mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-07-27 04:12:10 +08:00
Jason Wen
ab6d192714
* init * some fixes * move * more * old navd helpers * bring back cereal * fix linting * more * add to cereal first * sp events * lint * implement in long plan * fixme-sp * refactor state machine * wrong state * start refactor controller * some type hints * init these * enable debug print * ui? ui! * print them out * fix spinner import * fix path * let's use gps chips directly for now * service missing * publish events * no nav for now * need to sub * no car state speed yet * missed event * Car: `CarStateSP` * fix tests * bring back car state speed limit * fix * use old controller for now * fix * fix source * type hints * none for now * formatting * more * create directory if does not exist * mypy my bt * policy param catch exceptions * handle all params with exceptions * more * single method * define types in init * rename * simpler op enabled check * more mypy stuff * rename * no need for brake pressed * don't reset if gas pressed * type hint all * type hint all * back to upstream * in another pr * no longer need data type * qlog * slc in another pr * use horizontal accuracy * set core affinity for all realtime processes * unused * sort * unused * type hint and slight cleanup * from old implementation * use directly * combine pm * slight more cleanup * type hints * even more type hint * lint * more cleanup * even less * license
58 lines
2.0 KiB
Python
58 lines
2.0 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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# DISCLAIMER: This code is intended principally for development and debugging purposes.
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# Although it provides a standalone entry point to the program, users should refer
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# to the actual implementations for consumption. Usage outside of development scenarios
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# is not advised and could lead to unpredictable results.
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import threading
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import traceback
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from cereal import messaging
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from openpilot.common.gps import get_gps_location_service
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from openpilot.common.params import Params
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from openpilot.common.realtime import config_realtime_process
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Policy
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
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from openpilot.sunnypilot.mapd.live_map_data import get_debug
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def excepthook(args):
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get_debug(f'MapD: Threading exception:\n{args}')
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traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
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def live_map_data_sp_thread():
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config_realtime_process([0, 1, 2, 3], 5)
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params = Params()
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gps_location_service = get_gps_location_service(params)
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while True:
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live_map_data_sp_thread_debug(gps_location_service)
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def live_map_data_sp_thread_debug(gps_location_service):
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_sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', gps_location_service])
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_sub_master.update()
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v_ego = _sub_master['carState'].vEgo
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long_spl = _sub_master['longitudinalPlanSP'].speedLimit
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_policy = Policy.car_state_priority
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_resolver = SpeedLimitResolver(_policy)
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_speed_limit, _distance, _source = _resolver.resolve(v_ego, long_spl, _sub_master)
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print(_speed_limit, _distance, _source, " <-> ", long_spl)
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def main():
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threading.excepthook = excepthook
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live_map_data_sp_thread()
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if __name__ == "__main__":
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main()
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