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221 lines
8.9 KiB
221 lines
8.9 KiB
import os
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import math
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from common.realtime import sec_since_boot, DT_MDL
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from selfdrive.swaglog import cloudlog
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from selfdrive.controls.lib.lateral_mpc import libmpc_py
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from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
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from selfdrive.controls.lib.lane_planner import LanePlanner
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from selfdrive.config import Conversions as CV
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import cereal.messaging as messaging
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from cereal import log
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LaneChangeState = log.PathPlan.LaneChangeState
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LaneChangeDirection = log.PathPlan.LaneChangeDirection
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LOG_MPC = os.environ.get('LOG_MPC', False)
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LANE_CHANGE_SPEED_MIN = 45 * CV.MPH_TO_MS
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LANE_CHANGE_TIME_MAX = 10.
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DESIRES = {
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LaneChangeDirection.none: {
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LaneChangeState.off: log.PathPlan.Desire.none,
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LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
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LaneChangeState.laneChangeStarting: log.PathPlan.Desire.none,
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LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.none,
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},
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LaneChangeDirection.left: {
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LaneChangeState.off: log.PathPlan.Desire.none,
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LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
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LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeLeft,
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LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeLeft,
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},
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LaneChangeDirection.right: {
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LaneChangeState.off: log.PathPlan.Desire.none,
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LaneChangeState.preLaneChange: log.PathPlan.Desire.none,
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LaneChangeState.laneChangeStarting: log.PathPlan.Desire.laneChangeRight,
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LaneChangeState.laneChangeFinishing: log.PathPlan.Desire.laneChangeRight,
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},
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}
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def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay):
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states[0].x = v_ego * delay
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states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay
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return states
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class PathPlanner():
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def __init__(self, CP):
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self.LP = LanePlanner()
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self.last_cloudlog_t = 0
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self.steer_rate_cost = CP.steerRateCost
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self.setup_mpc()
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self.solution_invalid_cnt = 0
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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self.lane_change_timer = 0.0
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self.prev_one_blinker = False
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def setup_mpc(self):
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self.libmpc = libmpc_py.libmpc
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self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
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self.mpc_solution = libmpc_py.ffi.new("log_t *")
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self.cur_state = libmpc_py.ffi.new("state_t *")
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self.cur_state[0].x = 0.0
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self.cur_state[0].y = 0.0
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self.cur_state[0].psi = 0.0
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self.cur_state[0].delta = 0.0
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self.angle_steers_des = 0.0
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self.angle_steers_des_mpc = 0.0
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self.angle_steers_des_prev = 0.0
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self.angle_steers_des_time = 0.0
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def update(self, sm, pm, CP, VM):
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v_ego = sm['carState'].vEgo
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angle_steers = sm['carState'].steeringAngle
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active = sm['controlsState'].active
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angle_offset = sm['liveParameters'].angleOffset
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# Run MPC
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self.angle_steers_des_prev = self.angle_steers_des_mpc
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VM.update_params(sm['liveParameters'].stiffnessFactor, sm['liveParameters'].steerRatio)
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curvature_factor = VM.curvature_factor(v_ego)
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self.LP.parse_model(sm['model'])
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# Lane change logic
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one_blinker = sm['carState'].leftBlinker != sm['carState'].rightBlinker
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below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
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if sm['carState'].leftBlinker:
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self.lane_change_direction = LaneChangeDirection.left
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elif sm['carState'].rightBlinker:
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self.lane_change_direction = LaneChangeDirection.right
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if (not active) or (self.lane_change_timer > LANE_CHANGE_TIME_MAX) or (not one_blinker):
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self.lane_change_state = LaneChangeState.off
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self.lane_change_direction = LaneChangeDirection.none
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else:
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torque_applied = sm['carState'].steeringPressed and \
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((sm['carState'].steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or \
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(sm['carState'].steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
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lane_change_prob = self.LP.l_lane_change_prob + self.LP.r_lane_change_prob
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# State transitions
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# off
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if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
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self.lane_change_state = LaneChangeState.preLaneChange
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# pre
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elif self.lane_change_state == LaneChangeState.preLaneChange:
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if not one_blinker or below_lane_change_speed:
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self.lane_change_state = LaneChangeState.off
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elif torque_applied:
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self.lane_change_state = LaneChangeState.laneChangeStarting
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# starting
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elif self.lane_change_state == LaneChangeState.laneChangeStarting and lane_change_prob > 0.5:
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self.lane_change_state = LaneChangeState.laneChangeFinishing
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# finishing
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elif self.lane_change_state == LaneChangeState.laneChangeFinishing and lane_change_prob < 0.2:
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if one_blinker:
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self.lane_change_state = LaneChangeState.preLaneChange
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else:
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self.lane_change_state = LaneChangeState.off
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if self.lane_change_state in [LaneChangeState.off, LaneChangeState.preLaneChange]:
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self.lane_change_timer = 0.0
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else:
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self.lane_change_timer += DT_MDL
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self.prev_one_blinker = one_blinker
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desire = DESIRES[self.lane_change_direction][self.lane_change_state]
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# Turn off lanes during lane change
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if desire == log.PathPlan.Desire.laneChangeRight or desire == log.PathPlan.Desire.laneChangeLeft:
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self.LP.l_prob = 0.
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self.LP.r_prob = 0.
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self.libmpc.init_weights(MPC_COST_LAT.PATH / 10.0, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
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else:
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self.libmpc.init_weights(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, self.steer_rate_cost)
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self.LP.update_d_poly(v_ego)
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# account for actuation delay
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self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset, curvature_factor, VM.sR, CP.steerActuatorDelay)
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v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed
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self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
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list(self.LP.l_poly), list(self.LP.r_poly), list(self.LP.d_poly),
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self.LP.l_prob, self.LP.r_prob, curvature_factor, v_ego_mpc, self.LP.lane_width)
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# reset to current steer angle if not active or overriding
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if active:
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delta_desired = self.mpc_solution[0].delta[1]
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rate_desired = math.degrees(self.mpc_solution[0].rate[0] * VM.sR)
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else:
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delta_desired = math.radians(angle_steers - angle_offset) / VM.sR
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rate_desired = 0.0
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self.cur_state[0].delta = delta_desired
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self.angle_steers_des_mpc = float(math.degrees(delta_desired * VM.sR) + angle_offset)
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# Check for infeasable MPC solution
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mpc_nans = any(math.isnan(x) for x in self.mpc_solution[0].delta)
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t = sec_since_boot()
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if mpc_nans:
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self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, CP.steerRateCost)
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self.cur_state[0].delta = math.radians(angle_steers - angle_offset) / VM.sR
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if t > self.last_cloudlog_t + 5.0:
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self.last_cloudlog_t = t
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cloudlog.warning("Lateral mpc - nan: True")
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if self.mpc_solution[0].cost > 20000. or mpc_nans: # TODO: find a better way to detect when MPC did not converge
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self.solution_invalid_cnt += 1
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else:
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self.solution_invalid_cnt = 0
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plan_solution_valid = self.solution_invalid_cnt < 2
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plan_send = messaging.new_message()
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plan_send.init('pathPlan')
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plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState', 'liveParameters', 'model'])
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plan_send.pathPlan.laneWidth = float(self.LP.lane_width)
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plan_send.pathPlan.dPoly = [float(x) for x in self.LP.d_poly]
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plan_send.pathPlan.lPoly = [float(x) for x in self.LP.l_poly]
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plan_send.pathPlan.lProb = float(self.LP.l_prob)
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plan_send.pathPlan.rPoly = [float(x) for x in self.LP.r_poly]
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plan_send.pathPlan.rProb = float(self.LP.r_prob)
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plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
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plan_send.pathPlan.rateSteers = float(rate_desired)
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plan_send.pathPlan.angleOffset = float(sm['liveParameters'].angleOffsetAverage)
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plan_send.pathPlan.mpcSolutionValid = bool(plan_solution_valid)
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plan_send.pathPlan.paramsValid = bool(sm['liveParameters'].valid)
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plan_send.pathPlan.sensorValid = bool(sm['liveParameters'].sensorValid)
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plan_send.pathPlan.posenetValid = bool(sm['liveParameters'].posenetValid)
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plan_send.pathPlan.desire = desire
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plan_send.pathPlan.laneChangeState = self.lane_change_state
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plan_send.pathPlan.laneChangeDirection = self.lane_change_direction
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pm.send('pathPlan', plan_send)
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if LOG_MPC:
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dat = messaging.new_message()
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dat.init('liveMpc')
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dat.liveMpc.x = list(self.mpc_solution[0].x)
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dat.liveMpc.y = list(self.mpc_solution[0].y)
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dat.liveMpc.psi = list(self.mpc_solution[0].psi)
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dat.liveMpc.delta = list(self.mpc_solution[0].delta)
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dat.liveMpc.cost = self.mpc_solution[0].cost
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pm.send('liveMpc', dat)
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