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MSPA: Lat plan deprecation prerequisites (#276)

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* MSPA: Lat plan deprecation prerequisites

* bump cereal
This commit is contained in:
Jason Wen
2024-02-02 01:14:13 -05:00
committed by GitHub
parent dd49490dae
commit 66df10faaf
4 changed files with 6 additions and 4 deletions
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cereal
+1 -1
Submodule cereal updated: e99eb7bdd4...d3d5b06703
selfdrive/controls/controlsd.py
+2 -2
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@@ -81,7 +81,7 @@ class Controls:
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
'testJoystick', 'longitudinalPlanSP', 'lateralPlanSPDEPRECATED'] + self.camera_packets + self.sensor_packets,
'testJoystick', 'longitudinalPlanSP', 'lateralPlanSPDEPRECATED', 'modelV2SP'] + self.camera_packets + self.sensor_packets,
ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
if CI is None:
@@ -299,7 +299,7 @@ class Controls:
lane_change_set_timer = int(self.params.get("AutoLaneChangeTimer", encoding="utf8"))
if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['lateralPlan'].laneChangeDirection
lc_prev = self.sm['lateralPlanSPDEPRECATED'].laneChangePrev
lc_prev = self.sm['lateralPlanSPDEPRECATED'].laneChangePrevDEPRECATED
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
(CS.rightBlindspot and direction == LaneChangeDirection.right):
self.events.add(EventName.laneChangeBlocked)
selfdrive/controls/lib/lateral_planner.py
+1 -1
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@@ -77,6 +77,6 @@ class LateralPlanner:
plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
lateralPlanSPDEPRECATED = plan_sp_send.lateralPlanSPDEPRECATED
lateralPlanSPDEPRECATED.laneChangePrev = self.DH.prev_lane_change
lateralPlanSPDEPRECATED.laneChangePrevDEPRECATED = self.DH.prev_lane_change
pm.send('lateralPlanSPDEPRECATED', plan_sp_send)
selfdrive/modeld/modeld.py
+2
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@@ -272,12 +272,14 @@ def main():
if model_output is not None:
modelv2_send = messaging.new_message('modelV2')
modelv2_sp_send = messaging.new_message('modelV2SP')
posenet_send = messaging.new_message('cameraOdometry')
fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen)
fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
pm.send('modelV2', modelv2_send)
pm.send('modelV2SP', modelv2_sp_send)
pm.send('cameraOdometry', posenet_send)
last_vipc_frame_id = meta_main.frame_id