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Add gas/brake press probs to ModelDataV2 (#33382)

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* Add gas/brake press probs to ModelDataV2

* Updated model_replay_ref_commit
This commit is contained in:
Mitchell Goff
2024-08-29 17:25:33 -04:00
committed by GitHub
parent 930fa18299
commit 40fb90a8a2
4 changed files with 15 additions and 10 deletions
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2
cereal/log.capnp
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@@ -1010,6 +1010,8 @@ struct ModelDataV2 {
brake3MetersPerSecondSquaredProbs @4 :List(Float32);
brake4MetersPerSecondSquaredProbs @5 :List(Float32);
brake5MetersPerSecondSquaredProbs @6 :List(Float32);
gasPressProbs @7 :List(Float32);
brakePressProbs @8 :List(Float32);
}
struct Pose {

19
selfdrive/modeld/constants.py
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@@ -72,13 +72,14 @@ class Plan:
class Meta:
ENGAGED = slice(0, 1)
# next 2, 4, 6, 8, 10 seconds
GAS_DISENGAGE = slice(1, 36, 7)
BRAKE_DISENGAGE = slice(2, 36, 7)
STEER_OVERRIDE = slice(3, 36, 7)
HARD_BRAKE_3 = slice(4, 36, 7)
HARD_BRAKE_4 = slice(5, 36, 7)
HARD_BRAKE_5 = slice(6, 36, 7)
GAS_PRESS = slice(7, 36, 7)
GAS_DISENGAGE = slice(1, 41, 8)
BRAKE_DISENGAGE = slice(2, 41, 8)
STEER_OVERRIDE = slice(3, 41, 8)
HARD_BRAKE_3 = slice(4, 41, 8)
HARD_BRAKE_4 = slice(5, 41, 8)
HARD_BRAKE_5 = slice(6, 41, 8)
GAS_PRESS = slice(7, 41, 8)
BRAKE_PRESS = slice(8, 41, 8)
# next 0, 2, 4, 6, 8, 10 seconds
LEFT_BLINKER = slice(36, 48, 2)
RIGHT_BLINKER = slice(37, 48, 2)
LEFT_BLINKER = slice(41, 53, 2)
RIGHT_BLINKER = slice(42, 53, 2)

2
selfdrive/modeld/fill_model_msg.py
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@@ -156,6 +156,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]

2
selfdrive/test/process_replay/model_replay_ref_commit
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@@ -1 +1 @@
01e8432830805165527d1dbadd5f009d19430b39
8726813f978d6baf519055f3105350cd071741f3