sunnypilot v2026.002.000

version: sunnypilot v2026.002.000 (staging)
date: 2026-07-21T07:44:02
master commit: 2c334ede443d7391d27575af8c854a095ba702a8

openpilot/selfdrive/controls/plannerd.py

@@ -0,0 +1,51 @@
+#!/usr/bin/env python3
+from openpilot.cereal import custom
+from opendbc.car.structs import car
+from openpilot.common.gps import get_gps_location_service
+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
+import openpilot.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 CarParamsSP")
+  CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
+  cloudlog.info("plannerd got CarParamsSP")
+
+  gps_location_service = get_gps_location_service(params)
+  ignore_services = ["liveMapDataSP", gps_location_service]
+
+  ldw = LaneDepartureWarning()
+  longitudinal_planner = LongitudinalPlanner(CP, CP_SP)
+  pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
+                            'liveMapDataSP', 'carStateSP', gps_location_service],
+                           poll='carState', ignore_alive=ignore_services, ignore_avg_freq=ignore_services, ignore_valid=ignore_services)
+
+  while True:
+    sm.update()
+    longitudinal_planner.sla.update_car_state(sm['carState'])
+    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()
+      msg.driverAssistance.leftLaneDeparture = ldw.left
+      msg.driverAssistance.rightLaneDeparture = ldw.right
+      pm.send('driverAssistance', msg)
+
+
+if __name__ == "__main__":
+  main()