49 lines
1.9 KiB
Python
Executable File
49 lines
1.9 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car, custom
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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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cloudlog.info("plannerd is waiting for IQCarParams")
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CP_IQ = messaging.log_from_bytes(params.get("IQCarParams", block=True), custom.IQCarParams)
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cloudlog.info("plannerd got IQCarParams")
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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, CP_IQ)
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pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'iqPlan'])
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
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'iqLiveMapData', 'iqCarState', 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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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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