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2024-04-27 13:44:34 -05:00
parent ea1aad5ed1
commit 2fbe9dbea1
25 changed files with 1501 additions and 532 deletions
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15
selfdrive/controls/plannerd.py
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@@ -6,8 +6,6 @@ from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
import cereal.messaging as messaging
from openpilot.selfdrive.frogpilot.functions.frogpilot_planner import FrogPilotPlanner
def publish_ui_plan(sm, pm, longitudinal_planner):
ui_send = messaging.new_message('uiPlan')
ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
@@ -24,27 +22,22 @@ def plannerd_thread():
cloudlog.info("plannerd is waiting for CarParams")
params = Params()
params_memory = Params("/dev/shm/params")
with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
CP = msg
cloudlog.info("plannerd got CarParams: %s", CP.carName)
frogpilot_planner = FrogPilotPlanner(CP, params, params_memory)
longitudinal_planner = LongitudinalPlanner(CP)
pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan', 'frogpilotPlan'])
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'frogpilotNavigation'],
pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'frogpilotCarControl', 'frogpilotPlan'],
poll='modelV2', ignore_avg_freq=['radarState'])
while True:
sm.update()
if sm.updated['modelV2']:
longitudinal_planner.update(sm, frogpilot_planner, params_memory)
longitudinal_planner.publish(sm, pm, frogpilot_planner)
longitudinal_planner.update(sm)
longitudinal_planner.publish(sm, pm)
publish_ui_plan(sm, pm, longitudinal_planner)
if params_memory.get_bool("FrogPilotTogglesUpdated"):
frogpilot_planner.update_frogpilot_params(params)
def main():
plannerd_thread()