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53 lines
1.5 KiB
53 lines
1.5 KiB
#!/usr/bin/env python3
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from cereal import car
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from common.params import Params
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from common.realtime import Priority, config_realtime_process
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from selfdrive.swaglog import cloudlog
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from selfdrive.controls.lib.longitudinal_planner import Planner
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.controls.lib.lateral_planner import LateralPlanner
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import cereal.messaging as messaging
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def plannerd_thread(sm=None, pm=None):
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config_realtime_process(2, Priority.CTRL_LOW)
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cloudlog.info("plannerd is waiting for CarParams")
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CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
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cloudlog.info("plannerd got CarParams: %s", CP.carName)
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PL = Planner(CP)
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PP = LateralPlanner(CP)
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VM = VehicleModel(CP)
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if sm is None:
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sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2', 'liveParameters'],
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poll=['radarState', 'modelV2'])
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if pm is None:
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pm = messaging.PubMaster(['longitudinalPlan', 'liveLongitudinalMpc', 'lateralPlan', 'liveMpc'])
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sm['liveParameters'].valid = True
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sm['liveParameters'].sensorValid = True
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sm['liveParameters'].steerRatio = CP.steerRatio
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sm['liveParameters'].stiffnessFactor = 1.0
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while True:
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sm.update()
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if sm.updated['modelV2']:
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PP.update(sm, CP, VM)
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PP.publish(sm, pm)
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if sm.updated['radarState']:
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PL.update(sm, CP, VM, PP)
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PL.publish(sm, pm)
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def main(sm=None, pm=None):
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plannerd_thread(sm, pm)
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if __name__ == "__main__":
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main()
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