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Make longitudinal planning triggered on model (#22641)

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* Make long planning triggered on model

* fix process replay

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
pull/22720/head
Robbe Derks 4 years ago committed by GitHub
parent 21c4bfc7be
commit efb5abec41
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3 changed files with 3 additions and 4 deletions
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  1. 1
      selfdrive/controls/plannerd.py
  2. 4
      selfdrive/test/process_replay/process_replay.py
  3. 2
      selfdrive/test/process_replay/ref_commit

1
selfdrive/controls/plannerd.py
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@ -38,7 +38,6 @@ def plannerd_thread(sm=None, pm=None):
if sm.updated['modelV2']: if sm.updated['modelV2']:
lateral_planner.update(sm, CP) lateral_planner.update(sm, CP)
lateral_planner.publish(sm, pm) lateral_planner.publish(sm, pm)
if sm.updated['radarState']:
longitudinal_planner.update(sm, CP) longitudinal_planner.update(sm, CP)
longitudinal_planner.publish(sm, pm) longitudinal_planner.publish(sm, pm)

4
selfdrive/test/process_replay/process_replay.py
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@ -264,8 +264,8 @@ CONFIGS = [
ProcessConfig( ProcessConfig(
proc_name="plannerd", proc_name="plannerd",
pub_sub={ pub_sub={
"modelV2": ["lateralPlan"], "radarState": ["longitudinalPlan"], "modelV2": ["lateralPlan", "longitudinalPlan"],
"carState": [], "controlsState": [], "carState": [], "controlsState": [], "radarState": [],
}, },
ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"], ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"],
init_callback=get_car_params, init_callback=get_car_params,

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
6603859ec1a7a2d61c63693cff1765b0189c4746 58674945e8c265e2c1f53500fc9cab2ed9a815b0
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