Comma Device
52 lines
1.7 KiB
Python
52 lines
1.7 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from cereal import messaging, custom
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from opendbc.car import structs
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from openpilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
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#from openpilot.sunnypilot.models.helpers import get_active_bundle
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#DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
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class LongitudinalPlannerSP:
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def __init__(self, CP: structs.CarParams, mpc):
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self.dec = DynamicExperimentalController(CP, mpc)
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#self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
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@property
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def mlsim(self) -> bool:
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# If we don't have a generation set, we assume it's default model. Which as of today are mlsim.
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#return bool(self.generation is None or self.generation >= 11)
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return False
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def get_mpc_mode(self) -> str | None:
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if not self.dec.active():
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return None
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return self.dec.mode()
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def update(self, sm: messaging.SubMaster) -> None:
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self.dec.update(sm)
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'''
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def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
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plan_sp_send = messaging.new_message('longitudinalPlanSP')
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plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
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longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
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# Dynamic Experimental Control
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dec = longitudinalPlanSP.dec
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dec.state = DecState.blended if self.dec.mode() == 'blended' else DecState.acc
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dec.enabled = self.dec.enabled()
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dec.active = self.dec.active()
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pm.send('longitudinalPlanSP', plan_sp_send)
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'''
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