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Driving Model Selector: Cleanup

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This commit is contained in:
Jason Wen
2024-02-11 13:36:46 -05:00
parent 9a62ad78e5
commit 913a2cc72c
1 changed files with 16 additions and 22 deletions
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selfdrive/modeld/modeld.py
+16 -22
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@@ -63,36 +63,30 @@ class ModelState:
self.frame = ModelFrame(context)
self.wide_frame = ModelFrame(context)
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
_inputs_start = {
'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
}
_inputs_middle = {
_inputs = {
'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), # gen2/3
'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), # gen3
}
_inputs_end = {
if self.custom_model:
if self.model_gen == 1:
_inputs = {
'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32), # gen1
}
if self.model_gen == 2: # gen2
_inputs = {
'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), # gen2/3
'prev_desired_curvs': np.zeros(ModelConstants.PREV_DESIRED_CURVS_LEN, dtype=np.float32), # gen2
}
self.inputs = {
'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32),
'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32),
**_inputs,
'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32),
'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32),
'features_buffer': np.zeros(ModelConstants.HISTORY_BUFFER_LEN * ModelConstants.FEATURE_LEN, dtype=np.float32),
}
if self.custom_model and self.model_gen == 1:
_inputs_middle = {
'lat_planner_state': np.zeros(ModelConstants.LAT_PLANNER_STATE_LEN, dtype=np.float32), # gen1
}
if self.custom_model and self.model_gen == 2: # gen2
_inputs_middle = {
'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), # gen2/3
'prev_desired_curvs': np.zeros(ModelConstants.PREV_DESIRED_CURVS_LEN, dtype=np.float32), # gen2
}
self.inputs = {
**_inputs_start,
**_inputs_middle,
**_inputs_end,
}
self.param_s = Params()
if self.param_s.get_bool("CustomDrivingModel"):