Road Edge Detection: toggle state fix (commaai#198)

* Road Edge Detection: toggle state fix * one liner * Revert "one liner" This reverts commit 44a34a3505456181af47329fbe76119c7fa204fb.
opgm · Jun 28, 2023 · 7ce9f86 · 7ce9f86
1 parent 89e2856
commit 7ce9f86
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
@@ -56,12 +56,12 @@ def __init__(self):
     self.road_edge = False
     self.param_read_counter = 0
     self.read_param()
-    self.edge_toggle = self.param_s.get("RoadEdge")
+    self.edge_toggle = self.param_s.get_bool("RoadEdge")
     self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8"))
     self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay")
 
   def read_param(self):
-    self.edge_toggle = self.param_s.get("RoadEdge")
+    self.edge_toggle = self.param_s.get_bool("RoadEdge")
     self.lane_change_set_timer = int(self.param_s.get("AutoLaneChangeTimer", encoding="utf8"))
     self.lane_change_bsm_delay = self.param_s.get_bool("AutoLaneChangeBsmDelay")
 

diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
@@ -205,7 +205,7 @@ def publish(self, sm, pm):
     lateralPlan.laneChangeState = self.DH.lane_change_state
     lateralPlan.laneChangeDirection = self.DH.lane_change_direction
     lateralPlan.laneChangePrev = self.DH.prev_lane_change
-    lateralPlan.laneChangeEdgeBlock = (self.DH.lane_change_state == LaneChangeState.preLaneChange) and self.DH.road_edge
+    lateralPlan.laneChangeEdgeBlock = bool((self.DH.lane_change_state == LaneChangeState.preLaneChange) and self.DH.road_edge)
 
     lateralPlan.dynamicLaneProfile = int(self.dynamic_lane_profile)
     lateralPlan.dynamicLaneProfileStatus = bool(self.dynamic_lane_profile_status)