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plannerd: add useLaneLines to lateralPlan (#22699)

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* add laneless toggle in lateral plan message

* update cereal

* add refs
x-andyml
Vivek Aithal 4 years ago committed by GitHub
parent cca07c0c73
commit 2ea4feffb9
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3 changed files with 3 additions and 2 deletions
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  1. 2
      cereal
  2. 1
      selfdrive/controls/lib/lateral_planner.py
  3. 2
      selfdrive/test/process_replay/ref_commit

2
cereal

@ -1 +1 @@
Subproject commit 7ae52a7d832d16bffb69b4a3d04c4c4d52dd71c2 Subproject commit 5260c7d7a2b62036926452d434f570dbe2de07ff

1
selfdrive/controls/lib/lateral_planner.py
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@ -219,6 +219,7 @@ class LateralPlanner():
plan_send.lateralPlan.mpcSolutionValid = bool(plan_solution_valid) plan_send.lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
plan_send.lateralPlan.desire = self.desire plan_send.lateralPlan.desire = self.desire
plan_send.lateralPlan.useLaneLines = self.use_lanelines
plan_send.lateralPlan.laneChangeState = self.lane_change_state plan_send.lateralPlan.laneChangeState = self.lane_change_state
plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
c4c4030e5039cc96870857aed08ad132a2d67497 6603859ec1a7a2d61c63693cff1765b0189c4746
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