open source driving agent
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#!/usr/bin/env python
import gc
from cereal import car
from common.params import Params
from common.realtime import set_realtime_priority
from selfdrive.swaglog import cloudlog
from selfdrive.controls.lib.planner import Planner
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.controls.lib.pathplanner import PathPlanner
import selfdrive.messaging as messaging
def plannerd_thread():
gc.disable()
# start the loop
set_realtime_priority(2)
params = Params()
# Get FCW toggle from settings
fcw_enabled = params.get("IsFcwEnabled") == "1"
cloudlog.info("plannerd is waiting for CarParams")
CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
cloudlog.info("plannerd got CarParams: %s", CP.carName)
PL = Planner(CP, fcw_enabled)
PP = PathPlanner(CP)
VM = VehicleModel(CP)
sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters'])
sm['liveParameters'].valid = True
sm['liveParameters'].sensorValid = True
sm['liveParameters'].steerRatio = CP.steerRatio
sm['liveParameters'].stiffnessFactor = 1.0
while True:
sm.update()
if sm.updated['model']:
PP.update(sm, CP, VM)
if sm.updated['radarState']:
PL.update(sm, CP, VM, PP)
def main(gctx=None):
plannerd_thread()
if __name__ == "__main__":
main()