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DevTekVE
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# Conflicts: # .gitmodules # README.md # cereal # common/version.h # docs/CARS.md # launch_chffrplus.sh # opendbc # panda # selfdrive/car/honda/values.py # selfdrive/car/hyundai/interface.py # selfdrive/car/hyundai/values.py # selfdrive/car/torque_data/override.yaml # selfdrive/car/torque_data/params.yaml # selfdrive/controls/controlsd.py # selfdrive/controls/lib/lateral_planner.py # selfdrive/controls/lib/longitudinal_planner.py # selfdrive/controls/plannerd.py # selfdrive/debug/cycle_alerts.py # selfdrive/manager/manager.py # selfdrive/monitoring/dmonitoringd.py # selfdrive/thermald/power_monitoring.py # selfdrive/ui/qt/util.cc # system/loggerd/uploader.py
48 lines
1.7 KiB
Python
Executable File
48 lines
1.7 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car
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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.longitudinal_planner import LongitudinalPlanner
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import cereal.messaging as messaging
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def publish_ui_plan(sm, pm, longitudinal_planner):
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ui_send = messaging.new_message('uiPlan')
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ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
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uiPlan = ui_send.uiPlan
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uiPlan.frameId = sm['modelV2'].frameId
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uiPlan.position.x = list(sm['modelV2'].position.x)
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uiPlan.position.y = list(sm['modelV2'].position.y)
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uiPlan.position.z = list(sm['modelV2'].position.z)
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uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
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pm.send('uiPlan', ui_send)
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def plannerd_thread():
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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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with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
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CP = msg
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cloudlog.info("plannerd got CarParams: %s", CP.carName)
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longitudinal_planner = LongitudinalPlanner(CP)
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pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan', 'longitudinalPlanSP', 'lateralPlanSP'])
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'lateralPlanSP', 'liveMapDataSP'],
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poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
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while True:
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sm.update()
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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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publish_ui_plan(sm, pm, longitudinal_planner)
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def main():
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plannerd_thread()
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if __name__ == "__main__":
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main()
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