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@ -16,10 +16,11 @@ def plannerd_thread(sm=None, pm=None): |
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cloudlog.info("plannerd is waiting for CarParams") |
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params = Params() |
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CP = car.CarParams.from_bytes(params.get("CarParams", block=True)) |
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use_lanelines = not params.get_bool('EndToEndToggle') |
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wide_camera = (params.get('EnableWideCamera') == b'1') if TICI else False |
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cloudlog.info("plannerd got CarParams: %s", CP.carName) |
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use_lanelines = not params.get_bool('EndToEndToggle') |
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wide_camera = params.get_bool('EnableWideCamera') if TICI else False |
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longitudinal_planner = Planner(CP) |
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lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera) |
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