55 lines
1.4 KiB
Python
Executable File
55 lines
1.4 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import gc
|
|
|
|
from cereal import car
|
|
from common.params import Params
|
|
from common.realtime import set_realtime_priority
|
|
from selfdrive.swaglog import cloudlog
|
|
from selfdrive.controls.lib.planner import Planner
|
|
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
|
from selfdrive.controls.lib.pathplanner import PathPlanner
|
|
import cereal.messaging as messaging
|
|
|
|
|
|
def plannerd_thread(sm=None, pm=None):
|
|
gc.disable()
|
|
|
|
# start the loop
|
|
set_realtime_priority(2)
|
|
|
|
cloudlog.info("plannerd is waiting for CarParams")
|
|
CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
|
|
cloudlog.info("plannerd got CarParams: %s", CP.carName)
|
|
|
|
PL = Planner(CP)
|
|
PP = PathPlanner(CP)
|
|
|
|
VM = VehicleModel(CP)
|
|
|
|
if sm is None:
|
|
sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'model', 'liveParameters'])
|
|
|
|
if pm is None:
|
|
pm = messaging.PubMaster(['plan', 'liveLongitudinalMpc', 'pathPlan', 'liveMpc'])
|
|
|
|
sm['liveParameters'].valid = True
|
|
sm['liveParameters'].sensorValid = True
|
|
sm['liveParameters'].steerRatio = CP.steerRatio
|
|
sm['liveParameters'].stiffnessFactor = 1.0
|
|
|
|
while True:
|
|
sm.update()
|
|
|
|
if sm.updated['model']:
|
|
PP.update(sm, pm, CP, VM)
|
|
if sm.updated['radarState']:
|
|
PL.update(sm, pm, CP, VM, PP)
|
|
|
|
|
|
def main(sm=None, pm=None):
|
|
plannerd_thread(sm, pm)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|