  from common.realtime import Ratekeeper, DT_MDL
  from selfdrive.controls.lib.longcontrol import LongCtrlState
  
  
  class Plant():
    messaging_initialized = False
 
</s> remove from selfdrive.manager.process_config import managed_processes


def put_default_car_params():
  from selfdrive.car.honda.values import CAR
  from selfdrive.car.honda.interface import CarInterface
  cp = CarInterface.get_params(CAR.CIVIC)
  Params().put("CarParams", cp.to_bytes())
 </s> add  </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   def __init__(self, CP):
 </s> add   def __init__(self, CP, init_v=0.0, init_a=0.0): </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     return valid
 </s> add     return valid, np.array(logs)
from selfdrive.controls.lib.longitudinal_planner import Planner
  from common.realtime import Ratekeeper, DT_MDL
  from selfdrive.controls.lib.longcontrol import LongCtrlState
from selfdrive.controls.lib.longitudinal_planner import Planner
  
  
  class Plant():
    messaging_initialized = False
keep add keep keep keep keep
 Dont run plannerd for long tests (#22260) 
selfdrive/test/longitudinal_maneuvers/plant.py