"""Apply one explicit adapter patch to the pinned CMU selector; fail on drift."""
from pathlib import Path

path = Path("/opt/cmu/src/local_planner/src/localPlanner.cpp")
source = path.read_text()
needle = "            maxScore = clearPathPerGroupScore[i];\n            selectedGroupID = i;"
replacement = """\
            if (!missioncoreFootprintClear(*plannerCloudCrop, *startPaths[i % groupNum],
                rotAng, pathScale, std::min(pathRange, relativeGoalDis),
                vehicleLength, vehicleWidth, obstacleHeightThre, twoWayDrive)) continue;
            maxScore = clearPathPerGroupScore[i];
            selectedGroupID = i;"""
assert source.count(needle) == 1, "CMU selector source changed"
path.write_text('#include "missioncore_footprint.hpp"\n' + source.replace(needle, replacement))