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85 lines
2.9 KiB
85 lines
2.9 KiB
#!/usr/bin/env python
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import zmq
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from collections import defaultdict
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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 sec_since_boot
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from selfdrive.swaglog import cloudlog
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from selfdrive.services import service_list
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from selfdrive.controls.lib.planner import Planner
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.controls.lib.pathplanner import PathPlanner
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import selfdrive.messaging as messaging
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def plannerd_thread():
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context = zmq.Context()
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params = Params()
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# Get FCW toggle from settings
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fcw_enabled = params.get("IsFcwEnabled") == "1"
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cloudlog.info("plannerd is waiting for CarParams")
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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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PL = Planner(CP, fcw_enabled)
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PP = PathPlanner(CP)
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VM = VehicleModel(CP)
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poller = zmq.Poller()
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car_state_sock = messaging.sub_sock(context, service_list['carState'].port, conflate=True, poller=poller)
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live100_sock = messaging.sub_sock(context, service_list['live100'].port, conflate=True, poller=poller)
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live20_sock = messaging.sub_sock(context, service_list['live20'].port, conflate=True, poller=poller)
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model_sock = messaging.sub_sock(context, service_list['model'].port, conflate=True, poller=poller)
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live_map_data_sock = messaging.sub_sock(context, service_list['liveMapData'].port, conflate=True, poller=poller)
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live_parameters_sock = messaging.sub_sock(context, service_list['liveParameters'].port, conflate=True, poller=poller)
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car_state = messaging.new_message()
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car_state.init('carState')
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live100 = messaging.new_message()
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live100.init('live100')
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model = messaging.new_message()
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model.init('model')
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live20 = messaging.new_message()
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live20.init('live20')
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live_map_data = messaging.new_message()
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live_map_data.init('liveMapData')
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live_parameters = messaging.new_message()
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live_parameters.init('liveParameters')
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live_parameters.liveParameters.valid = True
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live_parameters.liveParameters.steerRatio = CP.steerRatio
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live_parameters.liveParameters.stiffnessFactor = 1.0
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rcv_times = defaultdict(int)
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while True:
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for socket, event in poller.poll():
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msg = messaging.recv_one(socket)
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rcv_times[msg.which()] = sec_since_boot()
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if socket is live100_sock:
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live100 = msg
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elif socket is car_state_sock:
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car_state = msg
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elif socket is live_parameters_sock:
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live_parameters = msg
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elif socket is model_sock:
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model = msg
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PP.update(rcv_times, CP, VM, car_state, model, live100, live_parameters)
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elif socket is live_map_data_sock:
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live_map_data = msg
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elif socket is live20_sock:
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live20 = msg
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PL.update(rcv_times, car_state, CP, VM, PP, live20, live100, model, live_map_data)
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def main(gctx=None):
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plannerd_thread()
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if __name__ == "__main__":
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main()
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