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Lateral maneuvers

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firestar5683
2026-04-07 00:20:20 -05:00
parent 088e4a6e56
commit 4beb1f6e2e
19 changed files with 1022 additions and 35 deletions
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system/manager/process_config.py
+5 -1
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@@ -41,7 +41,10 @@ def not_joystick(started: bool, params: Params, CP: car.CarParams, starpilot_tog
return started and not params.get_bool("JoystickDebugMode")
def long_maneuver(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
return started and params.get_bool("LongitudinalManeuverMode")
return started and params.get_bool("LongitudinalManeuverMode") and not params.get_bool("LateralManeuverMode")
def lat_maneuver(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
return started and params.get_bool("LateralManeuverMode") and not params.get_bool("LongitudinalManeuverMode")
def not_long_maneuver(started: bool, params: Params, CP: car.CarParams, starpilot_toggles: SimpleNamespace) -> bool:
return started and not params.get_bool("LongitudinalManeuverMode")
@@ -115,6 +118,7 @@ procs = [
PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
PythonProcess("lateral_maneuversd", "tools.lateral_maneuvers.lateral_maneuversd", lat_maneuver),
PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
PythonProcess("hardwared", "system.hardware.hardwared", always_run),
PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),