Release 260111

selfdrive/controls/plannerd.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+from cereal import car
+from openpilot.common.params import Params
+from openpilot.common.realtime import Priority, config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
+from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner
+import cereal.messaging as messaging
+from openpilot.selfdrive.carrot.carrot_functions import CarrotPlanner
+
+
+def main():
+  config_realtime_process(5, Priority.CTRL_LOW)
+
+  cloudlog.info("plannerd is waiting for CarParams")
+  params = Params()
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  cloudlog.info("plannerd got CarParams: %s", CP.brand)
+
+  ldw = LaneDepartureWarning()
+  longitudinal_planner = LongitudinalPlanner(CP)
+  lateral_planner = LateralPlanner(CP, debug=False)
+
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'lateralPlan'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState', 'carrotMan'],
+                           poll='modelV2', ignore_avg_freq=['radarState'])
+  carrot = CarrotPlanner()
+
+  while True:
+    sm.update()
+    if sm.updated['modelV2']:
+      lateral_planner.update(sm, carrot)
+      lateral_planner.publish(sm, pm, carrot)
+      longitudinal_planner.update(sm, carrot)
+      longitudinal_planner.publish(sm, pm, carrot)
+
+      ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
+      msg = messaging.new_message('driverAssistance')
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'liveParameters'])
+      msg.driverAssistance.leftLaneDeparture = ldw.left
+      msg.driverAssistance.rightLaneDeparture = ldw.right
+      pm.send('driverAssistance', msg)
+
+
+if __name__ == "__main__":
+  main()