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This commit is contained in:
Jason Wen
2025-08-24 21:31:11 -04:00
parent ee826596cb
commit 9e6c95fbfd
1 changed files with 11 additions and 6 deletions
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sunnypilot/modeld_v2/parse_model_outputs_split.py
+11 -6
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@@ -97,15 +97,20 @@ class Parser:
def parse_dynamic_outputs(self, outs: dict[str, np.ndarray]) -> None:
if 'lead' in outs:
lead_mhp = self.is_mhp(outs, 'lead',
SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION) if lead_mhp else (0, 0)
lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH) if lead_mhp else \
(SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
lead_mhp = self.is_mhp(outs, 'lead', SplitModelConstants.LEAD_MHP_SELECTION * SplitModelConstants.LEAD_TRAJ_LEN * SplitModelConstants.LEAD_WIDTH)
if lead_mhp:
lead_in_N, lead_out_N = (SplitModelConstants.LEAD_MHP_N, SplitModelConstants.LEAD_MHP_SELECTION)
lead_out_shape = (SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
else:
lead_in_N, lead_out_N = (0, 0)
lead_out_shape = (SplitModelConstants.LEAD_MHP_SELECTION, SplitModelConstants.LEAD_TRAJ_LEN, SplitModelConstants.LEAD_WIDTH)
self.parse_mdn('lead', outs, in_N=lead_in_N, out_N=lead_out_N, out_shape=lead_out_shape)
if 'plan' in outs:
plan_mhp = self.is_mhp(outs, 'plan', SplitModelConstants.IDX_N * SplitModelConstants.PLAN_WIDTH)
plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION) if plan_mhp else (0, 0)
if plan_mhp:
plan_in_N, plan_out_N = (SplitModelConstants.PLAN_MHP_N, SplitModelConstants.PLAN_MHP_SELECTION)
else:
plan_in_N, plan_out_N = (0, 0)
self.parse_mdn('plan', outs, in_N=plan_in_N, out_N=plan_out_N,
out_shape=(SplitModelConstants.IDX_N, SplitModelConstants.PLAN_WIDTH))