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Lateral Planner: Use new variable for useLaneLines

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This commit is contained in:
Jason Wen
2024-02-08 12:05:01 -05:00
parent 78e8fc9623
commit e7d7189d21
2 changed files with 3 additions and 8 deletions
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selfdrive/controls/lib/lateral_planner.py
+2 -3
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@@ -31,8 +31,7 @@ MODEL_USE_LATERAL_PLANNER = False
class LateralPlanner:
def __init__(self, CP, debug=False, use_lanelines=True):
self.use_lanelines = use_lanelines
def __init__(self, CP, debug=False):
self.LP = LanePlanner()
self.DH = DesireHelper()
@@ -253,7 +252,7 @@ class LateralPlanner:
lateralPlanDEPRECATED.solverState.u = self.lat_mpc.u_sol.flatten().tolist()
lateralPlanDEPRECATED.desire = self.DH.desire
lateralPlanDEPRECATED.useLaneLines = self.use_lanelines
lateralPlanDEPRECATED.useLaneLines = not self.dynamic_lane_profile_status
lateralPlanDEPRECATED.laneChangeState = self.DH.lane_change_state
lateralPlanDEPRECATED.laneChangeDirection = self.DH.lane_change_direction
selfdrive/controls/plannerd.py
+1 -5
View File
@@ -48,13 +48,9 @@ def plannerd_thread():
debug_mode = bool(int(os.getenv("DEBUG", "0")))
use_lanelines = False
cloudlog.event("e2e mode", on=use_lanelines)
longitudinal_planner = LongitudinalPlanner(CP)
# TODO: SP - Reimplement lateral planner with legacy models
lateral_planner = LateralPlanner(CP, debug=debug_mode, use_lanelines=use_lanelines) if USE_LATERAL_PLANNER else None
lateral_planner = LateralPlanner(CP, debug=debug_mode) if USE_LATERAL_PLANNER else None
lateral_planner_svs = ['lateralPlanDEPRECATED', 'lateralPlanSPDEPRECATED'] if USE_LATERAL_PLANNER else []
pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan', 'longitudinalPlanSP'] + lateral_planner_svs)