mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-06-27 20:22:05 +08:00
Jason Wen
67 lines
2.5 KiB
Python
67 lines
2.5 KiB
Python
from enum import IntFlag
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import os
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from cereal import custom
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from openpilot.common.params import Params
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SIMULATION = "SIMULATION" in os.environ
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ModelGeneration = custom.ModelGeneration
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class ModelCapabilities(IntFlag):
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"""Model capabilities for different generations of models."""
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Default = 1
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"""Default capability, used for the prebuilt model."""
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NoO = 2
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"""Navigation on Openpilot capability, used for models support navigation."""
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LateralPlannerSolution = 2 ** 2
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"""LateralPlannerSolution capability, used for models that support the lateral planner solution."""
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DesiredCurvatureV1 = 2 ** 3
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"""
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DesiredCurvatureV1 capability: This capability is used for models that support the desired curvature.
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In this version, 'prev_desired_curvs' is used as the input for the 'desired_curvature' output.
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"""
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DesiredCurvatureV2 = 2 ** 4
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"""
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DesiredCurvatureV2 capability: This capability is used for models that support the desired curvature.
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In V2, 'prev_desired_curv' (no plural) is used as the input for the same 'desired_curvature' output.
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"""
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class CustomModelMetadata:
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def __init__(self, params=None, init_only=False) -> None:
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# TODO: Handle this with cereal
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if not init_only:
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raise RuntimeError("cannot be used in a loop, this should only be used on init")
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self.params: Params = params
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self.generation: ModelGeneration = self.read_model_generation_param()
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self.capabilities: int = self.get_model_capabilities()
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self.valid: bool = self.params.get_bool("CustomDrivingModel") and not SIMULATION and \
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self.capabilities != ModelCapabilities.Default
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def read_model_generation_param(self) -> ModelGeneration:
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return int(self.params.get('DrivingModelGeneration') or ModelGeneration.default)
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def get_model_capabilities(self) -> int:
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"""Returns the model capabilities for a given generation."""
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if self.generation == ModelGeneration.five:
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return ModelCapabilities.DesiredCurvatureV2
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elif self.generation == ModelGeneration.four:
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return ModelCapabilities.DesiredCurvatureV2
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elif self.generation == ModelGeneration.three:
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return ModelCapabilities.DesiredCurvatureV2 | ModelCapabilities.NoO
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elif self.generation == ModelGeneration.two:
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return ModelCapabilities.DesiredCurvatureV1 | ModelCapabilities.NoO
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elif self.generation == ModelGeneration.one:
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return ModelCapabilities.LateralPlannerSolution | ModelCapabilities.NoO
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else:
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# Default model is meant to represent the capabilities of the prebuilt model
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return ModelCapabilities.Default
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