mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-08-22 11:13:47 +08:00
Jason Wen
6ec1b029b9
* Revert "Remove lane planning code (#25651)" * DLP: preserves lanelines * MADS: cruiseEngageBlocked event * change path now! * Revert "change path now!" This reverts commit 7db2af33378aa02288b6222ed722d705ca6e92ec. * Revert "Revert "change path now!"" This reverts commit 19f50a19e98721f7b8b9018b2e788629df45137f. * c string * atoi instead * does this work? * move it move it * move there * Try this one * dotted line * looks horrible * how about this? * Nah let's keep it simple * track these with cereals * send button! * add more * don't need this * and this too * make sure it shows first * more * to right for now * stock size * different color * move some logic around * don't miss * don't miss this * check somewhere else * oops * not liking it * bring back current button * don't need to be constant * take it out for now * wrap for translation
50 lines
1.5 KiB
Python
Executable File
50 lines
1.5 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car
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from common.params import Params
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from common.realtime import Priority, config_realtime_process
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from system.swaglog import cloudlog
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from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
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from selfdrive.controls.lib.lateral_planner import LateralPlanner
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import cereal.messaging as messaging
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def plannerd_thread(sm=None, pm=None):
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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 = car.CarParams.from_bytes(params.get("CarParams", block=True))
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cloudlog.info("plannerd got CarParams: %s", CP.carName)
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use_lanelines = False
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wide_camera = params.get_bool('WideCameraOnly')
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cloudlog.event("e2e mode", on=use_lanelines)
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longitudinal_planner = LongitudinalPlanner(CP)
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lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
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if sm is None:
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'longitudinalPlan'],
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poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
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if pm is None:
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pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan'])
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while True:
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sm.update()
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if sm.updated['modelV2']:
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lateral_planner.update(sm)
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lateral_planner.publish(sm, pm)
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longitudinal_planner.update(sm)
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longitudinal_planner.publish(sm, pm)
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def main(sm=None, pm=None):
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plannerd_thread(sm, pm)
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if __name__ == "__main__":
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main()
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