You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
61 lines
2.3 KiB
61 lines
2.3 KiB
#!/usr/bin/env python3
|
|
import numpy as np
|
|
from cereal import car
|
|
from common.params import Params
|
|
from common.realtime import Priority, config_realtime_process
|
|
from system.swaglog import cloudlog
|
|
from selfdrive.modeld.constants import T_IDXS
|
|
from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
|
|
from selfdrive.controls.lib.lateral_planner import LateralPlanner
|
|
import cereal.messaging as messaging
|
|
|
|
def cumtrapz(x, t):
|
|
return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])
|
|
|
|
def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
|
|
plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS)
|
|
model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS)
|
|
|
|
ui_send = messaging.new_message('uiPlan')
|
|
ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
|
|
uiPlan = ui_send.uiPlan
|
|
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()
|
|
uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
|
|
pm.send('uiPlan', ui_send)
|
|
|
|
def plannerd_thread(sm=None, pm=None):
|
|
config_realtime_process(5, Priority.CTRL_LOW)
|
|
|
|
cloudlog.info("plannerd is waiting for CarParams")
|
|
params = Params()
|
|
CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
|
|
cloudlog.info("plannerd got CarParams: %s", CP.carName)
|
|
|
|
longitudinal_planner = LongitudinalPlanner(CP)
|
|
lateral_planner = LateralPlanner(CP)
|
|
|
|
if sm is None:
|
|
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
|
|
poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
|
|
|
|
if pm is None:
|
|
pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
|
|
|
|
while True:
|
|
sm.update()
|
|
|
|
if sm.updated['modelV2']:
|
|
lateral_planner.update(sm)
|
|
lateral_planner.publish(sm, pm)
|
|
longitudinal_planner.update(sm)
|
|
longitudinal_planner.publish(sm, pm)
|
|
publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
|
|
|
|
def main(sm=None, pm=None):
|
|
plannerd_thread(sm, pm)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|