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lateral_planner.py/publish: follow capnp best practices (#23359)

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pj-view-ci-routes
Dean Lee 4 years ago committed by GitHub
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commit 2ca0925da7
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1 changed files with 17 additions and 15 deletions
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  1. 32
      selfdrive/controls/lib/lateral_planner.py

32
selfdrive/controls/lib/lateral_planner.py
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@ -204,20 +204,22 @@ class LateralPlanner:
plan_solution_valid = self.solution_invalid_cnt < 2 plan_solution_valid = self.solution_invalid_cnt < 2
plan_send = messaging.new_message('lateralPlan') plan_send = messaging.new_message('lateralPlan')
plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'modelV2']) plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'modelV2'])
plan_send.lateralPlan.laneWidth = float(self.LP.lane_width)
plan_send.lateralPlan.dPathPoints = [float(x) for x in self.y_pts] lateralPlan = plan_send.lateralPlan
plan_send.lateralPlan.psis = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 2]] lateralPlan.laneWidth = float(self.LP.lane_width)
plan_send.lateralPlan.curvatures = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 3]] lateralPlan.dPathPoints = [float(x) for x in self.y_pts]
plan_send.lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] lateralPlan.psis = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 2]]
plan_send.lateralPlan.lProb = float(self.LP.lll_prob) lateralPlan.curvatures = [float(x) for x in self.lat_mpc.x_sol[0:CONTROL_N, 3]]
plan_send.lateralPlan.rProb = float(self.LP.rll_prob) lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
plan_send.lateralPlan.dProb = float(self.LP.d_prob) lateralPlan.lProb = float(self.LP.lll_prob)
lateralPlan.rProb = float(self.LP.rll_prob)
plan_send.lateralPlan.mpcSolutionValid = bool(plan_solution_valid) lateralPlan.dProb = float(self.LP.d_prob)
plan_send.lateralPlan.desire = self.desire lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
plan_send.lateralPlan.useLaneLines = self.use_lanelines
plan_send.lateralPlan.laneChangeState = self.lane_change_state lateralPlan.desire = self.desire
plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction lateralPlan.useLaneLines = self.use_lanelines
lateralPlan.laneChangeState = self.lane_change_state
lateralPlan.laneChangeDirection = self.lane_change_direction
pm.send('lateralPlan', plan_send) pm.send('lateralPlan', plan_send)

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