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pull/34637/head
Comma Device 3 months ago
parent e86dd996da
commit 896a490db4
1 changed files with 2 additions and 2 deletions
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  1. 4
      selfdrive/modeld/modeld.py

4
selfdrive/modeld/modeld.py
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@ -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[0, -ModelConstants.TEMPORAL_SKIP-(ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT-1)*ModelConstants.TEMPORAL_SKIP-1:-ModelConstants.TEMPORAL_SKIP:ModelConstants.TEMPORAL_SKIP] self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, -ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT*ModelConstants.TEMPORAL_SKIP::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[0, -ModelConstants.TEMPORAL_SKIP-ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT*ModelConstants.TEMPORAL_SKIP-1: -ModelConstants.TEMPORAL_SKIP:ModelConstants.TEMPORAL_SKIP] self.numpy_inputs['prev_desired_curv'][:] = self.full_prev_desired_curv[0, -ModelConstants.TEMPORAL_SKIP-ModelConstants.FULL_HISTORY_BUFFER_LEN_INPUT*ModelConstants.TEMPORAL_SKIP::ModelConstants.TEMPORAL_SKIP]
return outputs return outputs

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