Make longitudinal planning triggered on model (#22641)
* Make long planning triggered on model * fix process replay Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/22720/head
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@ -38,7 +38,6 @@ def plannerd_thread(sm=None, pm=None):
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if sm.updated['modelV2']:
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if sm.updated['modelV2']:
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lateral_planner.update(sm, CP)
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lateral_planner.update(sm, CP)
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lateral_planner.publish(sm, pm)
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lateral_planner.publish(sm, pm)
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if sm.updated['radarState']:
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longitudinal_planner.update(sm, CP)
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longitudinal_planner.update(sm, CP)
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longitudinal_planner.publish(sm, pm)
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longitudinal_planner.publish(sm, pm)
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@ -264,8 +264,8 @@ CONFIGS = [
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ProcessConfig(
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ProcessConfig(
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proc_name="plannerd",
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proc_name="plannerd",
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pub_sub={
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pub_sub={
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"modelV2": ["lateralPlan"], "radarState": ["longitudinalPlan"],
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"modelV2": ["lateralPlan", "longitudinalPlan"],
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"carState": [], "controlsState": [],
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"carState": [], "controlsState": [], "radarState": [],
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},
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},
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ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"],
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ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay"],
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init_callback=get_car_params,
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init_callback=get_car_params,
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@ -1 +1 @@
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6603859ec1a7a2d61c63693cff1765b0189c4746
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58674945e8c265e2c1f53500fc9cab2ed9a815b0
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