From f5b28ad2d267adae0d6e6fd7816389d3f8d32200 Mon Sep 17 00:00:00 2001
From: HaraldSchafer <harald.the.engineer@gmail.com>
Date: Wed, 15 Apr 2020 21:19:25 -0700
Subject: [PATCH] add traffic convention (#1372)

* I think this works

* clean up
---
 selfdrive/modeld/modeld.cc         |  2 +-
 selfdrive/modeld/models/driving.cc | 22 ++++++++++++++--------
 selfdrive/modeld/models/driving.h  |  2 +-
 3 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 7a2a85d52a..1f5da4ac6b 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -219,7 +219,7 @@ int main(int argc, char **argv) {
 
         ModelDataRaw model_buf =
             model_eval_frame(&model, q, yuv_cl, buf_info.width, buf_info.height,
-                             model_transform, NULL, vec_desire, NULL);
+                             model_transform, NULL, vec_desire);
         mt2 = millis_since_boot();
 
         model_publish(model_sock, extra.frame_id, model_buf, extra.timestamp_eof);
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index df84e4fc56..3cae9657a3 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -3,6 +3,7 @@
 #include <fcntl.h>
 #include <unistd.h>
 #include "common/timing.h"
+#include "common/params.h"
 #include "driving.h"
 
 
@@ -53,6 +54,18 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
   s->traffic_convention = (float*)malloc(TRAFFIC_CONVENTION_LEN * sizeof(float));
   for (int i = 0; i < TRAFFIC_CONVENTION_LEN; i++) s->traffic_convention[i] = 0.0;
   s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
+
+  char *string;
+  const int result = read_db_value(NULL, "IsRHD", &string, NULL);
+  if (result == 0) {
+    bool is_rhd = string[0] == '1';
+    free(string);
+    if (is_rhd) {
+      s->traffic_convention[1] = 1.0;
+    } else {
+      s->traffic_convention[0] = 1.0;
+    }
+  }
 #endif
 
   // Build Vandermonde matrix
@@ -68,7 +81,7 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
 ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
                            cl_mem yuv_cl, int width, int height,
                            mat3 transform, void* sock,
-                           float *desire_in, float *traffic_convention_in) {
+                           float *desire_in) {
 #ifdef DESIRE
   if (desire_in != NULL) {
     for (int i = 0; i < DESIRE_LEN; i++) {
@@ -84,13 +97,6 @@ ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
   }
 #endif
 
-#ifdef TRAFFIC_CONVENTION
-  if (traffic_convention_in != NULL) {
-    for (int i = 0; i < TRAFFIC_CONVENTION_LEN; i++) {
-      s->traffic_convention[i] = traffic_convention_in[i];
-    }
-  }
-#endif
 
   //for (int i = 0; i < OUTPUT_SIZE + TEMPORAL_SIZE; i++) { printf("%f ", s->output[i]); } printf("\n");
 
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 45d5396e7c..1366960833 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -74,7 +74,7 @@ void model_init(ModelState* s, cl_device_id device_id,
                 cl_context context, int temporal);
 ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
                            cl_mem yuv_cl, int width, int height,
-                           mat3 transform, void* sock, float *desire_in, float *traffic_convention_in);
+                           mat3 transform, void* sock, float *desire_in);
 void model_free(ModelState* s);
 void poly_fit(float *in_pts, float *in_stds, float *out);