mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-09-30 21:23:43 +08:00
Code Issues Packages Projects Releases Wiki Activity

Check model capabilities when using custom model

Browse Source 
The use of a custom model is now conditional to non-default model capabilities. This change ensures that a custom model will only be used if the model capabilities are different from the default. This prevents potential issues with using custom models that don't have any distinct capabilities or are not suitable for the current application.
This commit is contained in:
DevTekVE
2024-05-18 23:32:07 +02:00
parent 8904cf731a
commit 34130bb7cb
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/modeld.py
+3 -3
View File
@@ -71,7 +71,7 @@ class ModelState:
'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
}
_inputs_2 = {}
if self.custom_model:
if self.custom_model and self.model_capabilities != ModelCapabilities.Default:
if self.model_capabilities & ModelCapabilities.LateralPlannerSolution:
_inputs = {
'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32),
@@ -95,7 +95,7 @@ class ModelState:
'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
}
if self.custom_model:
if self.custom_model and self.model_capabilities != ModelCapabilities.Default:
_model_name = self.param_s.get("DrivingModelText", encoding="utf8")
_model_paths = {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/supercombo-{_model_name}.thneed"}
_metadata_name = self.param_s.get("DrivingModelMetadataText", encoding="utf8")
@@ -152,7 +152,7 @@ class ModelState:
self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
if self.custom_model:
if self.custom_model and self.model_capabilities != ModelCapabilities.Default:
if self.model_capabilities & ModelCapabilities.LateralPlannerSolution:
self.inputs['lat_planner_state'][2] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 2])
self.inputs['lat_planner_state'][3] = interp(DT_MDL, ModelConstants.T_IDXS, outputs['lat_planner_solution'][0, :, 3])