mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-20 09:12:05 +08:00
Jason Wen
d35cdb510d
Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master` Sync: `commaai/panda:master` into `sunnypilot/panda:master`
53 lines
2.1 KiB
Python
Executable File
53 lines
2.1 KiB
Python
Executable File
#!/usr/bin/env python3
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import os
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import numpy as np
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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.modeld.constants import ModelConstants
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from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
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from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner
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from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities
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import cereal.messaging as messaging
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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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CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
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cloudlog.info("plannerd got CarParams: %s", CP.carName)
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debug_mode = bool(int(os.getenv("DEBUG", "0")))
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longitudinal_planner = LongitudinalPlanner(CP)
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custom_model_metadata = CustomModelMetadata(params=params, init_only=True)
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model_use_lateral_planner = custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution
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lateral_planner = LateralPlanner(CP, debug=debug_mode, model_use_lateral_planner=model_use_lateral_planner)
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lateral_planner_svs = ['lateralPlanDEPRECATED', 'lateralPlanSPDEPRECATED']
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pm = messaging.PubMaster(['longitudinalPlan', 'longitudinalPlanSP'] + lateral_planner_svs)
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2',
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'longitudinalPlan', 'navInstruction', 'longitudinalPlanSP',
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'liveMapDataSP', 'e2eLongStateSP', 'controlsStateSP'] + lateral_planner_svs,
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poll='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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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():
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plannerd_thread()
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if __name__ == "__main__":
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main()
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