221 lines
12 KiB
Python
221 lines
12 KiB
Python
"""Opt-in stationary yaw alignment policy, with no input backend or keyboard send.
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perform_alignment consumes the same validated ordered native snapshot batches as
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prison_approach_proof plus camera and flat native selected/context_selected/
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cached_performable/progress_bound/performing/pressed/progress/duration fields.
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The adapter pins the original console, body, camera and gate identities and
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rejects cancellation. No field here permits native identity re-adoption.
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require_idle() is read-only. mouse.move(dx,0,guard,deadline=absolute) is an explicit
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alignment-only capability with existing ownership/focus/current+projected-pointer
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checks and a final absolute deadline check before its relative input call.
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notify({kind:'alignment-pending',deadline_monotonic:...}) requires an independent
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hard supervisor; alignment-finished is only a policy result, not final run proof.
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No F, W, wheel, pitch, focus, camera write or native connection exists here.
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"""
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import copy
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import math
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from prison_approach_proof import vector, number, yaw, delta, length, horizontal, target_for
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class Refused(ValueError):
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pass
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def need(value, reason):
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if not value:
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raise Refused(reason)
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def perform_alignment(guard, require_idle, mouse, observe, geometry, calibration, approach_evidence, report, *, clock, sleep, notify):
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return _perform_alignment(guard, require_idle, mouse, observe, geometry, calibration, approach_evidence, report, clock=clock, sleep=sleep, notify=notify)
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def perform_facing(guard, require_idle, mouse, observe, geometry, calibration, approach_evidence, report, *, clock, sleep, notify):
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"""Separate facing-only outcome; requires exact disabled-door/lock diagnostics."""
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return _perform_alignment(guard, require_idle, mouse, observe, geometry, calibration, approach_evidence, report, clock=clock, sleep=sleep, notify=notify, facing=True)
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def _perform_alignment(guard, require_idle, mouse, observe, geometry, calibration, approach_evidence, report, *, clock, sleep, notify, facing=False):
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proof_key = 'facing_proof' if facing else 'alignment_proof'
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event_prefix = 'facing' if facing else 'alignment'
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need(proof_key not in report, 'Alignment attempt already exists')
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pinned = copy.deepcopy(geometry)
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target_for(pinned) # Existing measured authored-enclosure compatibility gate.
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approach = report.get('approach_proof', {})
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need(approach_evidence.get('verified') is True and approach.get('completed') is True and
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approach.get('nonce') == pinned['nonce'] and approach.get('geometry') == pinned and
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approach_evidence.get('last_sample') == approach.get('final_sample'),
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'Alignment requires independently completed same-run approach')
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prior = approach.get('samples', [])
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need(prior and prior[-1]['sample'] == approach['final_sample'], 'Original approach final body sample unavailable')
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body = vector(prior[-1]['origin'])
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need(calibration.get('completed') is True and calibration.get('nonce') == pinned['nonce'] and calibration.get('pixels') == 24,
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'Alignment requires accepted same-run yaw calibration')
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gain = delta(yaw(calibration['response_direction']), yaw(calibration['baseline_direction']))/24
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need(.01 <= abs(gain) <= .5, 'Native yaw calibration outside bounded range')
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queued = number(calibration['observer_start_real_ms']); ready = number(calibration['ready_real_ms'])
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ready_at = number(calibration['ready_monotonic']); started = clock()
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need(0 <= queued and 2000 <= ready-queued < 45000 and 0 <= ready_at <= started, 'Original observation clocks invalid')
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original_deadline = ready_at+(45000-(ready-queued))/1000-.5
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supplied = number(calibration.get('observer_deadline_monotonic', original_deadline))
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need(supplied <= original_deadline, 'Supplied observer deadline renews original lifetime')
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stage_supplied = number(calibration.get('alignment_deadline_monotonic', started+8))
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need(stage_supplied <= started+8, 'Supplied alignment deadline exceeds stage cap')
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deadline = min(started+8, original_deadline, supplied, stage_supplied)
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need(started < deadline, 'No original observation time remains for alignment')
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state = {'requested': True, 'completed': False, 'nonce': pinned['nonce'], 'geometry': pinned,
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'started_monotonic': started, 'finished_monotonic': None, 'deadline_monotonic': deadline,
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'initial_sample': None, 'final_sample': None, 'selection_samples': [], 'motions': [], 'samples': []}
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report[proof_key] = state
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if facing:
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state['facing_samples'] = []
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del state['selection_samples']
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previous = None; active_turn = None; requests = 0
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def neutral(s):
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return abs(s['forward']) <= .01 and length(s['input']) <= .01 and length(s['velocity']) <= .05
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def bearing(s):
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camera = s['camera']; context = pinned['context']
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need(.25 <= horizontal(camera, context) <= 5, 'Native camera/handle bearing is degenerate or out of scope')
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return math.degrees(math.atan2(context[0]-camera[0], context[2]-camera[2]))
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def consume(s):
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nonlocal previous
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s = copy.deepcopy(s)
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index = s['sample']; real = number(s['real_ms']); receipt = number(s['received_monotonic'])
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need(type(index) is int and approach['final_sample'] <= index <= 450, 'Alignment sample precedes approach or exceeds bound')
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need(0 <= receipt <= clock() and queued <= real < queued+45000, 'Original native observation lifetime exceeded')
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need(s['geometry'] == pinned and s['phase'] == 1 and s['inventory'] is False,
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'Original prison geometry, phase or UI changed')
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need(number(s['door_state']) == 0 and number(s['door_control']) == 0, 'Original gate was operated')
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for k in ('origin', 'camera', 'direction', 'body_forward', 'input', 'velocity'):
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s[k] = vector(s[k])
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s['forward'] = number(s['forward']); yaw(s['direction']); yaw(s['body_forward'])
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need(neutral(s) and math.dist(body, s['origin']) <= .05,
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'Original stopped body moved during alignment')
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for k in ('selected', 'context_selected', 'cached_performable', 'progress_bound', 'performing'):
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need(type(s[k]) is bool, 'Malformed native action flag')
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need(number(s['pressed']) == 0 and number(s['progress']) == 0 and s['performing'] is False and number(s['duration']) == 4,
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'Gate interaction began during yaw-only alignment')
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bearing(s)
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if facing and s['context_selected']:
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from prison_action_selection_proof import choices_for
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actions = choices_for(s, pinned)
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if 'actions' not in state: state['actions'] = actions
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need(state['actions'] == actions, 'Original facing action identities/order changed')
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if active_turn is not None:
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before_yaw, sign = active_turn
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change = delta(yaw(s['direction']), before_yaw)
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need(abs(change) <= 15, 'Native yaw exceeded alignment turn bound')
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if abs(change) >= .05:
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need(change*sign > 0, 'Native yaw reversed alignment request')
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if previous:
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need(index >= previous['sample'] and real >= previous['real_ms'], 'Alignment native samples reversed')
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if index == previous['sample']:
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need(s == previous, 'Repeated alignment sample changed')
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else:
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need(index == previous['sample']+1 and 0 < real-previous['real_ms'] <= 500, 'Alignment native sample gap')
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if previous is None or index != previous['sample']:
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state['samples'].append(copy.deepcopy(s))
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previous = s
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if state['initial_sample'] is None:
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state['initial_sample'] = index
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state['final_sample'] = index
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return s
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def read():
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need(clock() < deadline, 'Frozen alignment deadline exceeded')
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guard.check(); require_idle()
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batch = observe()
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need(type(batch) is list and 1 <= len(batch) <= 450, 'Missing ordered alignment snapshot batch')
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for raw in batch:
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s = consume(raw)
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need(0 <= clock()-s['received_monotonic'] <= .5, 'Latest native alignment observation is stale')
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need(clock() < deadline, 'Frozen alignment deadline exceeded during observation')
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return s
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def stable(first, second):
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return (second['sample'] == first['sample']+1 and second['real_ms']-first['real_ms'] >= 100 and
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abs(delta(yaw(second['direction']), yaw(first['direction']))) <= .2)
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def selected(s):
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if facing:
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if not s['context_selected'] or not s['cached_performable'] or abs(delta(bearing(s), yaw(s['direction']))) > 3:
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return False
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from prison_action_selection_proof import choices_for
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choices_for(s, pinned)
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return True
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return s['selected'] and s['context_selected'] and s['cached_performable'] and s['progress_bound'] and abs(delta(bearing(s), yaw(s['direction']))) <= 3
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def selection_pair():
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samples = state['samples']
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if len(samples) >= 2 and stable(samples[-2], samples[-1]) and selected(samples[-2]) and selected(samples[-1]):
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return [samples[-2]['sample'], samples[-1]['sample']]
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return []
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try:
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notify({'kind': event_prefix+'-pending', 'deadline_monotonic': deadline})
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initial = read()
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# First receipt cannot extend the frozen original READY-derived lease.
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# Deduct the explicit 500ms observation/dispatch reserve, not just age.
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deadline = min(deadline, initial['received_monotonic']+(queued+45000-initial['real_ms'])/1000-.5)
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state['deadline_monotonic'] = deadline
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need(clock() < deadline, 'Fresh native sample leaves no alignment time')
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notify({'kind': event_prefix+'-pending', 'deadline_monotonic': deadline})
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current = initial
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while clock() < deadline:
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pair = selection_pair()
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if pair:
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current = read()
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pair = selection_pair()
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if not pair:
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continue
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require_idle()
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need(clock() < deadline, 'Frozen alignment deadline exceeded at completion')
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state['facing_samples' if facing else 'selection_samples'] = pair; state['completed'] = True
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return state
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error = delta(bearing(current), yaw(current['direction']))
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if abs(error) <= 3:
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# Reached measured bearing; allow bounded native selection update.
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# Never substitute additional movement, pitch or interaction.
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sleep(.025); current = read(); continue
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need(requests < 6, 'Alignment relative-request budget exhausted')
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need(len(state['samples']) >= 2 or clock()+.1 < deadline, 'Insufficient time for stable initial pose')
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if len(state['samples']) < 2 or not stable(state['samples'][-2], state['samples'][-1]):
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sleep(.025); current = read(); continue
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before = read()
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# Always propose from the final fresh camera/handle bearing.
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error = delta(bearing(before), yaw(before['direction']))
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if abs(error) <= 3:
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current = before; continue
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desired = max(-10., min(10., .75*error))
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dx = max(-128, min(128, int(round(desired/gain))))
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if dx == 0: dx = 1 if desired/gain > 0 else -1
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active_turn = (yaw(before['direction']), dx*gain)
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mouse.move(dx, 0, guard, deadline=deadline)
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requests += 1
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motion = {'dx': dx, 'dy': 0, 'monotonic': clock(), 'after_sample': before['sample'], 'response_sample': None}
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state['motions'].append(motion)
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end = min(deadline, clock()+1.5)
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while clock() < end:
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current = read()
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change = delta(yaw(current['direction']), active_turn[0])
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samples = state['samples']
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if abs(change) >= .05 and len(samples) >= 2 and stable(samples[-2], samples[-1]):
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need(clock() <= end, 'Native yaw response exceeded frozen turn interval')
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motion['response_sample'] = current['sample']; active_turn = None
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break
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sleep(.025)
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else:
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raise Refused('Signed native yaw response and settling missing')
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raise Refused('Exact lock selection missing before frozen alignment deadline')
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except Exception as error:
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state['error'] = str(error)
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raise
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finally:
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state['finished_monotonic'] = clock()
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notify({'kind': event_prefix+'-finished', 'successful': state['completed']})
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