mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 00:43:54 +08:00
0b87a4ddb1
* Add params for lead and danger
* fix long params
* E2e passes simple maneuver tests
* Make tests run with e2e long mode
* Slightly more error allowed in e2e mode
* FCW back and populate long source field
* Fix planner name
* FCW still doesnt work
* Slightly less aggressive
* Doesn't need to simulate from stop
old-commit-hash: 7899fb79c1
45 lines
1.3 KiB
Python
Executable File
45 lines
1.3 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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def plannerd_thread(sm=None, pm=None):
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config_realtime_process(5, 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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lateral_planner = LateralPlanner(CP)
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if sm is None:
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
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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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