Publish navEnabled from modeld (#28647)

* Publish navEnabled from modeld

* Bump cereal

cereal

@@ -1 +1 @@
-Subproject commit 1de4176d3ed2bbfed3374383cc68b027e4e8c363
+Subproject commit cacfda17fd7246e76274043c67a20843e49d770c

selfdrive/modeld/modeld.cc

@@ -179,7 +179,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
 
     if (model_output != nullptr) {
       model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, meta_main.timestamp_eof, model_execution_time,
-                    kj::ArrayPtr<const float>(model.output.data(), model.output.size()), live_calib_seen);
+                    kj::ArrayPtr<const float>(model.output.data(), model.output.size()), nav_enabled, live_calib_seen);
       posenet_publish(pm, meta_main.frame_id, vipc_dropped_frames, *model_output, meta_main.timestamp_eof, live_calib_seen);
     }
 

selfdrive/modeld/models/driving.cc

@@ -364,7 +364,7 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out
 
 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,
-                   float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool valid) {
+                   float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool nav_enabled, const bool valid) {
   const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
   MessageBuilder msg;
   auto framed = msg.initEvent(valid).initModelV2();
@@ -374,6 +374,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id
   framed.setFrameDropPerc(frame_drop * 100);
   framed.setTimestampEof(timestamp_eof);
   framed.setModelExecutionTime(model_execution_time);
+  framed.setNavEnabled(nav_enabled);
   if (send_raw_pred) {
     framed.setRawPredictions(raw_pred.asBytes());
   }

selfdrive/modeld/models/driving.h

@@ -285,6 +285,6 @@ ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide
 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,
-                   float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool valid);
+                   float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool nav_enabled, const bool valid);
 void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
                      const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid);