From 80b4e6ce09088b93ab03166505f7d25e264c682a Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 9 Apr 2021 10:32:31 +0200 Subject: [PATCH] plannerd: use get_bool to read param old-commit-hash: 44c395165b750a80334077b387b5dc221789b2ad --- selfdrive/controls/plannerd.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 88a127f10d..9e83278032 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -16,10 +16,11 @@ def plannerd_thread(sm=None, pm=None): cloudlog.info("plannerd is waiting for CarParams") params = Params() CP = car.CarParams.from_bytes(params.get("CarParams", block=True)) - use_lanelines = not params.get_bool('EndToEndToggle') - wide_camera = (params.get('EnableWideCamera') == b'1') if TICI else False cloudlog.info("plannerd got CarParams: %s", CP.carName) + use_lanelines = not params.get_bool('EndToEndToggle') + wide_camera = params.get_bool('EnableWideCamera') if TICI else False + longitudinal_planner = Planner(CP) lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)