From 2ea4feffb9a70483eee63331f91962ce6e51d485 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 26 Oct 2021 14:32:41 -0700 Subject: [PATCH] plannerd: add useLaneLines to lateralPlan (#22699) * add laneless toggle in lateral plan message * update cereal * add refs --- cereal | 2 +- selfdrive/controls/lib/lateral_planner.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index 7ae52a7d83..5260c7d7a2 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 7ae52a7d832d16bffb69b4a3d04c4c4d52dd71c2 +Subproject commit 5260c7d7a2b62036926452d434f570dbe2de07ff diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 70b4c6e972..27041e1f06 100644 --- 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 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index cdec6acf61..8ad01f64b9 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c4c4030e5039cc96870857aed08ad132a2d67497 \ No newline at end of file +6603859ec1a7a2d61c63693cff1765b0189c4746 \ No newline at end of file