From bbbeb93cc2fac86a04ae7c54d2a2ab1b2059d636 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sat, 28 Sep 2024 13:25:18 -0400 Subject: [PATCH] Make sure it updates --- selfdrive/modeld/custom_model_metadata.py | 40 ++++++++++++++--------- selfdrive/modeld/fill_model_msg.py | 13 ++++---- selfdrive/modeld/modeld.py | 2 +- 3 files changed, 32 insertions(+), 23 deletions(-) diff --git a/selfdrive/modeld/custom_model_metadata.py b/selfdrive/modeld/custom_model_metadata.py index 564074f002..7a3eb81512 100644 --- a/selfdrive/modeld/custom_model_metadata.py +++ b/selfdrive/modeld/custom_model_metadata.py @@ -50,6 +50,7 @@ class CustomModelMetadata: self.capabilities: ModelCapabilities = self.get_model_capabilities() self.valid: bool = self.params.get_bool("CustomDrivingModel") and not SIMULATION and \ self.capabilities != ModelCapabilities.Default + self.initialized = False def read_model_generation_param(self) -> ModelGeneration: return int(self.params.get('DrivingModelGeneration') or ModelGeneration.default) @@ -76,20 +77,27 @@ class CustomModelMetadata: 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) + if not self.initialized: + 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 + module = 'openpilot.selfdrive.modeld.constants' + if module in sys.modules: + sys.modules[module].Meta = Meta + else: + raise ImportError(f"The module '{module}' is not imported yet or does not exist.") + + self.initialized = True diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 16568d5ffc..92a419eed5 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -3,7 +3,7 @@ import capnp import numpy as np from cereal import log from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta -from openpilot.selfdrive.modeld.custom_model_metadata import ModelCapabilities +from openpilot.selfdrive.modeld.custom_model_metadata import CustomModelMetadata, ModelCapabilities SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') @@ -55,7 +55,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, timestamp_llk: int, model_execution_time: float, nav_enabled: bool, valid: bool, - custom_model_valid: bool, custom_model_capabilities: ModelCapabilities) -> None: + custom_model: CustomModelMetadata) -> None: + custom_model.custom_meta() frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 frame_drop_perc = frame_drop * 100 extended_msg.valid = valid @@ -69,7 +70,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D driving_model_data.modelExecutionTime = model_execution_time action = driving_model_data.action - model_use_lateral_planner = custom_model_valid and custom_model_capabilities & ModelCapabilities.LateralPlannerSolution + model_use_lateral_planner = custom_model.valid and custom_model.capabilities & ModelCapabilities.LateralPlannerSolution if not model_use_lateral_planner: action.desiredCurvature = float(net_output_data['desired_curvature'][0,0]) @@ -79,7 +80,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D modelV2.frameAge = frame_age modelV2.frameDropPerc = frame_drop_perc modelV2.timestampEof = timestamp_eof - model_use_nav = custom_model_valid and custom_model_capabilities & ModelCapabilities.NoO + model_use_nav = custom_model.valid and custom_model.capabilities & ModelCapabilities.NoO if model_use_nav: modelV2.locationMonoTimeDEPRECATED = timestamp_llk modelV2.modelExecutionTime = model_execution_time @@ -186,8 +187,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D # temporal pose temporal_pose = modelV2.temporalPose - if custom_model_valid: - if custom_model_capabilities & ModelCapabilities.PlanTemporalPose: + if custom_model.valid: + if custom_model.capabilities & ModelCapabilities.PlanTemporalPose: 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() diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index bb883c32cb..b1f1b3c4e0 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -377,7 +377,7 @@ def main(demo=False): posenet_send = messaging.new_message('cameraOdometry') fill_model_msg(drivingdata_send, 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_metadata.valid, custom_model_metadata.capabilities) + custom_model_metadata) if not (custom_model_metadata.valid and custom_model_metadata.capabilities & ModelCapabilities.LateralPlannerSolution): desire_state = modelv2_send.modelV2.meta.desireState