mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-20 03:42:06 +08:00
Jason Wen
0372bf8e11
* UI: Display E2E Longitudinal status icon
* don't forget init
* take these out
* and this
* can't leave this
* spam the event
* publish here instead
* try this now
* expose the toggle
* Spam all the time!!!
* Spam all the time with this!
* see if this works
* new way to trigger
* fix
* another one
* more to it
* more of that
* move to car controls instead
* no longer needed
* 20 hz
* unnecessary
* send like this pls
* move to long planner
* let's see what it looks like first
* don't alert yet lol
* re-enable and try out prompt!
* move chime event to longitudinal_planner
* AlertStatus to userPrompt
* Add more reset conditions
* less conditions to test first
* louder sound
* permanent alert
* LOUDER SON!
* use stock prompt
* Revert "less conditions to test first"
This reverts commit b24a096e65e80f303f7d92072cdf273a30dd37e2.
* remove lead car take off alert (in separate PR)
* cleanup
* longer
* Nicki Minaj Model (#28218)
* New model: 2ff7490f-8a2f-4c0d-87a8-b0fa3a4a6a71
* Updated model_replay_ref_commit
(cherry picked from commit 328b5d9d47)
* use the event
* move logic to c++
* cleanup
* no prompt border
* use brake light from car state
* lead car take off event
* lead car take off event
* always reset last distance
* show border when prompted
* remove lead car take off alert (in separate PR)
* don't prompt when lead car detected
* Revert "Nicki Minaj Model (#28218)"
This reverts commit b25e96c9d8fe0ac3a93c97eec2e91064c12a5649.
* bad sounds
* simpler
---------
Co-authored-by: Mitchell Goff <mitchellgoffpc@gmail.com>
68 lines
2.6 KiB
Python
Executable File
68 lines
2.6 KiB
Python
Executable File
#!/usr/bin/env python3
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import numpy as np
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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.modeld.constants import T_IDXS
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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 cumtrapz(x, t):
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return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])
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def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
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plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS)
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model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS)
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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 = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
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uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
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uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
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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(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', 'lateralPlan', 'liveMapData', 'navInstruction', 'e2eLongState'],
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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', 'uiPlan'])
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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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publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
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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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