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.
35 lines
1.1 KiB
35 lines
1.1 KiB
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.realtime import Priority, config_realtime_process
|
|
from openpilot.common.swaglog import cloudlog
|
|
from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
|
|
import cereal.messaging as messaging
|
|
|
|
|
|
def plannerd_thread():
|
|
config_realtime_process(5, Priority.CTRL_LOW)
|
|
|
|
cloudlog.info("plannerd is waiting for CarParams")
|
|
params = Params()
|
|
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
|
|
cloudlog.info("plannerd got CarParams: %s", CP.carName)
|
|
|
|
longitudinal_planner = LongitudinalPlanner(CP)
|
|
pm = messaging.PubMaster(['longitudinalPlan'])
|
|
sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
|
|
poll='modelV2', ignore_avg_freq=['radarState'])
|
|
|
|
while True:
|
|
sm.update()
|
|
if sm.updated['modelV2']:
|
|
longitudinal_planner.update(sm)
|
|
longitudinal_planner.publish(sm, pm)
|
|
|
|
|
|
def main():
|
|
plannerd_thread()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|