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add longitudinal maneuvers (#33527)

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* add longitudinal profiles

* stash

* unfortunately even longitudinalPlan causes circle

* add to process config

* reach target speed smoothly

* stash

* works

* clean up

* debug alert

* rename

* fix

* better text

* toggle via exp button

* try coming to a stop better, smoother target reaching

* closer to target

* revert controlsd migration

* add description to alert

* generate report from local logs

* hide bad maneuvers

* pdflike

* Revert "pdflike"

This reverts commit 6d4af1bf9be2e9e0798eaecf026a53d860da7613.

* try this

* use alert manager

* fix that check

* wat

* Revert "wat"

This reverts commit 93d0d27ab838d3f580d06ff212f380e0b912d599.

* some clean up

* rm

* cleanup

* move

* fix test

* more fix

* clean up

* fix that
This commit is contained in:
Shane Smiskol
2024-09-12 14:10:18 -07:00
committed by GitHub
parent 9211b701ce
commit 82f8db87f4
10 changed files with 320 additions and 3 deletions
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system/manager/process_config.py
+8 -1
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@@ -35,6 +35,12 @@ def joystick(started: bool, params, CP: car.CarParams) -> bool:
def not_joystick(started: bool, params, CP: car.CarParams) -> bool:
return started and not params.get_bool("JoystickDebugMode")
def long_maneuver(started: bool, params, CP: car.CarParams) -> bool:
return started and params.get_bool("LongitudinalManeuverMode")
def not_long_maneuver(started: bool, params, CP: car.CarParams) -> bool:
return started and not params.get_bool("LongitudinalManeuverMode")
def qcomgps(started, params, CP: car.CarParams) -> bool:
return started and not ublox_available()
@@ -81,7 +87,8 @@ procs = [
PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver),
PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
PythonProcess("hardwared", "system.hardware.hardwared", always_run),
PythonProcess("tombstoned", "system.tombstoned", always_run, enabled=not PC),