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radard: cleanup init

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old-commit-hash: ac95838657f060503474e1a4f21ec13f66f2d39d
This commit is contained in:
Adeeb Shihadeh
2024-02-09 17:48:56 -08:00
parent 7215468455
commit 685f29ea56
2 changed files with 4 additions and 13 deletions
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selfdrive/controls/radard.py
+4 -11
View File
@@ -282,7 +282,7 @@ class RadarD:
# fuses camera and radar data for best lead detection
def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: Optional[messaging.SubSocket] = None):
def main():
config_realtime_process(5, Priority.CTRL_LOW)
# wait for stats about the car to come in from controls
@@ -296,12 +296,9 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi
RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface
# *** setup messaging
if can_sock is None:
can_sock = messaging.sub_sock('can')
if sm is None:
sm = messaging.SubMaster(['modelV2', 'carState'], ignore_avg_freq=['modelV2', 'carState']) # Can't check average frequency, since radar determines timing
if pm is None:
pm = messaging.PubMaster(['radarState', 'liveTracks'])
can_sock = messaging.sub_sock('can')
sm = messaging.SubMaster(['modelV2', 'carState'], ignore_avg_freq=['modelV2', 'carState']) # Can't check average frequency, since radar determines timing
pm = messaging.PubMaster(['radarState', 'liveTracks'])
RI = RadarInterface(CP)
@@ -323,9 +320,5 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi
rk.monitor_time()
def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: messaging.SubSocket = None):
radard_thread(sm, pm, can_sock)
if __name__ == "__main__":
main()
selfdrive/test/profiling/profiler.py
-2
View File
@@ -80,12 +80,10 @@ def profile(proc, func, car='toyota'):
if __name__ == '__main__':
from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
from openpilot.selfdrive.controls.radard import radard_thread
from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
procs = {
'radard': radard_thread,
'controlsd': controlsd_thread,
'paramsd': paramsd_thread,
'plannerd': plannerd_thread,