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pull/34637/head
Comma Device 2 months ago
parent 389194c482
commit 463bba4b42
1 changed files with 3 additions and 3 deletions
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  1. 6
      selfdrive/modeld/modeld.py

6
selfdrive/modeld/modeld.py
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@ -104,7 +104,7 @@ class ModelState:
self.full_desire[0,:-1] = self.full_desire[0,1:] self.full_desire[0,:-1] = self.full_desire[0,1:]
self.full_desire[0,-1] = new_desire self.full_desire[0,-1] = new_desire
self.numpy_inputs['desire'][:] = self.full_desire[-1-ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT*ModelConstants.TEMPORAL_SKIP::ModelConstants.TEMPORAL_SKIP] self.numpy_inputs['desire'][:] = self.full_desire[0, -1-ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT*ModelConstants.TEMPORAL_SKIP::ModelConstants.TEMPORAL_SKIP]
self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params'] self.numpy_inputs['lateral_control_params'][:] = inputs['lateral_control_params']
@ -132,13 +132,13 @@ class ModelState:
self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:] self.full_features_buffer[0,:-1] = self.full_features_buffer[0,1:]
self.full_features_buffer[0,-1] = outputs['hidden_state'][0, :] self.full_features_buffer[0,-1] = outputs['hidden_state'][0, :]
self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[-ModelConstants.TEMPORAL_SKIP+1-(ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT-1)*ModelConstants.TEMPORAL_SKIP-1:-ModelConstants.TEMPORAL_SKIP+1:ModelConstants.TEMPORAL_SKIP] self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, -ModelConstants.TEMPORAL_SKIP+1-(ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT-1)*ModelConstants.TEMPORAL_SKIP-1:-ModelConstants.TEMPORAL_SKIP+1:ModelConstants.TEMPORAL_SKIP]
# TODO model only uses last value now # TODO model only uses last value now
self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:] self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :] self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[-ModelConstants.TEMPORAL_SKIP+1-ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT*ModelConstants.TEMPORAL_SKIP-1: -ModelConstants.TEMPORAL_SKIP+1:ModelConstants.TEMPORAL_SKIP] self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, -ModelConstants.TEMPORAL_SKIP+1-ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT*ModelConstants.TEMPORAL_SKIP-1: -ModelConstants.TEMPORAL_SKIP+1:ModelConstants.TEMPORAL_SKIP]
return outputs return outputs

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