mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
b06f37e2c7
Define persistent settings, typed schema fields and storage migrations before feature owners consume them. Keep calibration and parameter readers aligned with the shared data contracts.
106 lines
4.5 KiB
Python
106 lines
4.5 KiB
Python
"""Check additive evolution of the custom messages already recorded by this fork.
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The source-only schema policy protects upstream and historical reservations.
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This separate native check protects the fields of the new populated slots,
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including compiled offsets, types, defaults, union tags and enum meanings.
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"""
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from pathlib import Path
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import json
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CONTRACT = Path(__file__).with_name('custom-schema-contract.json')
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def _children(schema, descriptor):
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kind = next(iter(descriptor))
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if kind == 'list':
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element = descriptor['list']['elementType']
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if next(iter(element)) in ('struct', 'enum', 'list'):
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yield from _children(schema.elementType, element)
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elif kind in ('struct', 'enum'):
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yield schema
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def describe(module, roots):
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"""Read the actual compiled layouts; source spelling alone is insufficient."""
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def resolve(name):
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value = module
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for part in name.split('.'):
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value = getattr(value, part)
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return value.schema
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pending = [resolve(name) for name in roots]
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result = {'roots': {name: str(resolve(name).node.id) for name in roots}, 'nodes': {}}
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while pending:
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schema = pending.pop()
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node = schema.node.to_dict()
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key = str(node['id'])
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if key in result['nodes']:
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continue
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if 'enum' in node:
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result['nodes'][key] = {'kind': 'enum', 'values': [e['name'] for e in node['enum']['enumerants']]}
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continue
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layout = node['struct']
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fields = {}
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for field in layout.get('fields', []):
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record = {k: v for k, v in field.items() if k not in ('codeOrder', 'annotations')}
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ordinal = str(field['ordinal'].get('explicit', 'group:' + field['name']))
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if 'group' in field:
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pending.append(schema.fields[field['name']].schema)
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else:
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record['slot'] = {k: v for k, v in field['slot'].items() if k != 'hadExplicitDefault'}
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descriptor = field['slot']['type']
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if next(iter(descriptor)) in ('struct', 'list', 'anyPointer'):
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# schema.Value stores these defaults as opaque pointers. Preserve the
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# value itself, including explicit pointer defaults, without expanding
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# it through the referenced type's potentially evolving field layout.
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value = schema.fields[field['name']].proto.slot.defaultValue
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record['slot']['defaultValue'] = {'schemaValueHex': value.as_builder().to_bytes().hex()}
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if next(iter(descriptor)) in ('struct', 'enum', 'list'):
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pending.extend(_children(schema.fields[field['name']].schema, descriptor))
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fields[ordinal] = record
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result['nodes'][key] = {'kind': 'struct', 'data_words': layout['dataWordCount'],
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'pointers': layout['pointerCount'], 'is_group': layout['isGroup'],
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'union_count': layout['discriminantCount'], 'union_offset': layout['discriminantOffset'],
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'fields': fields}
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return result
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def validate(current, baseline):
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"""Allow new fields/types/enum values; retain existing wire and API meaning."""
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errors = []
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for name, type_id in baseline['roots'].items():
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if current['roots'].get(name) != type_id:
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errors.append(f'{name}: existing custom root renamed, removed or reassigned')
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for type_id, old in baseline['nodes'].items():
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new = current['nodes'].get(type_id)
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if new is None or new['kind'] != old['kind']:
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errors.append(f'{type_id}: existing referenced type removed or changed kind')
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continue
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if old['kind'] == 'enum':
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if new['values'][:len(old['values'])] != old['values']:
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errors.append(f'{type_id}: existing enum ordinals or names changed')
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continue
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if new['data_words'] < old['data_words'] or new['pointers'] < old['pointers'] or new['is_group'] != old['is_group']:
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errors.append(f'{type_id}: existing struct storage changed incompatibly')
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if old['union_count'] and (new['union_count'] < old['union_count'] or new['union_offset'] != old['union_offset']):
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errors.append(f'{type_id}: existing union layout changed')
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for ordinal, field in old['fields'].items():
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if new['fields'].get(ordinal) != field:
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errors.append(f'{type_id}.{field["name"]}: existing field @{ordinal} changed or removed')
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return errors
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def main():
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from openpilot.cereal import custom
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baseline = json.loads(CONTRACT.read_text())
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errors = validate(describe(custom, baseline['roots']), baseline)
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print(json.dumps({'passed': not errors, 'errors': errors}, indent=2))
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return int(bool(errors))
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if __name__ == '__main__':
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raise SystemExit(main())
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