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DevTekVE
52 lines
1.9 KiB
Python
Executable File
52 lines
1.9 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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from openpilot.selfdrive.controls.lib.lateral_planner_sp import LateralPlannerSP
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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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lateral_planner_sp = LateralPlannerSP()
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longitudinal_planner = LongitudinalPlanner(CP)
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pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan', 'longitudinalPlanSP', 'lateralPlanSPDEPRECATED'])
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'lateralPlanSPDEPRECATED', '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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lateral_planner_sp.update(sm)
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lateral_planner_sp.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, 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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