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36 lines
1.1 KiB
36 lines
1.1 KiB
#!/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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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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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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longitudinal_planner = LongitudinalPlanner(CP)
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pm = messaging.PubMaster(['longitudinalPlan'])
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
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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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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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