mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-07-25 19:32:03 +08:00
infiniteCable
44bc7cd879
* custom data handling * cleanups * cleanup * Update opendbc_repo * fix missing CarParamsIC handling * ic srv list and duplicate sp cleanup * divide lists for better visibility * fix curvatured, missing services, split lists, cleanup unneccessary * curvatured time correctness after custom IC structure introduction * hint for future data quality adaption * point to master before merge
52 lines
2.2 KiB
Python
Executable File
52 lines
2.2 KiB
Python
Executable File
#!/usr/bin/env python3
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from openpilot.cereal import custom
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from opendbc.car.structs import car
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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 Priority, config_realtime_process
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
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from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
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import openpilot.cereal.messaging as messaging
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def main():
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config_realtime_process(5, Priority.CTRL_LOW)
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cloudlog.info("plannerd is waiting for CarParams")
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params = Params()
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CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
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cloudlog.info("plannerd got CarParams: %s", CP.brand)
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cloudlog.info("plannerd is waiting for CarParamsSP")
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CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
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cloudlog.info("plannerd got CarParamsSP")
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gps_location_service = get_gps_location_service(params)
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ignore_services = ["liveMapDataSP", gps_location_service]
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ldw = LaneDepartureWarning()
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longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
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pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP', 'longitudinalPlanIC'])
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
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'liveMapDataSP', 'carStateSP', gps_location_service],
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poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
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while True:
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sm.update()
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longitudinal_planner.sla.update_car_state(sm['carState'])
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if sm.updated['modelV2']:
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longitudinal_planner.update(sm)
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longitudinal_planner.publish(sm, pm)
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ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
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msg = messaging.new_message('driverAssistance')
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msg.valid = sm.all_checks()
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msg.driverAssistance.leftLaneDeparture = ldw.left
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msg.driverAssistance.rightLaneDeparture = ldw.right
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pm.send('driverAssistance', msg)
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if __name__ == "__main__":
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main()
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