Revert "temp: build tf"

This reverts commit 0570833ad3.

common/params.cc

@@ -239,6 +239,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DrivingModelGeneration", PERSISTENT},
     {"DrivingModelMetadataText", PERSISTENT},
     {"DrivingModelName", PERSISTENT},
+    {"DrivingModelSelectorVersion", CLEAR_ON_MANAGER_START},
     {"DrivingModelText", PERSISTENT},
     {"DrivingModelUrl", PERSISTENT},
     {"DynamicExperimentalControl", PERSISTENT | BACKUP},

selfdrive/modeld/constants.py

@@ -76,14 +76,14 @@ class Plan:
 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)
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
   # next 0, 2, 4, 6, 8, 10 seconds
-  LEFT_BLINKER = slice(41, 53, 2)
-  RIGHT_BLINKER = slice(42, 53, 2)
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)

selfdrive/modeld/custom_model_metadata.py

@@ -1,9 +1,10 @@
 from enum import IntFlag
-import os
+import os, sys
 
 from cereal import custom
 from openpilot.common.params import Params
 
+DRIVING_MODEL_SELECTOR_VERSION = 6
 SIMULATION = "SIMULATION" in os.environ
 
 ModelGeneration = custom.ModelGeneration
@@ -33,7 +34,9 @@ class ModelCapabilities(IntFlag):
   In V2, 'prev_desired_curv' (no plural) is used as the input for the same 'desired_curvature' output.
   """
 
-  TemporalPoseV1 = 2 ** 5
+  PlanTemporalPose = 2 ** 5
+
+  ModelOutputSlicesV1 = 2 ** 6
 
 
 class CustomModelMetadata:
@@ -47,14 +50,18 @@ 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)
 
   def get_model_capabilities(self) -> ModelCapabilities:
     """Returns the model capabilities for a given generation."""
-    if self.generation == ModelGeneration.six:
-      return ModelCapabilities.TemporalPose
+    if self.generation == ModelGeneration.seven:
+      return ModelCapabilities.DesiredCurvatureV2 | ModelCapabilities.PlanTemporalPose | \
+             ModelCapabilities.ModelOutputSlicesV1
+    elif self.generation == ModelGeneration.six:
+      return ModelCapabilities.DesiredCurvatureV2 | ModelCapabilities.PlanTemporalPose
     elif self.generation == ModelGeneration.five:
       return ModelCapabilities.DesiredCurvatureV2
     elif self.generation == ModelGeneration.four:
@@ -68,3 +75,29 @@ class CustomModelMetadata:
     else:
       # Default model is meant to represent the capabilities of the prebuilt model
       return ModelCapabilities.Default
+
+  def custom_meta(self):
+    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)
+
+        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

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
@@ -186,11 +187,17 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # temporal pose
   temporal_pose = modelV2.temporalPose
-  if custom_model_valid and custom_model_capabilities & ModelCapabilities.TemporalPoseV1:
-    temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist()
-    temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist()
-    temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist()
-    temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist()
+  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()
+      temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
+    else:
+      temporal_pose.trans = net_output_data['sim_pose'][0,:3].tolist()
+      temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:3].tolist()
+      temporal_pose.rot = net_output_data['sim_pose'][0,3:].tolist()
+      temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,3:].tolist()
   else:
     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()

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

system/manager/manager.py

@@ -11,6 +11,7 @@ import openpilot.system.sentry as sentry
 from openpilot.common.api.sunnylink import UNREGISTERED_SUNNYLINK_DONGLE_ID
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
+from openpilot.selfdrive.modeld.custom_model_metadata import DRIVING_MODEL_SELECTOR_VERSION
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.mapd_installer import VERSION
@@ -64,6 +65,7 @@ def manager_init() -> None:
     ("DisableOnroadUploads", "0"),
     ("DisengageLateralOnBrake", "0"),
     ("DrivingModelGeneration", "0"),
+    ("DrivingModelSelectorVersion", str(DRIVING_MODEL_SELECTOR_VERSION)),
     ("DynamicLaneProfile", "1"),
     ("DynamicPersonality", "0"),
     ("EnableMads", "1"),