From e2acf6ab1421a768f48874b2dec05d02f06efa31 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 Mar 2023 15:30:38 -0700 Subject: [PATCH] plannerd: add frameId to uiPlan (#27573) * plannerd: add frameId to uiPlan * update refs old-commit-hash: 17b71b477e596529d36dc7f95e3fa42697adfadc --- cereal | 2 +- selfdrive/controls/plannerd.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index 42f84fd85d..9888e0476c 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e +Subproject commit 9888e0476c05069d46f273569467e4371b2d8690 diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index d8cf9386d1..14934254af 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -19,6 +19,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): ui_send = messaging.new_message('uiPlan') ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) uiPlan = ui_send.uiPlan + uiPlan.frameId = sm['modelV2'].frameId uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist() uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist() uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 79769e14b6..a8896884e1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f9c7e05b836c4bff364978752e82d64b90f9d6e6 +3c5ebb007f76ba0de710ff7a8cf5910ad2edf22f \ No newline at end of file