Make longitudinal planning triggered on model (#22641)

* Make long planning triggered on model * fix process replay Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: efb5abec41
4 years ago · 39d9bd31b0
parent a6a2693a1c
commit 39d9bd31b0
3 changed files with 3 additions and 4 deletions
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@ -38,7 +38,6 @@ def plannerd_thread(sm=None, pm=None):
    if sm.updated['modelV2']:
      lateral_planner.update(sm, CP)
      lateral_planner.publish(sm, pm)
-    if sm.updated['radarState']:
      longitudinal_planner.update(sm, CP)
      longitudinal_planner.publish(sm, pm)

--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -264,8 +264,8 @@ CONFIGS = [
  ProcessConfig(
    proc_name="plannerd",
    pub_sub={
-      "modelV2": ["lateralPlan"], "radarState": ["longitudinalPlan"],
-      "carState": [], "controlsState": [],
+      "modelV2": ["lateralPlan", "longitudinalPlan"],
+      "carState": [], "controlsState": [], "radarState": [],
    },
    ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"],
    init_callback=get_car_params,
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-6603859ec1a7a2d61c63693cff1765b0189c4746
+58674945e8c265e2c1f53500fc9cab2ed9a815b0