Model replay needs speed

selfdrive/modeld/modeld.py

@@ -103,6 +103,7 @@ class ModelState:
 
     self.model.execute()
     outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
+    print(outputs['desired_curvature'][0,:], inputs['lateral_control_params'])
 
     self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:]
     self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :]
@@ -218,6 +219,7 @@ def main(demo=False):
     desire = DH.desire
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
+    print(sm['carState'].vEgo)
     lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)