From 22c5053bbcb689043b03d294829aae5f0a5994cd Mon Sep 17 00:00:00 2001
From: Mitchell Goff <mitchellgoffpc@gmail.com>
Date: Mon, 22 May 2023 15:11:04 -0700
Subject: [PATCH] Nicki Minaj Model (#28218)

* New model: 2ff7490f-8a2f-4c0d-87a8-b0fa3a4a6a71

* Updated model_replay_ref_commit
old-commit-hash: 328b5d9d47ef24140b316c375665e1cfd00cef31
---
 selfdrive/modeld/models/driving.h                 | 11 ++++++-----
 selfdrive/modeld/models/supercombo.onnx           |  4 ++--
 selfdrive/modeld/runners/thneedmodel.cc           | 15 +++++++--------
 .../test/process_replay/model_replay_ref_commit   |  2 +-
 4 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 5734c68cb9..2b0902d5cf 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -1,10 +1,5 @@
 #pragma once
 
-// gate this here
-#define TEMPORAL
-#define DESIRE
-#define TRAFFIC_CONVENTION
-
 #include <array>
 #include <memory>
 
@@ -17,6 +12,12 @@
 #include "selfdrive/modeld/models/nav.h"
 #include "selfdrive/modeld/runners/run.h"
 
+// gate this here
+#define TEMPORAL
+#define DESIRE
+#define TRAFFIC_CONVENTION
+#define NAV
+
 constexpr int FEATURE_LEN = 128;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index d8a8b5ef13..493f3285d6 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 sha256:0007958c9bad4a87eb5c28080b5bfdc24834958fbcbaff448674fa570b0196da
-size 46011200
+oid sha256:b8bf95f096b19cef1e473fb4f0caf5f727b74bbde23a642aa586036ad9824e55
+size 46076782
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
index 4fdd7ca466..2ac3d64495 100644
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@@ -41,13 +41,13 @@ void ThneedModel::addExtra(float *extra_input_buf, int buf_size) {
 }
 
 void* ThneedModel::getInputBuf() {
-  if (use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
-  else if (!use_extra && thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
+  if (use_extra && thneed->input_clmem.size() > 5) return &(thneed->input_clmem[5]);
+  else if (!use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
   else return nullptr;
 }
 
 void* ThneedModel::getExtraBuf() {
-  if (thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
+  if (thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
   else return nullptr;
 }
 
@@ -55,10 +55,10 @@ void ThneedModel::execute() {
   if (!recorded) {
     thneed->record = true;
     if (use_extra) {
-      float *inputs[5] = {recurrent, trafficConvention, desire, extra, input};
+      float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input};
       thneed->copy_inputs(inputs);
     } else {
-      float *inputs[4] = {recurrent, trafficConvention, desire, input};
+      float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input};
       thneed->copy_inputs(inputs);
     }
     thneed->clexec();
@@ -68,12 +68,11 @@ void ThneedModel::execute() {
     recorded = true;
   } else {
     if (use_extra) {
-      float *inputs[5] = {recurrent, trafficConvention, desire, extra, input};
+      float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input};
       thneed->execute(inputs, output);
     } else {
-      float *inputs[4] = {recurrent, trafficConvention, desire, input};
+      float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input};
       thneed->execute(inputs, output);
     }
   }
 }
-
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index b3cc50e559..448c7b4291 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-9d3cd2e7d5fceaaf0e8a4bd798a24fcf470da7c2
+e3cf1856830902bede2d1c9ca3d0d60e5504ae20