old_contents: #!/usr/bin/env python3
  from cereal import car
  from common.params import Params
  from common.realtime import Priority, config_realtime_process
  from selfdrive.swaglog import cloudlog
  from selfdrive.controls.lib.longitudinal_planner import Planner
  from selfdrive.controls.lib.lateral_planner import LateralPlanner
  from selfdrive.hardware import TICI
  import cereal.messaging as messaging
  
  
  def plannerd_thread(sm=None, pm=None):
  
    config_realtime_process(2, Priority.CTRL_LOW)
  
    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)
  
    longitudinal_planner = Planner(CP)
    lateral_planner = LateralPlanner(CP, use_lanelines=use_lanelines, wide_camera=wide_camera)
  
    if sm is None:
      sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
                               poll=['radarState', 'modelV2'])
  
    if pm is None:
      pm = messaging.PubMaster(['longitudinalPlan', 'liveLongitudinalMpc', 'lateralPlan', 'liveMpc'])
  
    while True:
      sm.update()
  
      if sm.updated['modelV2']:
        lateral_planner.update(sm, CP)
        lateral_planner.publish(sm, pm)
      if sm.updated['radarState']:
        longitudinal_planner.update(sm, CP)
        longitudinal_planner.publish(sm, pm)
  
  
  def main(sm=None, pm=None):
    plannerd_thread(sm, pm)
  
  
  if __name__ == "__main__":
    main()
  
new_contents: #!/usr/bin/env python3
  from cereal import car
  from common.params import Params
  from common.realtime import Priority, config_realtime_process
  from selfdrive.swaglog import cloudlog
  from selfdrive.controls.lib.longitudinal_planner import Planner
  from selfdrive.controls.lib.lateral_planner import LateralPlanner
  from selfdrive.hardware import TICI
  import cereal.messaging as messaging
  
  
  def plannerd_thread(sm=None, pm=None):
  
    config_realtime_process(2, Priority.CTRL_LOW)
  
    cloudlog.info("plannerd is waiting for CarParams")
    params = Params()
    CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
    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)
  
    if sm is None:
      sm = messaging.SubMaster(['carState', 'controlsState', 'radarState', 'modelV2'],
                               poll=['radarState', 'modelV2'])
  
    if pm is None:
      pm = messaging.PubMaster(['longitudinalPlan', 'liveLongitudinalMpc', 'lateralPlan', 'liveMpc'])
  
    while True:
      sm.update()
  
      if sm.updated['modelV2']:
        lateral_planner.update(sm, CP)
        lateral_planner.publish(sm, pm)
      if sm.updated['radarState']:
        longitudinal_planner.update(sm, CP)
        longitudinal_planner.publish(sm, pm)
  
  
  def main(sm=None, pm=None):
    plannerd_thread(sm, pm)
  
  
  if __name__ == "__main__":
    main()
  
subject: use get_bool to read param