From 9e6c95fbfde134eeba952da6eef012baa0396fa0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 24 Aug 2025 21:31:11 -0400 Subject: [PATCH] send --- .../modeld_v2/parse_model_outputs_split.py | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py index 9cf321a1b6..49a9b76c55 100644 --- a/sunnypilot/modeld_v2/parse_model_outputs_split.py +++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py @@ -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))