gen7 model

cereal/custom.capnp

@@ -33,6 +33,7 @@ enum ModelGeneration {
   four @4;
   five @5;
   six @6;
+  seven @7;
 }
 
 struct ControlsStateSP @0x81c2f05a394cf4af {

selfdrive/modeld/constants.py

@@ -76,14 +76,14 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 41, 8)
-  BRAKE_DISENGAGE = slice(2, 41, 8)
-  STEER_OVERRIDE = slice(3, 41, 8)
-  HARD_BRAKE_3 = slice(4, 41, 8)
-  HARD_BRAKE_4 = slice(5, 41, 8)
-  HARD_BRAKE_5 = slice(6, 41, 8)
-  GAS_PRESS = slice(7, 41, 8)
-  BRAKE_PRESS = slice(8, 41, 8)
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
   # next 0, 2, 4, 6, 8, 10 seconds
-  LEFT_BLINKER = slice(41, 53, 2)
-  RIGHT_BLINKER = slice(42, 53, 2)
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)

selfdrive/modeld/custom_model_metadata.py

@@ -1,5 +1,5 @@
 from enum import IntFlag
-import os
+import os, sys
 
 from cereal import custom
 from openpilot.common.params import Params
@@ -33,7 +33,9 @@ class ModelCapabilities(IntFlag):
   In V2, 'prev_desired_curv' (no plural) is used as the input for the same 'desired_curvature' output.
   """
 
-  TemporalPoseV1 = 2 ** 5
+  PlanTemporalPose = 2 ** 5
+
+  ModelOutputSlicesV1 = 2 ** 6
 
 
 class CustomModelMetadata:
@@ -53,8 +55,11 @@ class CustomModelMetadata:
 
   def get_model_capabilities(self) -> ModelCapabilities:
     """Returns the model capabilities for a given generation."""
-    if self.generation == ModelGeneration.six:
-      return ModelCapabilities.TemporalPose
+    if self.generation == ModelGeneration.seven:
+      return ModelCapabilities.DesiredCurvatureV2 | ModelCapabilities.PlanTemporalPose | \
+             ModelCapabilities.ModelOutputSlicesV1
+    elif self.generation == ModelGeneration.six:
+      return ModelCapabilities.DesiredCurvatureV2 | ModelCapabilities.PlanTemporalPose
     elif self.generation == ModelGeneration.five:
       return ModelCapabilities.DesiredCurvatureV2
     elif self.generation == ModelGeneration.four:
@@ -68,3 +73,22 @@ class CustomModelMetadata:
     else:
       # Default model is meant to represent the capabilities of the prebuilt model
       return ModelCapabilities.Default
+
+  def custom_meta(self):
+    if self.capabilities & ModelCapabilities.ModelOutputSlicesV1:
+      class Meta:
+        ENGAGED = slice(0, 1)
+        # next 2, 4, 6, 8, 10 seconds
+        GAS_DISENGAGE = slice(1, 41, 8)
+        BRAKE_DISENGAGE = slice(2, 41, 8)
+        STEER_OVERRIDE = slice(3, 41, 8)
+        HARD_BRAKE_3 = slice(4, 41, 8)
+        HARD_BRAKE_4 = slice(5, 41, 8)
+        HARD_BRAKE_5 = slice(6, 41, 8)
+        GAS_PRESS = slice(7, 41, 8)
+        BRAKE_PRESS = slice(8, 41, 8)
+        # next 0, 2, 4, 6, 8, 10 seconds
+        LEFT_BLINKER = slice(41, 53, 2)
+        RIGHT_BLINKER = slice(42, 53, 2)
+
+      sys.modules['constants'].Meta = Meta

selfdrive/modeld/fill_model_msg.py

@@ -186,11 +186,17 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # temporal pose
   temporal_pose = modelV2.temporalPose
-  if custom_model_valid and custom_model_capabilities & ModelCapabilities.TemporalPoseV1:
-    temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist()
-    temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist()
-    temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist()
-    temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist()
+  if custom_model_valid:
+    if custom_model_capabilities & ModelCapabilities.PlanTemporalPose:
+      temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist()
+      temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist()
+      temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist()
+      temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist()
+    else:
+      temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
+      temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
+      temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
+      temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
   else:
     temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
     temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()