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DevTekVE
b659a979ed
In model_capabilities.py, the base class of ModelCapabilities has been changed from IntEnum to IntFlag to better suit requirements. This changes how the enumeration values behave and interact.
42 lines
1.6 KiB
Python
42 lines
1.6 KiB
Python
from enum import IntFlag, auto
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class ModelCapabilities(IntFlag):
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"""Model capabilities for different generations of models."""
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Default = auto()
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"""Default capability, used for the prebuilt model."""
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NoO = auto()
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"""Navigation on Openpilot capability, used for models support navigation."""
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LateralPlannerSolution = auto()
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"""LateralPlannerSolution capability, used for models that support the lateral planner solution."""
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DesiredCurvatureV1 = auto()
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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 = auto()
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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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@staticmethod
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def get_by_gen(gen):
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"""Returns the model capabilities for a given generation."""
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if gen == 1:
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return ModelCapabilities.Default | ModelCapabilities.LateralPlannerSolution | ModelCapabilities.NoO
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elif gen == 2:
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return ModelCapabilities.Default | ModelCapabilities.DesiredCurvatureV1 | ModelCapabilities.NoO
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elif gen == 3:
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return ModelCapabilities.Default | ModelCapabilities.DesiredCurvatureV2 | ModelCapabilities.NoO
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elif gen == 4:
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return ModelCapabilities.Default | ModelCapabilities.DesiredCurvatureV2
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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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