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Driving Model Selector: Handle custom navmodel

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This commit is contained in:
Jason Wen
2024-02-13 15:34:04 -05:00
parent 0e90bf751b
commit d2648d42f9
1 changed files with 3 additions and 1 deletions
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selfdrive/modeld/navmodeld.py
+3 -1
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@@ -15,6 +15,7 @@ from openpilot.common.params import Params
from openpilot.common.realtime import set_realtime_priority
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.modeld.runners import ModelRunner, Runtime
from openpilot.selfdrive.sunnypilot import get_model_generation
NAV_INPUT_SIZE = 256*256
NAV_FEATURE_LEN = 256
@@ -51,7 +52,8 @@ class ModelState:
assert ctypes.sizeof(NavModelResult) == NAV_OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
self.output = np.zeros(NAV_OUTPUT_SIZE, dtype=np.float32)
self.param_s = Params()
if self.param_s.get_bool("CustomDrivingModel"):
self.custom_model, self.model_gen = get_model_generation(self.param_s)
if self.custom_model and self.model_gen != 0:
_model_name = self.param_s.get("NavModelText", encoding="utf8")
_model_paths = {
ModelRunner.SNPE: f"{CUSTOM_MODEL_PATH}/navmodel_q_{_model_name}.dlc"}