From efb5abec41e349e4a8a667b96f6265825f75a2ce Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Thu, 28 Oct 2021 12:27:09 +0200 Subject: [PATCH] Make longitudinal planning triggered on model (#22641) * Make long planning triggered on model * fix process replay Co-authored-by: Adeeb Shihadeh --- selfdrive/controls/plannerd.py | 1 - selfdrive/test/process_replay/process_replay.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index d75048826..88734b3c1 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -38,7 +38,6 @@ def plannerd_thread(sm=None, pm=None): if sm.updated['modelV2']: lateral_planner.update(sm, CP) lateral_planner.publish(sm, pm) - if sm.updated['radarState']: longitudinal_planner.update(sm, CP) longitudinal_planner.publish(sm, pm) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 15ef0d3e6..451a7cfc5 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -264,8 +264,8 @@ CONFIGS = [ ProcessConfig( proc_name="plannerd", pub_sub={ - "modelV2": ["lateralPlan"], "radarState": ["longitudinalPlan"], - "carState": [], "controlsState": [], + "modelV2": ["lateralPlan", "longitudinalPlan"], + "carState": [], "controlsState": [], "radarState": [], }, ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"], init_callback=get_car_params, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8ad01f64b..009b94c10 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6603859ec1a7a2d61c63693cff1765b0189c4746 \ No newline at end of file +58674945e8c265e2c1f53500fc9cab2ed9a815b0 \ No newline at end of file