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FrogPilot setup

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This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 9d97e0ecc1
commit 7308c1b35c
60 changed files with 1660 additions and 49 deletions
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8
selfdrive/controls/lib/lateral_planner.py
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@@ -27,7 +27,7 @@ class LateralPlanner:
self.debug_mode = debug
def update(self, sm):
def update(self, sm, frogpilot_planner):
v_ego_car = sm['carState'].vEgo
# Parse model predictions
@@ -46,9 +46,9 @@ class LateralPlanner:
self.l_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeLeft]
self.r_lane_change_prob = desire_state[log.LateralPlan.Desire.laneChangeRight]
lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob
self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
self.DH.update(sm['carState'], md, sm['carControl'].latActive, lane_change_prob, frogpilot_planner)
def publish(self, sm, pm):
def publish(self, sm, pm, frogpilot_planner):
plan_send = messaging.new_message('lateralPlan')
plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
@@ -72,3 +72,5 @@ class LateralPlanner:
lateralPlan.laneChangeDirection = self.DH.lane_change_direction
pm.send('lateralPlan', plan_send)
frogpilot_planner.publish_lateral(sm, pm, self.DH)