plannerd: add useLaneLines to lateralPlan (#22699)

* add laneless toggle in lateral plan message * update cereal * add refs
4 years ago · 2ea4feffb9
parent cca07c0c73
commit 2ea4feffb9
3 changed files with 3 additions and 2 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 7ae52a7d832d16bffb69b4a3d04c4c4d52dd71c2
+Subproject commit 5260c7d7a2b62036926452d434f570dbe2de07ff
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@ -219,6 +219,7 @@ class LateralPlanner():
    plan_send.lateralPlan.mpcSolutionValid = bool(plan_solution_valid)

    plan_send.lateralPlan.desire = self.desire
+    plan_send.lateralPlan.useLaneLines = self.use_lanelines
    plan_send.lateralPlan.laneChangeState = self.lane_change_state
    plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction

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