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Update model generation conditions in modeld.py and map.cc

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DevTekVE
2024-05-19 19:23:32 +00:00
parent 21feff5457
commit 16706bda9c
2 changed files with 8 additions and 8 deletions
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selfdrive/modeld/modeld.py
+7 -7
View File
@@ -79,7 +79,7 @@ class ModelState:
'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32),
'prev_desired_curvs': np.zeros(ModelConstants.PREV_DESIRED_CURVS_LEN, dtype=np.float32),
}
if self.model_gen != 4:
if self.model_gen not in (0, 4):
_inputs_2 = {
'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
@@ -133,7 +133,7 @@ class ModelState:
self.inputs['traffic_convention'][:] = inputs['traffic_convention']
if not (self.custom_model and self.model_gen == 1):
self.inputs['lateral_control_params'][:] = inputs['lateral_control_params']
if self.custom_model and self.model_gen != 4:
if self.custom_model and self.model_gen not in (0, 4):
self.inputs['nav_features'][:] = inputs['nav_features']
self.inputs['nav_instructions'][:] = inputs['nav_instructions']
@@ -205,7 +205,7 @@ def main(demo=False):
# messaging
extended_svs = ["lateralPlanDEPRECATED", "lateralPlanSPDEPRECATED"]
if custom_model and model_gen != 4:
if custom_model and model_gen not in (0, 4):
extended_svs += ["navModelDEPRECATED", "navInstruction"]
pm = PubMaster(["modelV2", "modelV2SP", "cameraOdometry"])
sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"] + extended_svs)
@@ -223,7 +223,7 @@ def main(demo=False):
live_calib_seen = False
if custom_model and model_gen == 1:
driving_style = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0], dtype=np.float32)
if custom_model and model_gen != 4:
if custom_model and model_gen not in (0, 4):
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
@@ -299,7 +299,7 @@ def main(demo=False):
timestamp_llk = 0
nav_enabled = False
if custom_model and model_gen != 4:
if custom_model and model_gen not in (0, 4):
# Enable/disable nav features
timestamp_llk = sm["navModelDEPRECATED"].locationMonoTime
nav_valid = sm.valid["navModelDEPRECATED"] # and (nanos_since_boot() - timestamp_llk < 1e9)
@@ -345,7 +345,7 @@ def main(demo=False):
_inputs = {
'lateral_control_params': lateral_control_params
}
if custom_model and model_gen != 4:
if custom_model and model_gen not in (0, 4):
_inputs_2 = {
'nav_features': nav_features,
'nav_instructions': nav_instructions
@@ -372,7 +372,7 @@ def main(demo=False):
posenet_send = messaging.new_message('cameraOdometry')
fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen,
custom_model and model_gen == 1, custom_model and model_gen != 4)
custom_model and model_gen == 1, custom_model and model_gen not in (0, 4))
if not (custom_model and model_gen == 1):
desire_state = modelv2_send.modelV2.meta.desireState
selfdrive/ui/qt/maps/map.cc
+1 -1
View File
@@ -161,7 +161,7 @@ void MapWindow::updateState(const UIState &s) {
const SubMaster &sm = *(s.sm);
update();
if (sm.updated("modelV2") && uiState()->scene.custom_driving_model && uiState()->scene.driving_model_gen != 4) {
if (sm.updated("modelV2") && uiState()->scene.custom_driving_model && uiState()->scene.driving_model_gen != 4 && uiState()->scene.driving_model_gen != 0) {
// set path color on change, and show map on rising edge of navigate on openpilot
auto car_control = sm["carControl"].getCarControl();
bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabledDEPRECATED() &&