Merge branch 'model-v5-fix' into master-dev-c3

.git-crypt/.gitattributes

@@ -0,0 +1,4 @@
+# Do not edit this file.  To specify the files to encrypt, create your own
+# .gitattributes file in the directory where your files are.
+* !filter !diff
+*.gpg binary

selfdrive/modeld/custom_model_metadata.py

@@ -42,14 +42,14 @@ class CustomModelMetadata:
 
     self.params: Params = params
     self.generation: ModelGeneration = self.read_model_generation_param()
-    self.capabilities: int = self.get_model_capabilities()
+    self.capabilities: ModelCapabilities = self.get_model_capabilities()
     self.valid: bool = self.params.get_bool("CustomDrivingModel") and not SIMULATION and \
                        self.capabilities != ModelCapabilities.Default
 
   def read_model_generation_param(self) -> ModelGeneration:
     return int(self.params.get('DrivingModelGeneration') or ModelGeneration.default)
 
-  def get_model_capabilities(self) -> int:
+  def get_model_capabilities(self) -> ModelCapabilities:
     """Returns the model capabilities for a given generation."""
     if self.generation == ModelGeneration.five:
       return ModelCapabilities.DesiredCurvatureV2

selfdrive/modeld/fill_model_msg.py

@@ -68,7 +68,9 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameDropPerc = frame_drop_perc
 
   action = driving_model_data.action
-  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  model_use_lateral_planner = custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution
+  if not model_use_lateral_planner:
+    action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -100,7 +102,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
   # lateral planning
-  if custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution:
+  if model_use_lateral_planner:
     solution = modelV2.lateralPlannerSolutionDEPRECATED
     solution.x, solution.y, solution.yaw, solution.yawRate = [net_output_data['lat_planner_solution'][0,:,i].tolist() for i in range(4)]
     solution.xStd, solution.yStd, solution.yawStd, solution.yawRateStd = [net_output_data['lat_planner_solution_stds'][0,:,i].tolist() for i in range(4)]

tools/replay/util.cc

@@ -323,7 +323,7 @@ void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
   req.tv_sec = nanoseconds / 1000000000;
   req.tv_nsec = nanoseconds % 1000000000;
   while (!should_exit) {
-#ifdef __APPLE_
+#ifdef __APPLE__
     int ret = nanosleep(&req, &rem);
     if (ret == 0 || errno != EINTR)
       break;