From 04a266eaebcf0787f28cd4a5453a1c064517748a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= <harald.the.engineer@gmail.com>
Date: Fri, 27 Sep 2024 22:48:32 -0700
Subject: [PATCH] Game Boy Model (#33661)

* 559069cd-40a6-4456-9052-08659f376ca3/370

* 028fb9bc-b33e-4c26-9cf7-e3c44a85276a/400

* Update ref

* Update tolerance
---
 selfdrive/modeld/constants.py                 | 20 +++++++++----------
 selfdrive/modeld/models/supercombo.onnx       |  4 ++--
 selfdrive/test/process_replay/model_replay.py |  2 +-
 .../process_replay/model_replay_ref_commit    |  2 +-
 4 files changed, 14 insertions(+), 14 deletions(-)

diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index 4d2888d231..82161a5b67 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -72,14 +72,14 @@ 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)
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 111cb76dbb..f8002d5a91 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d42319e42e8ba1a818c845ee0c687ece6afd98e59fef142895be33dd230974c2
-size 62481231
+oid sha256:0dab94dc94db5e372f56d26f9dda98bd31fd76e4c16027da611132263848d0c1
+size 62486347
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index ead3a3b4b5..af05ff5e44 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -129,7 +129,7 @@ if __name__ == "__main__":
         for i in range(4):
           for field in ('x', 'y', 'z', 't'):
             ignore.append(f'modelV2.laneLines.{i}.{field}')
-      tolerance = .2 if PC else None
+      tolerance = .3 if PC else None
       results: Any = {TEST_ROUTE: {}}
       log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 3e4f435964..9e62d47538 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-7cd64f431b814adfa11118643efe3822c496922b
+68279894530723a9129c64e8e771018bc4dda6b3