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Merge remote-tracking branch 'origin/master-new' into nayan-raylib

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nayan
2025-07-21 12:47:29 -04:00
parent c997bf2a23 9f6f7896b0
commit 5dee9c5b67
1 changed files with 20 additions and 34 deletions
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sunnypilot/modeld_v2/parse_model_outputs_split.py
+20 -34
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@@ -91,42 +91,28 @@ class Parser:
outs[name] = pred_mu_final.reshape(final_shape)
outs[name + '_stds'] = pred_std_final.reshape(final_shape)
def _parse_mhp_output(self, name, output, shape_threshold, in_n_mhp, out_n_mhp, out_shape) -> None:
if name not in output:
return
shape = output[name].shape[1]
shape_is_expected_size = None
if name == 'lead':
shape_is_expected_size = shape == 2 * shape_threshold
elif name == 'plan':
shape_is_expected_size = shape <= 2 * shape_threshold
use_default_format = self.generation >= 12 and shape_is_expected_size
in_n = 0 if use_default_format else in_n_mhp
out_n = 0 if use_default_format else out_n_mhp
self.parse_mdn(name, output, in_n, out_n, out_shape)
def _parse_plan_mhp(self, outs):
self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
self._parse_mhp_output(
name='lead',
output=outs,
shape_threshold=SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH,
in_n_mhp=SplitModelConstants.LEAD_MHP_N,
out_n_mhp=SplitModelConstants.LEAD_MHP_SELECTION,
out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH),
)
self._parse_mhp_output(
name='plan',
output=outs,
shape_threshold=SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N,
in_n_mhp=SplitModelConstants.PLAN_MHP_N,
out_n_mhp=SplitModelConstants.PLAN_MHP_SELECTION,
out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH),
)
if 'lead' in outs:
if self.generation >= 12 and \
outs['lead'].shape[1] == 2 * SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH:
self.parse_mdn('lead', outs, in_N=0, out_N=0,
out_shape=(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
else:
self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
out_shape=(SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH))
if 'plan' in outs:
if self.generation >= 12 and \
outs['plan'].shape[1] > 2 * SplitModelConstants.PLAN_WIDTH * SplitModelConstants.IDX_N:
self._parse_plan_mhp(outs)
elif self.generation >= 12:
self.parse_mdn('plan', outs, in_N=0, out_N=0,
out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))
else:
self._parse_plan_mhp(outs)
def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
if 'desired_curvature' in outs: