mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 06:33:57 +08:00
bd2b09c7b6
* Deprecate controlsState state fields * sim works * update refs * one more * these too * update sim old-commit-hash: 3924ac587b735d1e735af4cb77faf6ccf053f656
36 lines
1.1 KiB
Python
Executable File
36 lines
1.1 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 plannerd_thread():
|
|
config_realtime_process(5, Priority.CTRL_LOW)
|
|
|
|
cloudlog.info("plannerd is waiting for CarParams")
|
|
params = Params()
|
|
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
|
|
cloudlog.info("plannerd got CarParams: %s", CP.carName)
|
|
|
|
longitudinal_planner = LongitudinalPlanner(CP)
|
|
pm = messaging.PubMaster(['longitudinalPlan'])
|
|
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'selfdriveState'],
|
|
poll='modelV2', ignore_avg_freq=['radarState'])
|
|
|
|
while True:
|
|
sm.update()
|
|
if sm.updated['modelV2']:
|
|
longitudinal_planner.update(sm)
|
|
longitudinal_planner.publish(sm, pm)
|
|
|
|
|
|
def main():
|
|
plannerd_thread()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|