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https://github.com/dragonpilot/dragonpilot.git
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1fdc1202d1
version: dragonpilot v0.8.17 beta for EON/C2 date: 2022-11-02T08:11:06 dp-dev(priv2) master commit: fa5dbfe5c771a59cf8b82a9cfc26b28989824d31
59 lines
2.0 KiB
Python
Executable File
59 lines
2.0 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car
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from common.params import Params
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from common.realtime import Priority, config_realtime_process
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from system.swaglog import cloudlog
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from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
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from selfdrive.controls.lib.lateral_planner import LateralPlanner
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import cereal.messaging as messaging
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from system.hardware import TICI
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from selfdrive.dragonpilot.controls_0813.lib.lateral_planner import LateralPlanner as DPLateralPlanner
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from selfdrive.dragonpilot.controls_0816.lib.lateral_planner import LateralPlanner as FPLateralPlanner
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def plannerd_thread(sm=None, pm=None):
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config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW)
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cloudlog.info("plannerd is waiting for CarParams")
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params = Params()
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CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
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cloudlog.info("plannerd got CarParams: %s", CP.carName)
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longitudinal_planner = LongitudinalPlanner(CP)
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try:
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lat_version = int(params.get('dp_lateral_version').decode('utf8'))
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except:
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# if we have trouble reading it, reset it to latest lateral planner
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params.put('dp_lateral_version', "0")
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lat_version = 0
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if lat_version == 1: # 0813
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lateral_planner = DPLateralPlanner(CP)
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elif lat_version == 2: # 0816
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lateral_planner = FPLateralPlanner(CP)
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else:
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lateral_planner = LateralPlanner(CP)
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if sm is None:
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'dragonConf', 'lateralPlan', 'navInstruction', 'liveMapData'],
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poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
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if pm is None:
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pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan'])
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while True:
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sm.update()
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if sm.updated['modelV2']:
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lateral_planner.update(sm)
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lateral_planner.publish(sm, pm)
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longitudinal_planner.update(sm)
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longitudinal_planner.publish(sm, pm)
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def main(sm=None, pm=None):
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plannerd_thread(sm, pm)
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if __name__ == "__main__":
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main()
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