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https://github.com/firestar5683/StarPilot.git
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firestar5683
252 lines
13 KiB
Python
252 lines
13 KiB
Python
"""Physical Traffic Mode intent; planner is the sole live owner."""
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from dataclasses import dataclass
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from opendbc.car.gm.profiles import profiles_supported as gm_profiles_supported
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import math
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import re
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import secrets
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from openpilot.cereal import messaging
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from openpilot.starpilot.conditional_mode.manual import Button, ButtonMap, Gesture, Press, TRAFFIC_MODE_ACTION, ioniq6_media_eligible, read_button_map
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from openpilot.starpilot.conditional_mode.status import settings_fingerprint
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SOURCE_MAX_AGE_NS = 300_000_000
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EVENT_MAX_AGE_NS = 100_000_000
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_SESSION = re.compile(r'[0-9a-f]{32}\Z')
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@dataclass(frozen=True)
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class TrafficVerdict:
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requested: bool
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effective: bool | None
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reason: str
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source_epoch: int
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source_boot_ns: int
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source_mono_ns: int
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settings_fingerprint: str
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map_fingerprint: str
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# Physical status may be unknown while an unused optional button must leave
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# the unrelated ordinary profile alone. None revokes a previously accepted
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# Traffic target on the first loss frame.
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profile_mode: bool | None = None
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controller_source: bool = False
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class TrafficOwner:
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def __init__(self):
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self.status_session = secrets.token_hex(16)
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self.status_sequence = 0
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self.card_session: str | None = None
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self.retired: tuple[str, ...] = ()
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self.card_sequence = 0
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self.drive_id = 0
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self.source_epoch = -1
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self.source_boot_ns = 0
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self.source_mono_ns = 0
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self.settings_fingerprint = ''
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self.map_fingerprint = ''
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self.requested = False
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self.controller_source = False
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self.map_checked_ns = 0
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self.cached_buttons: ButtonMap | None = None
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def reset(self, *, retire: bool = False, preserve_map: bool = False) -> None:
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buttons, map_fingerprint, checked_ns = self.cached_buttons, self.map_fingerprint, self.map_checked_ns
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if retire and self.card_session is not None:
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self.retired = (*self.retired[-7:], self.card_session)
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self.card_session = None
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self.card_sequence = 0
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self.drive_id = 0
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self.source_epoch = -1
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self.source_boot_ns = 0
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self.source_mono_ns = 0
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self.settings_fingerprint = ''
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self.map_fingerprint = ''
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self.requested = False
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self.controller_source = False
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self.map_checked_ns = 0
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self.cached_buttons = None
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if preserve_map:
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self.cached_buttons = buttons
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self.map_fingerprint = map_fingerprint
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self.map_checked_ns = checked_ns
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@staticmethod
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def _fresh(sm, name: str, drive_id: int, now_ns: int, limit_ns: int = 250_000_000) -> bool:
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try:
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stamp = sm.logMonoTime[name]
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receipt = sm.recv_time[name]
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if type(stamp) is not int or type(receipt) not in (int, float) or not math.isfinite(receipt):
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return False
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receipt_ns = int(receipt * 1e9)
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return bool(sm.seen[name] and sm.alive[name] and sm.valid[name] and
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drive_id < stamp <= now_ns and drive_id < receipt_ns <= now_ns and
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now_ns - stamp <= limit_ns and now_ns - receipt_ns <= limit_ns)
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except (AttributeError, KeyError, TypeError, ValueError, OverflowError):
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return False
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def sample(self, event, *, params, settings, sm, cp, drive_id: int,
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now_mono_ns: int, now_boot_ns: int, controller_toggle: bool = False,
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controller_requested: bool | None = None) -> TrafficVerdict:
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if type(drive_id) is not int or drive_id <= 0:
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prior = self.requested
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self.reset()
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return TrafficVerdict(False, None, 'drive_unavailable', -1, 0, 0, '', '', None if prior else False)
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if self.drive_id and drive_id != self.drive_id:
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self.reset()
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gm_distance = gm_profiles_supported(cp)
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if (not (ioniq6_media_eligible(cp) or gm_distance or controller_toggle or self.controller_source) or
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not cp.openpilotLongitudinalControl or cp.passive or cp.dashcamOnly or cp.notCar):
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self.reset()
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return TrafficVerdict(False, None, 'unsupported_car', -1, 0, 0, '', '', False)
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if (not self._fresh(sm, 'deviceState', drive_id, now_mono_ns, 1_000_000_000) or
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not sm['deviceState'].started or
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not self._fresh(sm, 'carState', drive_id, now_mono_ns) or
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not self._fresh(sm, 'modelV2', drive_id, now_mono_ns) or
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not sm['carState'].canValid or sm['carState'].canTimeout):
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prior = self.requested
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self.reset()
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return TrafficVerdict(False, None, 'can_unavailable', -1, 0, 0, '', '', None if prior else False)
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snapshot = settings.refresh(now_mono_ns)
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setting = settings.verdict(snapshot, now_mono_ns=now_mono_ns, drive_id=drive_id)
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fingerprint = settings_fingerprint(snapshot) if setting.status == 'ready' and setting.safe_mode is False else None
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if fingerprint is None:
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prior = self.requested
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self.reset()
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return TrafficVerdict(False, None, 'settings_unavailable', -1, 0, 0, '', '', None if prior else False)
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if controller_toggle:
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self.requested = controller_requested if type(controller_requested) is bool else not self.requested
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self.controller_source = True
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if self.controller_source:
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self.drive_id = drive_id
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self.settings_fingerprint = fingerprint
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authority = (self._fresh(sm, 'carControl', drive_id, now_mono_ns) and
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self._fresh(sm, 'selfdriveState', drive_id, now_mono_ns) and
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sm['carControl'].enabled and sm['carControl'].longActive and sm['selfdriveState'].enabled)
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return TrafficVerdict(self.requested, self.requested if authority else None,
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'active' if authority and self.requested else 'off' if authority else 'authority_unavailable',
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0, now_boot_ns, int(sm.logMonoTime['modelV2']), fingerprint, '',
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self.requested if authority else None if self.requested else False, True)
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# Saved map changes revoke intent even without a new physical event. The
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# bounded poll also catches edits while the media source is silent.
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try:
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incoming_map = str(event.slcCruiseEvent.trafficMode.buttonMapFingerprint) if event is not None else ''
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incoming_toggle = bool(event.slcCruiseEvent.trafficMode.toggle) if event is not None else False
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except (AttributeError, TypeError, ValueError):
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incoming_map, incoming_toggle = '', False
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if (self.cached_buttons is None or incoming_toggle or
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(incoming_map and incoming_map != self.map_fingerprint) or
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now_mono_ns - self.map_checked_ns >= 1_000_000_000):
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buttons = read_button_map(params, include_ioniq_media=not gm_distance, cp=cp)
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self.map_checked_ns = now_mono_ns
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if buttons is None:
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prior = self.requested
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self.reset()
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return TrafficVerdict(False, None, 'map_unavailable', -1, 0, 0, fingerprint, '', None if prior else False)
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actual_map = buttons.fingerprint()
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if self.map_fingerprint and self.map_fingerprint != actual_map:
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self.reset()
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self.map_fingerprint = actual_map
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self.cached_buttons = buttons
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else:
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buttons = self.cached_buttons
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actual_map = self.map_fingerprint
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self.settings_fingerprint = fingerprint
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assignments = ((buttons.distance, buttons.distance_long, buttons.distance_very_long) if gm_distance else
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(buttons.mode, buttons.mode_long, buttons.mode_very_long,
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buttons.custom, buttons.custom_long, buttons.custom_very_long))
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if TRAFFIC_MODE_ACTION not in assignments:
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self.card_session = None
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self.card_sequence = 0
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self.drive_id = drive_id
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self.source_epoch = -1
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self.source_boot_ns = 0
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self.source_mono_ns = 0
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self.requested = False
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self.controller_source = False
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return TrafficVerdict(False, False, 'unassigned', -1, 0,
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int(sm.logMonoTime['modelV2']), fingerprint, actual_map, False)
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if event is not None:
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try:
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record = event.slcCruiseEvent
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wire = record.trafficMode
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session = str(wire.sessionId)
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sequence = int(wire.sequence)
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observed = int(wire.observedMonoTime)
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car_stamp = int(wire.sourceCarStateMonoTime)
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expiry = int(wire.validUntilMonoTime)
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source_boot = int(wire.sourceBootTime)
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epoch = int(wire.sourceEpoch)
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valid = (event.valid and str(record.kind) == 'trafficMode' and wire.version == 1 and
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_SESSION.fullmatch(session) is not None and session not in self.retired and sequence > 0 and
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str(record.producerSessionId) == session and int(record.observedMonoTime) == observed and
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int(record.eventId) > 0 and int(wire.driveStartMonoTime) == drive_id and
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str(wire.settingsFingerprint) == fingerprint and
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str(wire.buttonMapFingerprint) == self.map_fingerprint and
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drive_id < observed <= car_stamp <= int(event.logMonoTime) <= now_mono_ns and
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car_stamp - observed <= EVENT_MAX_AGE_NS and
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car_stamp < expiry <= car_stamp + EVENT_MAX_AGE_NS and now_mono_ns <= expiry and
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car_stamp <= sm.logMonoTime['carState'] and
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0 < source_boot <= now_boot_ns and now_boot_ns - source_boot <= SOURCE_MAX_AGE_NS and
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(self.card_session != session or sequence > self.card_sequence) and
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(self.card_session != session or source_boot > self.source_boot_ns))
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if valid:
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if self.card_session is not None and self.card_session != session:
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self.reset(retire=True)
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self.card_session = session
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self.card_sequence = sequence
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self.drive_id = drive_id
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self.source_epoch = epoch
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self.source_boot_ns = source_boot
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self.source_mono_ns = observed
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self.settings_fingerprint = fingerprint
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self.map_fingerprint = actual_map
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if wire.toggle:
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gesture = Gesture(Button(str(wire.button)), Press(str(wire.press)))
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if (buttons is not None and gesture.button in ((Button.DISTANCE,) if gm_distance else (Button.MODE, Button.CUSTOM)) and
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buttons.action(gesture) == TRAFFIC_MODE_ACTION and self._fresh(sm, 'carControl', drive_id, now_mono_ns) and
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self._fresh(sm, 'selfdriveState', drive_id, now_mono_ns) and
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sm['carControl'].enabled and sm['carControl'].longActive and sm['selfdriveState'].enabled):
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self.requested = not self.requested
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# Invalid/reordered packets never refresh the source clock or toggle.
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except (AttributeError, KeyError, TypeError, ValueError, OverflowError):
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pass
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if self.source_boot_ns > now_boot_ns:
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prior = self.requested
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self.reset(preserve_map=True)
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return TrafficVerdict(False, None, 'media_unavailable', -1, 0, 0, fingerprint, '', None if prior else False)
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source_current = self.source_boot_ns > 0 and now_boot_ns - self.source_boot_ns <= SOURCE_MAX_AGE_NS
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if not source_current and self.card_session is None:
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return TrafficVerdict(False, None, 'media_unavailable', -1, 0, 0, fingerprint, self.map_fingerprint, False)
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if not source_current and not self.requested:
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return TrafficVerdict(False, False, 'off', max(0, self.source_epoch), 0, 0, fingerprint, self.map_fingerprint, False)
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authority = (self._fresh(sm, 'carControl', drive_id, now_mono_ns) and
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self._fresh(sm, 'selfdriveState', drive_id, now_mono_ns) and
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sm['carControl'].enabled and sm['carControl'].longActive and sm['selfdriveState'].enabled)
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return TrafficVerdict(self.requested, self.requested if authority else None,
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'active' if authority and self.requested else 'off' if authority else 'authority_unavailable',
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self.source_epoch, self.source_boot_ns if source_current else 0, self.source_mono_ns,
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fingerprint, self.map_fingerprint,
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self.requested if authority else None if self.requested else False)
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def attach(self, event, verdict: TrafficVerdict, *, now_ns: int, drive_id: int,
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profile_target_ready: bool = False, profile_reason: str = ''):
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if event is None:
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event = messaging.new_message('slcState', valid=True)
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event.logMonoTime = now_ns
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self.status_sequence += 1
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event.slcState.trafficMode = {
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'version': 1, 'sessionId': self.status_session, 'sequence': self.status_sequence,
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'observedMonoTime': now_ns, 'validUntilMonoTime': now_ns + EVENT_MAX_AGE_NS,
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'driveStartMonoTime': drive_id, 'sourceEpoch': max(0, verdict.source_epoch),
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'sourceBootTime': verdict.source_boot_ns, 'accepted': verdict.requested,
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'effective': verdict.effective is True, 'reason': verdict.reason,
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'settingsFingerprint': verdict.settings_fingerprint,
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'buttonMapFingerprint': verdict.map_fingerprint,
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'profileTargetReady': profile_target_ready,
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'profileReason': profile_reason,
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'controllerSource': verdict.controller_source,
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}
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return event
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