move personality to controlsState, since eventually it won't be exclusive to long planner

more

bump

cereal

@@ -1 +1 @@
-Subproject commit 93d3df3210a8c4f4c7e6f45950f73dc8a2f09a2c
+Subproject commit ae018910975883dfe70700fe161092ef62050fc2

selfdrive/controls/controlsd.py

@@ -146,6 +146,7 @@ class Controls:
     self.steer_limited = False
     self.desired_curvature = 0.0
     self.experimental_mode = False
+    self.personality = log.LongitudinalPersonality.standard
     self.v_cruise_helper = VCruiseHelper(self.CP)
     self.recalibrating_seen = False
 
@@ -650,6 +651,12 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
+    # decrement personality on distance button press
+    if self.CP.openpilotLongitudinalControl:
+      if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
+        self.personality = (self.personality - 1) % 3
+        self.params.put('LongitudinalPersonality', str(self.personality))
+
     return CC, lac_log
 
   def publish_logs(self, CS, start_time, CC, lac_log):
@@ -769,6 +776,7 @@ class Controls:
     controlsState.forceDecel = bool(force_decel)
     controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter
     controlsState.experimentalMode = self.experimental_mode
+    controlsState.personality = self.personality
 
     lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:
@@ -825,6 +833,10 @@ class Controls:
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+      try:
+        self.personality = int(self.params.get('LongitudinalPersonality'))
+      except (ValueError, TypeError):
+        self.personality = log.LongitudinalPersonality.standard
       if self.CP.notCar:
         self.joystick_mode = self.params.get_bool("JoystickDebugMode")
       time.sleep(0.1)

selfdrive/controls/lib/longitudinal_planner.py

@@ -2,8 +2,6 @@
 import math
 import numpy as np
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
-from cereal import car, log
 
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
@@ -17,8 +15,6 @@ from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDX
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
 from openpilot.common.swaglog import cloudlog
 
-ButtonType = car.CarState.ButtonEvent.Type
-
 LON_MPC_STEP = 0.2  # first step is 0.2s
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
@@ -63,19 +59,6 @@ class LongitudinalPlanner:
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
-    self.params = Params()
-    self.param_read_counter = 0
-    self.personality = log.LongitudinalPersonality.standard
-    self.read_param()
-
-  def read_param(self):
-    try:
-      self.personality = int(self.params.get('LongitudinalPersonality'))
-    except (ValueError, TypeError):
-      self.personality = log.LongitudinalPersonality.standard
-
-  def write_param(self):
-    self.params.put('LongitudinalPersonality', str(self.personality))
 
   @staticmethod
   def parse_model(model_msg, model_error):
@@ -93,18 +76,7 @@ class LongitudinalPlanner:
       j = np.zeros(len(T_IDXS_MPC))
     return x, v, a, j
 
-  def update(self, sm, carState_sock):
+  def update(self, sm):
-    if self.param_read_counter % 50 == 0:
-      self.read_param()
-
-    # decrement personality on distance button press
-    if self.CP.openpilotLongitudinalControl:
-      for m in messaging.drain_sock(carState_sock, wait_for_one=False):
-        if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in m.carState.buttonEvents):
-          self.personality = (self.personality - 1) % 3
-          self.write_param()
-
-    self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
@@ -143,11 +115,11 @@ class LongitudinalPlanner:
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint, personality=self.personality)
+    self.mpc.set_weights(prev_accel_constraint, personality=sm['controlsState'].personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)
 
     self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
     self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
@@ -183,6 +155,5 @@ class LongitudinalPlanner:
     longitudinalPlan.fcw = self.fcw
 
     longitudinalPlan.solverExecutionTime = self.mpc.solve_time
-    longitudinalPlan.personality = self.personality
 
     pm.send('longitudinalPlan', plan_send)

selfdrive/controls/plannerd.py

@@ -30,12 +30,11 @@ def plannerd_thread():
   pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
-  carState_sock = messaging.sub_sock('carState')
 
   while True:
     sm.update()
     if sm.updated['modelV2']:
-      longitudinal_planner.update(sm, carState_sock)
+      longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
       publish_ui_plan(sm, pm, longitudinal_planner)
 

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -50,7 +50,6 @@ class Plant:
     from openpilot.selfdrive.car.honda.interface import CarInterface
 
     self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed)
-    self.carState_sock = messaging.sub_sock('carState')
 
   @property
   def current_time(self):
@@ -122,7 +121,7 @@ class Plant:
           'carState': car_state.carState,
           'controlsState': control.controlsState,
           'modelV2': model.modelV2}
-    self.planner.update(sm, self.carState_sock)
+    self.planner.update(sm)
     self.speed = self.planner.v_desired_filter.x
     self.acceleration = self.planner.a_desired
     self.speeds = self.planner.v_desired_trajectory.tolist()