modeld not use toggle

selfdrive/modeld/modeld.cc

@@ -55,7 +55,7 @@ mat3 update_calibration(Eigen::Matrix<float, 3, 4> &extrinsics, bool wide_camera
 void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) {
   // messaging
   PubMaster pm({"modelV2", "cameraOdometry"});
-  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration"});
+  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState"});
 
   // setup filter to track dropped frames
   FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
@@ -111,6 +111,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     // TODO: path planner timeout?
     sm.update(0);
     int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
+    bool is_rhd = ((bool)sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); // timeout?
     frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
     if (sm.updated("liveCalibration")) {
       auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
@@ -146,7 +147,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     }
 
     double mt1 = millis_since_boot();
-    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, prepare_only);
+    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, prepare_only);
     double mt2 = millis_since_boot();
     float model_execution_time = (mt2 - mt1) / 1000.0;
 

selfdrive/modeld/models/driving.cc

@@ -49,14 +49,12 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
 #endif
 
 #ifdef TRAFFIC_CONVENTION
-  const int idx = Params().getBool("IsRHD") ? 1 : 0;
-  s->traffic_convention[idx] = 1.0;
   s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
 #endif
 }
 
 ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool prepare_only) {
+                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only) {
 #ifdef DESIRE
   if (desire_in != NULL) {
     for (int i = 1; i < DESIRE_LEN; i++) {
@@ -72,6 +70,10 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
   }
 #endif
 
+  int rhd_idx = is_rhd;
+  s->traffic_convention[rhd_idx] = 1.0;
+  s->traffic_convention[1-rhd_idx] = 0.0;
+
   // if getInputBuf is not NULL, net_input_buf will be
   auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast<cl_mem*>(s->m->getInputBuf()));
   s->m->addImage(net_input_buf, s->frame->buf_size);

selfdrive/modeld/models/driving.h

@@ -268,7 +268,7 @@ struct ModelState {
 
 void model_init(ModelState* s, cl_device_id device_id, cl_context context);
 ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool prepare_only);
+                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only);
 void model_free(ModelState* s);
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
                    const ModelOutput &net_outputs, uint64_t timestamp_eof,