mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-06-20 21:42:05 +08:00
Code Issues Packages Projects Releases Wiki Activity

lateral_planner.py/publish: follow capnp best practices (#23359)

Browse Source
This commit is contained in:
Dean Lee
2022-01-03 03:55:24 +08:00
committed by GitHub
parent 1e309a51f5
commit 2ca0925da7
1 changed files with 15 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/lateral_planner.py
+15 -13
View File
@@ -204,20 +204,22 @@ class LateralPlanner:
plan_solution_valid = self.solution_invalid_cnt < 2
plan_send = messaging.new_message('lateralPlan')
plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'modelV2'])
plan_send.lateralPlan.laneWidth = float(self.LP.lane_width)
plan_send.lateralPlan.dPathPoints = [float(x) for x in self.y_pts]
plan_send.lateralPlan.psis = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 2]]
plan_send.lateralPlan.curvatures = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 3]]
plan_send.lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
plan_send.lateralPlan.lProb = float(self.LP.lll_prob)
plan_send.lateralPlan.rProb = float(self.LP.rll_prob)
plan_send.lateralPlan.dProb = float(self.LP.d_prob)
plan_send.lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
lateralPlan = plan_send.lateralPlan
lateralPlan.laneWidth = float(self.LP.lane_width)
lateralPlan.dPathPoints = [float(x) for x in self.y_pts]
lateralPlan.psis = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 2]]
lateralPlan.curvatures = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 3]]
lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
lateralPlan.lProb = float(self.LP.lll_prob)
lateralPlan.rProb = float(self.LP.rll_prob)
lateralPlan.dProb = float(self.LP.d_prob)
plan_send.lateralPlan.desire = self.desire
plan_send.lateralPlan.useLaneLines = self.use_lanelines
plan_send.lateralPlan.laneChangeState = self.lane_change_state
plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction
lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
lateralPlan.desire = self.desire
lateralPlan.useLaneLines = self.use_lanelines
lateralPlan.laneChangeState = self.lane_change_state
lateralPlan.laneChangeDirection = self.lane_change_direction
pm.send('lateralPlan', plan_send)