def plannerd_thread(sm=None, pm=None):
config_realtime_process(5 if TICI else 2, Priority.CTRL_LOW)
cloudlog.info("plannerd is waiting for CarParams")
params = Params()
CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
cloudlog.info("plannerd got CarParams: %s", CP.carName)
use_lanelines = not params.get_bool('EndToEndToggle')
wide_camera = params.get_bool('EnableWideCamera') if TICI else False
longitudinal_planner = Planner(CP)
lateral_planner = LateralPlanner(CP,
use_lanelines=use_lanelines,
wide_camera=wide_camera)
if sm is None:
sm = messaging.SubMaster(
['carState', 'controlsState', 'radarState', 'modelV2'],
poll=['radarState', 'modelV2'])
if pm is None:
pm = messaging.PubMaster([
'longitudinalPlan', 'liveLongitudinalMpc', 'lateralPlan', 'liveMpc'
])
while True:
sm.update()
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)
def plannerd_thread(sm=None, pm=None):
config_realtime_process(5, Priority.CTRL_LOW)
cloudlog.info("plannerd is waiting for CarParams")
params = Params()
CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
cloudlog.info("plannerd got CarParams: %s", CP.carName)
use_lanelines = False
wide_camera = params.get_bool('WideCameraOnly')
cloudlog.event("e2e mode", on=use_lanelines)
longitudinal_planner = Planner(CP)
lateral_planner = LateralPlanner(use_lanelines=use_lanelines,
wide_camera=wide_camera)
if sm is None:
sm = messaging.SubMaster(
['carState', 'controlsState', 'radarState', 'modelV2'],
poll=['radarState', 'modelV2'],
ignore_avg_freq=['radarState'])
if pm is None:
pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan'])
while True:
sm.update()
if sm.updated['modelV2']:
lateral_planner.update(sm)
lateral_planner.publish(sm, pm)
longitudinal_planner.update(sm)
longitudinal_planner.publish(sm, pm)
def plannerd_thread(sm=None, pm=None):
config_realtime_process(2, Priority.CTRL_LOW)
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 = LateralPlanner(CP)
VM = VehicleModel(CP)
if sm is None:
sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2', 'liveParameters'],
poll=['radarState', 'modelV2'])
if pm is None:
pm = messaging.PubMaster(['longitudinalPlan', 'liveLongitudinalMpc', 'lateralPlan', '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['modelV2']:
PP.update(sm, CP, VM)
PP.publish(sm, pm)
if sm.updated['radarState']:
PL.update(sm, CP, VM, PP)
PL.publish(sm, pm)