From e7d7189d21ca36e3cea078ead8dd5b12bfb3df3d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Thu, 8 Feb 2024 12:05:01 -0500 Subject: [PATCH] Lateral Planner: Use new variable for `useLaneLines` --- selfdrive/controls/lib/lateral_planner.py | 5 ++--- selfdrive/controls/plannerd.py | 6 +----- 2 files changed, 3 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index a8b83828e4..8c6ad118e9 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -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 diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index f890f89420..b4ad81e57e 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -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)