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Revert "Reapply "Tomb Raider 6""

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This reverts commit f3de8169b9.
This commit is contained in:
firestar5683
2025-05-06 16:32:19 -05:00
parent 9d6211ee7c
commit 68b97a87db
17 changed files with 34 additions and 116 deletions
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frogpilot/tinygrad_modeld/fill_model_msg.py
+9 -10
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@@ -56,7 +56,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
builder.rightProb = lane_line_probs[2]
def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
valid: bool) -> None:
@@ -71,8 +71,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
driving_model_data.frameIdExtra = vipc_frame_id_extra
driving_model_data.frameDropPerc = frame_drop_perc
driving_model_data.modelExecutionTime = model_execution_time
driving_model_data.action = action
driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
modelV2 = extended_msg.modelV2
modelV2.frameId = vipc_frame_id
@@ -90,17 +89,17 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
# temporal pose
#temporal_pose = modelV2.temporalPose
#temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
#temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
#temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
#temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
temporal_pose = modelV2.temporalPose
temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
# poly path
fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
# action
modelV2.action = action
# lateral planning
modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
# times at X_IDXS of edges and lines aren't used
LINE_T_IDXS: list[float] = []