brianhansonxyz
ab9158bfb7
Discard the modelrevert tree adoption (8b4b7e0) and the in-process park short-circuits / cached-output / dashcam-idle work that came with it (0dc8002,37e095e). Restore the clearpilot tree as it stood atd639e28— the parked-controlsd manager-process split, the GPS-disable in locationd, the controlsd UI hooks, the boardd ignition-edge safety_setter_thread fix. After a full /data/params/d wipe and re-calibration drive, the modelrevert-tree variant overcorrected on turns; reverting to the parked-controlsd architecture (which Brian had previously vetted and documented in887b9c9+27cad05) and starting fresh. Single new commit, no merge — file state matchesd639e28byte-for-byte. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
47 lines
1.7 KiB
Python
Executable File
47 lines
1.7 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car
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from openpilot.common.params import Params
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from openpilot.common.realtime import Priority, config_realtime_process
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from openpilot.common.swaglog import cloudlog
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from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
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import cereal.messaging as messaging
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def publish_ui_plan(sm, pm, longitudinal_planner):
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ui_send = messaging.new_message('uiPlan')
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ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
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uiPlan = ui_send.uiPlan
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uiPlan.frameId = sm['modelV2'].frameId
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uiPlan.position.x = list(sm['modelV2'].position.x)
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uiPlan.position.y = list(sm['modelV2'].position.y)
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uiPlan.position.z = list(sm['modelV2'].position.z)
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uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
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pm.send('uiPlan', ui_send)
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def plannerd_thread():
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config_realtime_process(5, Priority.CTRL_LOW)
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cloudlog.info("plannerd is waiting for CarParams")
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params = Params()
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with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
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CP = msg
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cloudlog.info("plannerd got CarParams: %s", CP.carName)
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longitudinal_planner = LongitudinalPlanner(CP)
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pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'frogpilotCarControl', 'frogpilotPlan'],
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poll='modelV2', ignore_avg_freq=['radarState'])
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while True:
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sm.update()
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if sm.updated['modelV2']:
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longitudinal_planner.update(sm)
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longitudinal_planner.publish(sm, pm)
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publish_ui_plan(sm, pm, longitudinal_planner)
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def main():
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plannerd_thread()
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if __name__ == "__main__":
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main()
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