adopt(self) -> None:
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self.view.adopt(self.published)
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