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long planner: run when using stock longitudinal (#25017)

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* Squashed commit of the following:

commit e27a5b4e2bfeab4e6a47440b1d4eb180ee4acf49
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Jul 1 14:10:06 2022 -0700

    remove this test

    remove this test

commit c3c10af82222ea4641d94c53a3a07b486cca8452
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Jul 1 14:08:15 2022 -0700

    only planner changes

commit 50e0f1d8704c15acfce8987faf3515c99e8af4f4
Merge: e088fde67 fcc5b3d70
Author: Shane Smiskol <shane@smiskol.com>
Date:   Fri Jul 1 14:05:36 2022 -0700

    Merge remote-tracking branch 'upstream/master' into enable-planner2

commit e088fde67e
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Jun 30 13:58:38 2022 -0700

    no walrus

commit b7b425e530
Merge: f8634266b c49f997be
Author: Shane Smiskol <shane@smiskol.com>
Date:   Thu Jun 30 13:54:30 2022 -0700

    Merge remote-tracking branch 'upstream/master' into enable-planner

commit f8634266b4
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 29 16:07:35 2022 -0700

    stricter test, speeds[-1] is 0.14 when starting here

commit c9e446ad21
Merge: e6c4106ea 879a7c320
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 29 16:01:32 2022 -0700

    Merge remote-tracking branch 'upstream/master' into enable-planner

commit e6c4106ea1
Author: Shane Smiskol <shane@smiskol.com>
Date:   Sat Jun 25 03:28:41 2022 -0700

    fix test

commit 0520c7f216
Author: Shane Smiskol <shane@smiskol.com>
Date:   Sat Jun 25 03:26:16 2022 -0700

    add test for resuming

commit 04db5f80bf
Merge: e23b37d3f d8bfe2f00
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 22 20:15:50 2022 -0700

    Merge remote-tracking branch 'upstream/master' into enable-planner

commit e23b37d3fe
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Jun 21 12:46:04 2022 -0700

    0.1 should be pretty safe

commit e7dc3960da
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Jun 21 12:39:30 2022 -0700

    try 0.2

commit ff0597ec92
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Jun 21 11:34:00 2022 -0700

    Always run planner if not opLong

commit 13997c5527
Merge: d2f51ee55 95d8517a8
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Jun 21 11:29:22 2022 -0700

    Merge remote-tracking branch 'upstream/master' into enable-planner

commit d2f51ee55f
Author: Shane Smiskol <shane@smiskol.com>
Date:   Tue Jun 21 11:27:45 2022 -0700

    same for non-HDA2

commit 6a63bd60f0
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Jun 20 23:37:07 2022 -0700

    mazda: ensure no resume if cancelling

commit 5771cdecab
Author: Shane Smiskol <shane@smiskol.com>
Date:   Mon Jun 20 23:27:58 2022 -0700

    maintain original button msg rate

commit 6c1fe0606f
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 23:45:26 2022 -0700

    rename to resume

commit 00b1df652f
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 21:57:54 2022 -0700

    remove comments

commit 325ea9bbd5
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 21:56:20 2022 -0700

    vw

commit 2c9061042b
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 21:54:37 2022 -0700

    do rest but vw

commit 3dc51f663d
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 16:34:48 2022 -0700

    only spam resume when future is > vEgoStarting

commit 5f32cd1fcb
Author: Shane Smiskol <shane@smiskol.com>
Date:   Wed Jun 15 16:09:43 2022 -0700

    always log leads, we hide them in ui

* reset when not CS.enabled

remove comment

* update refs
pull/25044/head
Shane Smiskol 3 years ago committed by GitHub
parent 38427e6fbb
commit f797567ef8
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 9 additions and 13 deletions
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  1. 4
      selfdrive/controls/lib/longitudinal_planner.py
  2. 16
      selfdrive/controls/radard.py
  3. 2
      selfdrive/test/process_replay/ref_commit

4
selfdrive/controls/lib/longitudinal_planner.py
Unescape View File

@ -66,11 +66,11 @@ class Planner:
v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
v_cruise = v_cruise_kph * CV.KPH_TO_MS
long_control_state = sm['controlsState'].longControlState
long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
force_slow_decel = sm['controlsState'].forceDecel
# Reset current state when not engaged, or user is controlling the speed
reset_state = long_control_state == LongCtrlState.off
reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
# No change cost when user is controlling the speed, or when standstill
prev_accel_constraint = not (reset_state or sm['carState'].standstill)

16
selfdrive/controls/radard.py
Unescape View File

@ -102,7 +102,7 @@ class RadarD():
self.ready = False
def update(self, sm, rr, enable_lead):
def update(self, sm, rr):
self.current_time = 1e-9*max(sm.logMonoTime.values())
if sm.updated['carState']:
@ -169,11 +169,10 @@ class RadarD():
radarState.radarErrors = list(rr.errors)
radarState.carStateMonoTime = sm.logMonoTime['carState']
if enable_lead:
leads_v3 = sm['modelV2'].leadsV3
if len(leads_v3) > 1:
radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
leads_v3 = sm['modelV2'].leadsV3
if len(leads_v3) > 1:
radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
return dat
@ -203,9 +202,6 @@ def radard_thread(sm=None, pm=None, can_sock=None):
rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
RD = RadarD(CP.radarTimeStep, RI.delay)
# TODO: always log leads once we can hide them conditionally
enable_lead = CP.openpilotLongitudinalControl or not CP.radarOffCan
while 1:
can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
rr = RI.update(can_strings)
@ -215,7 +211,7 @@ def radard_thread(sm=None, pm=None, can_sock=None):
sm.update(0)
dat = RD.update(sm, rr, enable_lead)
dat = RD.update(sm, rr)
dat.radarState.cumLagMs = -rk.remaining*1000.
pm.send('radarState', dat)

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
806984d4206056fb132625c5dad6c0ca1835a2d6
a57bbbffbee434e59e08b98b667dc13b6b505f08
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