IQ.Pilot Release Commit @ b6534c0

iqpilot/selfdrive/controls/plannerd.py

@@ -0,0 +1,52 @@
+#!/usr/bin/env python3
+from iqpilot.cereal import car, custom
+from iqpilot.common.gps import get_gps_location_service
+from iqpilot.common.params import Params
+from iqpilot.common.realtime import Priority, config_realtime_process
+from iqpilot.common.swaglog import cloudlog
+from iqpilot.selfdrive.controls.lib.ldw import LaneDepartureWarning
+from iqpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
+import iqpilot.cereal.messaging as messaging
+
+
+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)
+
+  cloudlog.info("plannerd is waiting for IQCarParams")
+  CP_IQ = messaging.log_from_bytes(params.get("IQCarParams", block=True), custom.IQCarParams)
+  cloudlog.info("plannerd got IQCarParams")
+
+  gps_location_service = get_gps_location_service(params)
+
+  ldw = LaneDepartureWarning()
+  longitudinal_planner = LongitudinalPlanner(CP, CP_IQ)
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'iqPlan'])
+  # poll modelV2 (stock): the whole loop body is gated on sm.updated['modelV2'], so a
+  # carState poll only makes carState the polled service with strict 100Hz receive bounds —
+  # each 20Hz planner iteration (>10ms) then swallows conflated carState messages, freq_ok
+  # drops below 80Hz, and every published plan goes event-invalid (commIssue, long degraded).
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'vehicleParameters', 'radarState', 'modelV2', 'selfdriveState',
+                            'iqLiveLocation', 'iqLiveData', 'iqNavState', 'iqCarState', 'iqConstructionZone', gps_location_service],
+                           poll='modelV2')
+
+  while True:
+    sm.update()
+    if sm.updated['modelV2']:
+      longitudinal_planner.update(sm)
+      longitudinal_planner.publish(sm, pm)
+
+      ldw.update(sm.frame, sm['modelV2'], sm['carState'], sm['carControl'])
+      msg = messaging.new_message('driverAssistance')
+      msg.valid = sm.all_checks(['carState', 'carControl', 'modelV2', 'vehicleParameters'])
+      msg.driverAssistance.leftLaneDeparture = ldw.left
+      msg.driverAssistance.rightLaneDeparture = ldw.right
+      pm.send('driverAssistance', msg)
+
+
+if __name__ == "__main__":
+  main()