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Refactor curvature handling in modeld input processing

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Simplified and unified the handling of "desired_curvature" by removing redundant code and centralizing logic. Improved clarity and maintainability by determining the appropriate input key dynamically and implementing consistent array updates.
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DevTekVE
2024-12-30 17:51:31 +01:00
parent e2cdb8ce86
commit 2292e3082f
1 changed files with 11 additions and 6 deletions
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selfdrive/modeld/modeld.py
+11 -6
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@@ -97,14 +97,19 @@ class ModelState:
self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
if "desired_curvature" in outputs:
input_name_prev = None
if "prev_desired_curvs" in self.numpy_inputs.keys():
self.numpy_inputs['prev_desired_curvs'][:-1] = self.numpy_inputs['prev_desired_curvs'][1:]
self.numpy_inputs['prev_desired_curvs'][-1] = outputs['desired_curvature'][:, 0:1, None] # Reshape to (1,1,1)
if "prev_desired_curv" in self.numpy_inputs.keys():
# First shift everything
self.numpy_inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.numpy_inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:]
self.numpy_inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][:, :1].reshape(1, -1, 1)
input_name_prev = 'prev_desired_curvs'
elif "prev_desired_curv" in self.numpy_inputs.keys():
input_name_prev = 'prev_desired_curv'
if input_name_prev is not None:
len = outputs['desired_curvature'][0].size
self.numpy_inputs[input_name_prev][0, :-len, 0] = self.numpy_inputs[input_name_prev][0, len:, 0]
self.numpy_inputs[input_name_prev][0, -len:, 0] = outputs['desired_curvature'][0]
return outputs