    return [a_target[0], min(a_target[1], a_x_allowed)]
  
  
  class Planner():
    def __init__(self, CP):
      self.CP = CP
      self.mpcs = {}
      self.mpcs['lead0'] = LeadMpc(0)
      self.mpcs['lead1'] = LeadMpc(1)
      self.mpcs['cruise'] = LongitudinalMpc()
 
</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) </s> remove     put_default_car_params()
    managed_processes['plannerd'].start()

    valid = man.evaluate()

    managed_processes['plannerd'].stop()
 </s> add     valid, _ = man.evaluate() </s> remove     self.v_desired = 0.0
    self.a_desired = 0.0
 </s> add     self.v_desired = init_v
    self.a_desired = init_a
  def __init__(self, CP, init_v=0.0, init_a=0.0):
    return [a_target[0], min(a_target[1], a_x_allowed)]
  
  
  class Planner():
  def __init__(self, CP, init_v=0.0, init_a=0.0):
      self.CP = CP
      self.mpcs = {}
      self.mpcs['lead0'] = LeadMpc(0)
      self.mpcs['lead1'] = LeadMpc(1)
      self.mpcs['cruise'] = LongitudinalMpc()
keep keep keep keep replace keep keep keep keep keep
 Dont run plannerd for long tests (#22260) 
selfdrive/controls/lib/longitudinal_planner.py