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plannerd: add frameId to uiPlan (#27573)

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* plannerd: add frameId to uiPlan

* update refs
old-commit-hash: 17b71b477e
beeps
Adeeb Shihadeh 2 years ago committed by GitHub
parent bb553a2032
commit e2acf6ab14
3 changed files with 3 additions and 2 deletions
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  1. 2
      cereal
  2. 1
      selfdrive/controls/plannerd.py
  3. 2
      selfdrive/test/process_replay/ref_commit

2
cereal

@ -1 +1 @@
Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e Subproject commit 9888e0476c05069d46f273569467e4371b2d8690

1
selfdrive/controls/plannerd.py
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@ -19,6 +19,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
ui_send = messaging.new_message('uiPlan') ui_send = messaging.new_message('uiPlan')
ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
uiPlan = ui_send.uiPlan 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.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.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() uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
f9c7e05b836c4bff364978752e82d64b90f9d6e6 3c5ebb007f76ba0de710ff7a8cf5910ad2edf22f
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