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plannerd: use get_bool to read param

albatross
Willem Melching 2021-04-09 10:32:31 +02:00
parent 28a5db2e6a
commit 44c395165b
1 changed files with 3 additions and 2 deletions
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5
selfdrive/controls/plannerd.py
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@ -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)