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62 lines
2.3 KiB
62 lines
2.3 KiB
#!/usr/bin/env python3
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import numpy as np
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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 Priority, config_realtime_process
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from system.swaglog import cloudlog
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from selfdrive.modeld.constants import T_IDXS
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from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
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from selfdrive.controls.lib.lateral_planner import LateralPlanner
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import cereal.messaging as messaging
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def cumtrapz(x, t):
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return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])
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def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
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plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS)
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model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS)
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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 = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
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uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
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uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
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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(sm=None, pm=None):
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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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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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longitudinal_planner = LongitudinalPlanner(CP)
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lateral_planner = LateralPlanner(CP)
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if sm is None:
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
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poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
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if pm is None:
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pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
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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.update(sm)
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lateral_planner.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, lateral_planner, longitudinal_planner)
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def main(sm=None, pm=None):
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plannerd_thread(sm, pm)
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if __name__ == "__main__":
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main()
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