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long_mpc: use log.capnp source enum (#37096)

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felsager
2026-02-06 13:36:51 -08:00
committed by GitHub
parent 9755520b87
commit 187d3a079c
2 changed files with 6 additions and 5 deletions
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7
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
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@@ -22,7 +22,8 @@ LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
SOURCES = ['lead0', 'lead1', 'cruise', 'e2e']
LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise)
X_DIM = 3
U_DIM = 1
@@ -217,7 +218,7 @@ class LongitudinalMpc:
self.dt = dt
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.reset()
self.source = SOURCES[2]
self.source = LongitudinalPlanSource.cruise
def reset(self):
self.solver.reset()
@@ -335,7 +336,7 @@ class LongitudinalMpc:
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
self.source = SOURCES[np.argmin(x_obstacles[0])]
self.source = MPC_SOURCES[np.argmin(x_obstacles[0])]
self.yref[:,:] = 0.0
for i in range(N):

4
selfdrive/controls/lib/longitudinal_planner.py
View File

@@ -9,7 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
@@ -156,7 +156,7 @@ class LongitudinalPlanner:
output_a_target = min(output_a_target_e2e, output_a_target_mpc)
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
if output_a_target < output_a_target_mpc:
self.mpc.source = SOURCES[3]
self.mpc.source = LongitudinalPlanSource.e2e
else:
output_a_target = output_a_target_mpc
self.output_should_stop = output_should_stop_mpc