mirror of
https://github.com/sunnypilot/sunnypilot.git
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dc0fd4ca96
* formatting * more * create directory if does not exist * mypy my bt * policy param catch exceptions * handle all params with exceptions * more * single method * define types in init * rename * simpler op enabled check * more mypy stuff * rename * no need for brake pressed * don't reset if gas pressed * type hint all * type hint all * back to upstream * in another pr * no longer need data type * qlog * slc in another pr * use horizontal accuracy * use horizontal accuracy * set core affinity for all realtime processes * unused * sort * unused * type hint and slight cleanup * from old implementation * use directly * combine pm * slight more cleanup * type hints * even more type hint * Revert "slc in another pr" This reverts commit3a6987e6* Revert "in another pr" This reverts commita29bccff12. * rebump * no need to check alive * use it directly * fix test * refactor * use gps data directly * quote...? * lint * fix tests * use CC.longActive * user confirm in another PR * rename * fix import * params fix * no more * fix * drop new state machine for now * more fixes * internalize output * unused * rearrange * auto draft * rename * this * no * no need * use existing * wrong cruise speed * fix * not used for now * Revert "not used for now" This reverts commitf0083d6241. * some * use frames instead * split speed limit resolver out of slc * no need to pass sm * fix params * test init * use frame instead of time * track session * some tests * too limiting * bump * always reset state * end session if long_active but slc inactive at any given time * off * no warning in this PR * no speed factor engage type yet * wide open * no * introduce disabled, no longer transitions at inactive * fix tests * no more tempinactive * clean * rename * offset default > off * new tests, fixes controller * more tests * not really needed yet * lint * fix * some more tests * wrap * more * more * use vCruiseCluster for set speed * init better * finish it up * no * typo * one method state machine * refactor preactive timeout check * refactor new session check * directly return statuses * comments * v_target * refactor speed limit resolver * turn off debug * more resolver refactor * no longer needed * lint * more lint * fix * move around * fix events * update event * already happens while in enabled * add carstateSP * less * Speed Limit Control -> Speed Limit Assist * in another PR * more rename * overriding state * fix * make sure to return the correct type * sync with latest * housekeeping * use v cruise cluster instead * fix var * show it in UI! * actually show it * update event texts * todo * no override for now * wrong timer! * add vtarget and atarget * fix * handle no speed limit events * fix size * unused * skip preActive if init max speed was already reached * display last known speed limit and its state with SLA * pending event * much shorter disable guard * update events * convert max init for metric * fix even if unused atm * just use it * red for all * not disabled * rename * 10s pre active * kumar wants it higher, blame him * fix * pcm long only * some fixes * rename * use consolidate method to evaluate set speed status * init non pcm cruise * tests * disable non pcm long state machine for now * lint * lint * let the non PCM party begins * fix event * update event * use speed limit final last * only do direction checks if preActive * use resolver * use it directly * no longer applies * do it globally * non pcm long: adapting or pending unused * use button events instead of raw vals * need to initialize * move * what? * what #2??? * cst! * circular * slight fixes for tests * change up checks for user confirm * get buttonEvents at 100 hz and process for 20 hz consumption * get v cruise cluster from outer loop * Revert "get v cruise cluster from outer loop" This reverts commitbe8068e8ab. * Revert "get buttonEvents at 100 hz and process for 20 hz consumption" This reverts commita739d4d437. * don't need * do not allow target speed confirm if inactive * do not allow preActive if no valid speed limit * gimme them arrow pls * less * descriptive direction * fix event * update cs in 100 hz * Revert "don't need" This reverts commit1eec763be7. * missed * wrong * stop * throw them to helpers class * property * hold speed behavior changes * abstract it * use converted to check last set speed change * Revert "do not allow target speed confirm if inactive" This reverts commit9840e74e* pre active too short * slight fixes * fix tests * linty lint * speed limit changed hold timer for non pcm long * should be 0 * less loopy * some gates * special sauce for sla --------- Co-authored-by: nayan <nayan8teen@gmail.com> Co-authored-by: DevTekVE <devtekve@gmail.com>
46 lines
1.8 KiB
Python
Executable File
46 lines
1.8 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car
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from openpilot.common.gps import get_gps_location_service
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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.brand)
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gps_location_service = get_gps_location_service(params)
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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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'liveMapDataSP', 'carStateSP', gps_location_service],
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poll='carState')
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while True:
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sm.update()
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longitudinal_planner.sla.update_car_state(sm['carState'])
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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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