        d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
        v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
        log['d_rel'] = d_rel
        log['v_rel'] = v_rel
  
        if d_rel < 1.0:
          print("Crashed!!!!")
          valid = False
 
</s> remove     self.sm.update()
    while True:
      time.sleep(0.01)
      if self.sm.updated['longitudinalPlan']:
        plan = self.sm['longitudinalPlan']
        self.speed = plan.speeds[5]
        self.acceleration = plan.accels[5]
        fcw = plan.fcw
        break
 </s> add     sm = {'radarState': radar.radarState,
          'carState': car_state.carState,
          'controlsState': control.controlsState}
    self.planner.update(sm, self.CP)
    self.speed = self.planner.v_desired
    self.acceleration = self.planner.a_desired
    fcw = self.planner.fcw </s> remove     return valid
 </s> add     return valid, np.array(logs) </s> remove     self.v_desired = 0.0
    self.a_desired = 0.0
 </s> add     self.v_desired = init_v
    self.a_desired = init_a </s> remove     # make sure planner has time to be fully initialized
    # TODO planner should just be explicitly initialized
    for i in range(10000):
      assert i < 10000
      radar = messaging.new_message('radarState')
      control = messaging.new_message('controlsState')
      car_state = messaging.new_message('carState')
      control.controlsState.longControlState = LongCtrlState.pid
      control.controlsState.vCruise = speed*3.6
      car_state.carState.vEgo = self.speed
      Plant.radar.send(radar.to_bytes())
      Plant.controls_state.send(control.to_bytes())
      Plant.car_state.send(car_state.to_bytes())
 </s> add     from selfdrive.car.honda.values import CAR
    from selfdrive.car.honda.interface import CarInterface
    self.CP = CarInterface.get_params(CAR.CIVIC)
    self.planner = Planner(self.CP, init_v=self.speed)
      logs.append(np.array([plant.current_time(), log['distance'], log['distance_lead'], log['speed'], speed_lead, log['acceleration']]))
        d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200.
        v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0.
        log['d_rel'] = d_rel
        log['v_rel'] = v_rel
      logs.append(np.array([plant.current_time(), log['distance'], log['distance_lead'], log['speed'], speed_lead, log['acceleration']]))
  
        if d_rel < 1.0:
          print("Crashed!!!!")
          valid = False
keep keep keep add keep keep keep keep
 Dont run plannerd for long tests (#22260) 
selfdrive/test/longitudinal_maneuvers/maneuver.py