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ui: New ButtomParamControl design

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This commit is contained in:
Jason Wen
2023-10-04 16:59:33 +00:00
parent 2c43f3b15b
commit fb6acf9ff1
12 changed files with 132 additions and 185 deletions
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selfdrive/controls/lib/lateral_planner.py
+1 -5
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@@ -57,7 +57,6 @@ class LateralPlanner:
self.reset_mpc(np.zeros(4))
self.param_s = Params()
self.dynamic_lane_profile_enabled = self.param_s.get_bool("DynamicLaneProfileToggle")
self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding="utf8"))
self.dynamic_lane_profile_status = True
self.dynamic_lane_profile_status_buffer = False
@@ -73,7 +72,6 @@ class LateralPlanner:
def read_param(self):
self.dynamic_lane_profile = int(self.param_s.get("DynamicLaneProfile", encoding='utf8'))
if self.param_read_counter % 50 == 0:
self.dynamic_lane_profile_enabled = self.param_s.get_bool("DynamicLaneProfileToggle")
self.vision_curve_laneless = self.param_s.get_bool("VisionCurveLaneless")
self.param_read_counter += 1
@@ -163,9 +161,7 @@ class LateralPlanner:
self.solution_invalid_cnt = 0
def get_dynamic_lane_profile(self, longitudinal_plan_sp):
if not self.dynamic_lane_profile_enabled:
return True
elif self.dynamic_lane_profile == 1:
if self.dynamic_lane_profile == 1:
return True
elif self.dynamic_lane_profile == 0:
return False