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* init dec * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Update sunnypilot/selfdrive/controls/lib/dynamic_experimental_controller.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * fix static test * ff * fix static test * unitee testt * Refactor test_dynamic_controller and fix formatting issues Added a new import for STOP_AND_GO_FRAME and corrected a float initialization for v_ego in MockCarState. Also fixed indentation in the test_standstill_detection method for consistency. * Refactor test indentation for dynamic controller tests Adjust indentation and formatting in test_dynamic_controller.py to ensure consistency and readability. This change does not alter functionality but improves the maintainability of the test code. * Migrated to pytest using claude * Integrate radar parameter into dynamic controller's pytest tests Added a `has_radar` parameter to the test functions in the dynamic controller's pytest file. This allows each function to run both with and without radar inputs, thus enhancing the coverage of our test cases. * Disabling unittest file to allow checks on the pipeline to succeed. Pending to remove this, but leaving it to validate the move to pytest is okay before merging * Replace unittest with pytest for dynamic controller tests Migrated dynamic controller tests from unittest to pytest for improved readability and maintainability. Refactored mock setup using pytest fixtures and monkeypatching while preserving test coverage. * new line... * Refactor and modularize DynamicExperimentalController logic Moved DynamicExperimentalController logic and helper functions to a dedicated module for better readability and maintainability. Simplified longitudinal planner logic by introducing reusable methods to manage MPC mode and longitudinal plan publishing. Adjusted file structure for dynamic controller-related components and updated relevant imports. * Add missing import for messaging in helpers.py The `messaging` module was added to resolve potential issues with undefined references. This change ensures all required imports are present, improving the reliability and maintainability of the code. * Format * Formatting * rebase fix * Refactor MpcSource definition and update references. Moved MpcSource enum into LongitudinalPlanSP for better encapsulation. Updated references in helpers.py to use the new path. This change improves code organization and maintains functionality. * Format * Refactor DEC into a dedicated longitudinal planner class Move Dynamic Experimental Control (DEC) logic to a new `DecLongitudinalPlanner` class for better modularity and maintainability. This simplifies the `LongitudinalPlanner` by delegating DEC-specific behavior and consolidates related methods into a single file. Additionally, redundant code was removed to improve readability and reduce complexity. * **Refactor DEC module structure for better organization** Moved DEC-related files from `dec` to `lib` for improved clarity and consistency within the project structure. Updated all relevant import paths to reflect the new locations. Ensured functionality remains unaffected with these changes. * static test * static * had moved to car_state * cleanup * some more * static method * move around * more cleanup * stuff * into their own * rename * check live param * sync with stock * type hint * unused * smoother trans * window time * fix type hint * pass sm.frame from plannerd * more fixes * more * more explicit * fix test * Revert "fix test" This reverts commit635b15f2bc. * Revert "pass sm.frame from plannerd" This reverts commita8deaa69b8. * use internal frame --------- Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> Co-authored-by: DevTekVE <devtekve@gmail.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
41 lines
1.6 KiB
Python
Executable File
41 lines
1.6 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.common.realtime import Priority, config_realtime_process
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
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from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
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import cereal.messaging as messaging
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def main():
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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 = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
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cloudlog.info("plannerd got CarParams: %s", CP.carName)
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ldw = LaneDepartureWarning()
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longitudinal_planner = LongitudinalPlanner(CP)
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pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
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poll='modelV2', ignore_avg_freq=['radarState'])
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while True:
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sm.update()
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if sm.updated['modelV2']:
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longitudinal_planner.update(sm)
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longitudinal_planner.publish(sm, pm)
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ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
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msg = messaging.new_message('driverAssistance')
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msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
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msg.driverAssistance.leftLaneDeparture = ldw.left
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msg.driverAssistance.rightLaneDeparture = ldw.right
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pm.send('driverAssistance', msg)
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if __name__ == "__main__":
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main()
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