save valid_len

old-commit-hash: 4e7fe3a9ec

cereal

@@ -1 +1 @@
-Subproject commit 46728e7e3b47cf73586e33540dc0b65317e308ce
+Subproject commit 7dcbf6c41fb30b85dbb597fe771dc9f5e7f29161

selfdrive/modeld/models/driving.cc

@@ -175,7 +175,7 @@ void fill_path(cereal::ModelData::PathData::Builder path, const float * data, bo
   float valid_len;
 
   // clamp to 5 and 192
-  valid_len =  fmin(192, fmax(5, data[MODEL_PATH_DISTANCE*2]));
+  valid_len = fmin(192, fmax(5, data[MODEL_PATH_DISTANCE*2]));
   for (int i=0; i<MODEL_PATH_DISTANCE; i++) {
     points_arr[i] = data[i] + offset;
     stds_arr[i] = softplus(data[MODEL_PATH_DISTANCE + i]) + 1e-6;
@@ -200,6 +200,7 @@ void fill_path(cereal::ModelData::PathData::Builder path, const float * data, bo
   path.setPoly(poly);
   path.setProb(prob);
   path.setStd(std);
+  path.setValidLen(valid_len);
 }
 
 void fill_lead(cereal::ModelData::LeadData::Builder lead, const float * data, int mdn_max_idx, int t_offset) {
@@ -248,52 +249,52 @@ void fill_longi(cereal::ModelData::LongitudinalData::Builder longi, const float
 
 void model_publish(PubMaster &pm, uint32_t frame_id,
                    const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
-    // make msg
-    capnp::MallocMessageBuilder msg;
-    cereal::Event::Builder event = msg.initRoot<cereal::Event>();
-    event.setLogMonoTime(nanos_since_boot());
-
-    auto framed = event.initModel();
-    framed.setFrameId(frame_id);
-    framed.setTimestampEof(timestamp_eof);
-
-    auto lpath = framed.initPath();
-    fill_path(lpath, net_outputs.path, false, 0);
-    auto left_lane = framed.initLeftLane();
-    fill_path(left_lane, net_outputs.left_lane, true, 1.8);
-    auto right_lane = framed.initRightLane();
-    fill_path(right_lane, net_outputs.right_lane, true, -1.8);
-    auto longi = framed.initLongitudinal();
-    fill_longi(longi, net_outputs.long_x, net_outputs.long_v, net_outputs.long_a);
-
-
-    // Find the distribution that corresponds to the current lead
-    int mdn_max_idx = 0;
-    int t_offset = 0;
-    for (int i=1; i<LEAD_MDN_N; i++) {
-      if (net_outputs.lead[i*MDN_GROUP_SIZE + 8 + t_offset] > net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 8 + t_offset]) {
-        mdn_max_idx = i;
-      }
+  // make msg
+  capnp::MallocMessageBuilder msg;
+  cereal::Event::Builder event = msg.initRoot<cereal::Event>();
+  event.setLogMonoTime(nanos_since_boot());
+
+  auto framed = event.initModel();
+  framed.setFrameId(frame_id);
+  framed.setTimestampEof(timestamp_eof);
+
+  auto lpath = framed.initPath();
+  fill_path(lpath, net_outputs.path, false, 0);
+  auto left_lane = framed.initLeftLane();
+  fill_path(left_lane, net_outputs.left_lane, true, 1.8);
+  auto right_lane = framed.initRightLane();
+  fill_path(right_lane, net_outputs.right_lane, true, -1.8);
+  auto longi = framed.initLongitudinal();
+  fill_longi(longi, net_outputs.long_x, net_outputs.long_v, net_outputs.long_a);
+
+
+  // Find the distribution that corresponds to the current lead
+  int mdn_max_idx = 0;
+  int t_offset = 0;
+  for (int i=1; i<LEAD_MDN_N; i++) {
+    if (net_outputs.lead[i*MDN_GROUP_SIZE + 8 + t_offset] > net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 8 + t_offset]) {
+      mdn_max_idx = i;
     }
-    auto lead = framed.initLead();
-    fill_lead(lead, net_outputs.lead, mdn_max_idx, t_offset);
-    // Find the distribution that corresponds to the lead in 2s
-    mdn_max_idx = 0;
-    t_offset = 1;
-    for (int i=1; i<LEAD_MDN_N; i++) {
-      if (net_outputs.lead[i*MDN_GROUP_SIZE + 8 + t_offset] > net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 8 + t_offset]) {
-        mdn_max_idx = i;
-      }
+  }
+  auto lead = framed.initLead();
+  fill_lead(lead, net_outputs.lead, mdn_max_idx, t_offset);
+  // Find the distribution that corresponds to the lead in 2s
+  mdn_max_idx = 0;
+  t_offset = 1;
+  for (int i=1; i<LEAD_MDN_N; i++) {
+    if (net_outputs.lead[i*MDN_GROUP_SIZE + 8 + t_offset] > net_outputs.lead[mdn_max_idx*MDN_GROUP_SIZE + 8 + t_offset]) {
+      mdn_max_idx = i;
     }
-    auto lead_future = framed.initLeadFuture();
-    fill_lead(lead_future, net_outputs.lead, mdn_max_idx, t_offset);
+  }
+  auto lead_future = framed.initLeadFuture();
+  fill_lead(lead_future, net_outputs.lead, mdn_max_idx, t_offset);
 
 
-    auto meta = framed.initMeta();
-    fill_meta(meta, net_outputs.meta);
+  auto meta = framed.initMeta();
+  fill_meta(meta, net_outputs.meta);
 
-    pm.send("model", msg);
-  }
+  pm.send("model", msg);
+}
 
 void posenet_publish(PubMaster &pm, uint32_t frame_id,
                    const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {