From 68ae65bfa996a62b4e940e83dbdce74a34500ee8 Mon Sep 17 00:00:00 2001
From: DevTekVE <devtekve@gmail.com>
Date: Sun, 19 May 2024 16:53:01 +0200
Subject: [PATCH] Update model generation conditions in modeld.py and map.cc

This commit updates the conditions for the model generation within the modeld.py and map.cc files. Previously, the code was specifically excluding model generation 4, but now it excludes model generations 0 and 4. This might affect features like navigation and model parameters processing.
---
 selfdrive/modeld/modeld.py  | 14 +++++++-------
 selfdrive/ui/qt/maps/map.cc |  2 +-
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 70777de099..2208fa42ea 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -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
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 48ff003ab3..ab6c9c65f7 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -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() &&