WD40 model (#32141)

* 2eedcd90-b7db-46cb-86be-740f48ded7ab/700

* cleanup some constants

* update model replay ref
old-commit-hash: 6c3a33a6d847c946e11f5a6414e270ae3ee5c03d

selfdrive/modeld/constants.py

@@ -18,9 +18,6 @@ class ModelConstants:
   HISTORY_BUFFER_LEN = 99
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
-  NAV_FEATURE_LEN = 256
-  NAV_INSTRUCTION_LEN = 150
-  DRIVING_STYLE_LEN = 12
   LAT_PLANNER_STATE_LEN = 4
   LATERAL_CONTROL_PARAMS_LEN = 2
   PREV_DESIRED_CURV_LEN = 1

selfdrive/modeld/modeld.py

@@ -59,8 +59,6 @@ class ModelState:
       'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
       'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
       'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
-      'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
-      'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
       'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
     }
 
@@ -94,8 +92,6 @@ class ModelState:
 
     self.inputs['traffic_convention'][:] = inputs['traffic_convention']
     self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
-    self.inputs['nav_features'][:] = inputs['nav_features']
-    self.inputs['nav_instructions'][:] = inputs['nav_instructions']
 
     # if getCLBuffer is not None, frame will be None
     self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs")))
@@ -168,8 +164,6 @@ def main(demo=False):
   model_transform_main = np.zeros((3, 3), dtype=np.float32)
   model_transform_extra = np.zeros((3, 3), dtype=np.float32)
   live_calib_seen = False
-  nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32)
-  nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)
   buf_main, buf_extra = None, None
   meta_main = FrameMeta()
   meta_extra = FrameMeta()
@@ -257,8 +251,6 @@ def main(demo=False):
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
       'lateral_control_params': lateral_control_params,
-      'nav_features': nav_features,
-      'nav_instructions': nav_instructions,
       }
 
     mt1 = time.perf_counter()

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b4fb2cec9ef759cb1164ee2d27b338338a5a9302f427ad95f9b021361b02e1a2
-size 52263406
+oid sha256:a7a267b5026a0fab61095092d9af20c1dcd70311817c80749adcf6c0a0879061
+size 50660999

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-60b00d102b3aedcc74a91722d1210cc6905b0c8f
+512c45131ff7eb48bf101f9eae50a389efba6930