mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 06:33:57 +08:00
66dbadb029
* Initial commit
* Fixup
* typo
* ignore lateral plan
* Update cereal
* Remove lateralPlan
* Fix release build
* Fix release build
* give car params
* Add carParams to include_all_types
* Write car param in powerdraw test
* add demo mode
* Update model regf
* proc replay ref commit
* Try
* Move enum definition
* Update cereal
* typo
* Write car param for modeld test
* Update ref
* Update model ref again
---------
Co-authored-by: Kacper Rączy <gfw.kra@gmail.com>
old-commit-hash: e6c97c3846
48 lines
1.7 KiB
Python
Executable File
48 lines
1.7 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.realtime import Priority, config_realtime_process
|
|
from openpilot.common.swaglog import cloudlog
|
|
from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
|
|
import cereal.messaging as messaging
|
|
|
|
def publish_ui_plan(sm, pm, longitudinal_planner):
|
|
ui_send = messaging.new_message('uiPlan')
|
|
ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
|
|
uiPlan = ui_send.uiPlan
|
|
uiPlan.frameId = sm['modelV2'].frameId
|
|
uiPlan.position.x = list(sm['modelV2'].position.x)
|
|
uiPlan.position.y = list(sm['modelV2'].position.y)
|
|
uiPlan.position.z = list(sm['modelV2'].position.z)
|
|
uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
|
|
pm.send('uiPlan', ui_send)
|
|
|
|
def plannerd_thread():
|
|
config_realtime_process(5, Priority.CTRL_LOW)
|
|
|
|
cloudlog.info("plannerd is waiting for CarParams")
|
|
params = Params()
|
|
with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
|
|
CP = msg
|
|
cloudlog.info("plannerd got CarParams: %s", CP.carName)
|
|
|
|
longitudinal_planner = LongitudinalPlanner(CP)
|
|
pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
|
|
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
|
|
poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
|
|
|
|
while True:
|
|
sm.update()
|
|
|
|
if sm.updated['modelV2']:
|
|
longitudinal_planner.update(sm)
|
|
longitudinal_planner.publish(sm, pm)
|
|
publish_ui_plan(sm, pm, longitudinal_planner)
|
|
|
|
def main():
|
|
plannerd_thread()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|