From f2b48a1803eed1512962ee80e0f4c9718f40d44b Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 25 Oct 2021 23:47:12 -0700
Subject: [PATCH] always show lane lines on HUD (#22693)

* always show lane lines on HUD

* update refs
---
 selfdrive/controls/controlsd.py          | 8 ++++----
 selfdrive/test/process_replay/ref_commit | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index fd43d65b01..aff6e1abdf 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -565,10 +565,8 @@ class Controls:
     CC.hudControl.lanesVisible = self.enabled
     CC.hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
 
-    right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
-    left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
-    CC.hudControl.rightLaneVisible = bool(right_lane_visible)
-    CC.hudControl.leftLaneVisible = bool(left_lane_visible)
+    CC.hudControl.rightLaneVisible = True
+    CC.hudControl.leftLaneVisible = True
 
     recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
     ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
@@ -576,6 +574,8 @@ class Controls:
 
     meta = self.sm['modelV2'].meta
     if len(meta.desirePrediction) and ldw_allowed:
+      right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
+      left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
       l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft - 1]
       r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight - 1]
       l_lane_close = left_lane_visible and (self.sm['modelV2'].laneLines[1].y[0] > -(1.08 + CAMERA_OFFSET))
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 45e6b7d9f9..cdec6acf61 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d616c135e470264dbc40e77b25a4dab1fc449d75
\ No newline at end of file
+c4c4030e5039cc96870857aed08ad132a2d67497
\ No newline at end of file