mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-09-29 23:43:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Revert "pass sm.frame from plannerd"

Browse Source 
This reverts commit a8deaa69b8.
This commit is contained in:
Jason Wen
2025-01-12 18:55:38 -05:00
parent ea6cd3429b
commit 67692babdc
4 changed files with 9 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/controls/lib/longitudinal_planner.py
+2 -2
View File
@@ -107,8 +107,8 @@ class LongitudinalPlanner(DecPlanner):
throttle_prob = 1.0
return x, v, a, j, throttle_prob
def update(self, sm, frame):
DecPlanner.update(self, sm, frame)
def update(self, sm):
DecPlanner.update(self, sm)
self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
if dec_mpc_mode := self.get_mpc_mode(sm):
self.mpc.mode = dec_mpc_mode
selfdrive/controls/plannerd.py
+1 -1
View File
@@ -25,7 +25,7 @@ def main():
while True:
sm.update()
if sm.updated['modelV2']:
longitudinal_planner.update(sm, sm.frame)
longitudinal_planner.update(sm)
longitudinal_planner.publish(sm, pm)
ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
sunnypilot/selfdrive/controls/lib/dec/dec.py
+4 -4
View File
@@ -377,12 +377,12 @@ class DynamicExperimentalController:
if self._set_mode_timeout > 0:
self._set_mode_timeout -= 1
def _read_params(self, frame: int) -> None:
if frame % int(1. / DT_MDL) == 0:
def _read_params(self, sm: messaging.SubMaster) -> None:
if sm.frame % int(1. / DT_MDL) == 0:
self._is_enabled = self._params.get_bool("DynamicExperimentalControl")
def update(self, radar_unavailable: bool, sm: messaging.SubMaster, frame: int) -> None:
self._read_params(frame)
def update(self, radar_unavailable: bool, sm: messaging.SubMaster) -> None:
self._read_params(sm)
if self._is_enabled:
self._update(sm)
sunnypilot/selfdrive/controls/lib/dec/helpers.py
+2 -2
View File
@@ -27,9 +27,9 @@ class DecPlanner:
return self.dynamic_experimental_controller.get_mpc_mode()
def update(self, sm: messaging.SubMaster, frame: int) -> None:
def update(self, sm: messaging.SubMaster) -> None:
self.dynamic_experimental_controller.set_mpc_fcw_crash_cnt(self.mpc.crash_cnt)
self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm, frame)
self.dynamic_experimental_controller.update(self.CP.radarUnavailable, sm)
def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
plan_sp_send = messaging.new_message('longitudinalPlanSP')