Release 260111
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Comma Device
235
selfdrive/modeld/fill_model_msg.py
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235
selfdrive/modeld/fill_model_msg.py
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import os
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import capnp
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import numpy as np
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import math
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from cereal import log
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from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
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SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
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ConfidenceClass = log.ModelDataV2.ConfidenceClass
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class PublishState:
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def __init__(self):
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self.disengage_buffer = np.zeros(ModelConstants.CONFIDENCE_BUFFER_LEN*ModelConstants.DISENGAGE_WIDTH, dtype=np.float32)
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self.prev_brake_5ms2_probs = np.zeros(ModelConstants.FCW_5MS2_PROBS_WIDTH, dtype=np.float32)
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self.prev_brake_3ms2_probs = np.zeros(ModelConstants.FCW_3MS2_PROBS_WIDTH, dtype=np.float32)
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def fill_xyzt(builder, t, x, y, z, x_std=None, y_std=None, z_std=None):
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builder.t = t
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builder.x = x.tolist()
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builder.y = y.tolist()
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builder.z = z.tolist()
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if x_std is not None:
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builder.xStd = x_std.tolist()
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if y_std is not None:
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builder.yStd = y_std.tolist()
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if z_std is not None:
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builder.zStd = z_std.tolist()
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def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std=None):
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builder.t = t
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builder.x = x.tolist()
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builder.y = y.tolist()
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builder.v = v.tolist()
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builder.a = a.tolist()
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if x_std is not None:
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builder.xStd = x_std.tolist()
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if y_std is not None:
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builder.yStd = y_std.tolist()
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if v_std is not None:
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builder.vStd = v_std.tolist()
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if a_std is not None:
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builder.aStd = a_std.tolist()
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def fill_xyz_poly(builder, degree, x, y, z):
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xyz = np.stack([x, y, z], axis=1)
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coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
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builder.xCoefficients = coeffs[:, 0].tolist()
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builder.yCoefficients = coeffs[:, 1].tolist()
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builder.zCoefficients = coeffs[:, 2].tolist()
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def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
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builder.leftY = lane_lines[1].y[0]
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builder.leftProb = lane_line_probs[1]
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builder.rightY = lane_lines[2].y[0]
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builder.rightProb = lane_line_probs[2]
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def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
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net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
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publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
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frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
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valid: bool) -> None:
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frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
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frame_drop_perc = frame_drop * 100
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extended_msg.valid = valid
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base_msg.valid = valid
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driving_model_data = base_msg.drivingModelData
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driving_model_data.frameId = vipc_frame_id
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driving_model_data.frameIdExtra = vipc_frame_id_extra
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driving_model_data.frameDropPerc = frame_drop_perc
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driving_model_data.modelExecutionTime = model_execution_time
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driving_model_data.action = action
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modelV2 = extended_msg.modelV2
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modelV2.frameId = vipc_frame_id
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modelV2.frameIdExtra = vipc_frame_id_extra
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modelV2.frameAge = frame_age
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modelV2.frameDropPerc = frame_drop_perc
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modelV2.timestampEof = timestamp_eof
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modelV2.modelExecutionTime = model_execution_time
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# plan
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fill_xyzt(modelV2.position, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.POSITION].T, *net_output_data['plan_stds'][0,:,Plan.POSITION].T)
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fill_xyzt(modelV2.velocity, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.VELOCITY].T)
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fill_xyzt(modelV2.acceleration, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ACCELERATION].T)
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fill_xyzt(modelV2.orientation, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.T_FROM_CURRENT_EULER].T)
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fill_xyzt(modelV2.orientationRate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
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# poly path
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fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
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# action
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modelV2.action = action
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# times at X_IDXS of edges and lines aren't used
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# LINE_T_IDXS: list[float] = []
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# times at X_IDXS according to model plan
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LINE_T_IDXS = [np.nan] * ModelConstants.IDX_N
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LINE_T_IDXS[0] = 0.0
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plan_x = net_output_data['plan'][0, :, Plan.POSITION][:, 0].tolist()
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Tmax = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
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for xidx in range(1, ModelConstants.IDX_N):
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tidx = 0
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# increment tidx until we find an element that's further away than the current xidx
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while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx + 1] < ModelConstants.X_IDXS[xidx]:
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tidx += 1
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if tidx == ModelConstants.IDX_N - 1:
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for k in range(xidx, ModelConstants.IDX_N):
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LINE_T_IDXS[k] = Tmax
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break
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# interpolate to find `t` for the current xidx
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current_x_val = plan_x[tidx]
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next_x_val = plan_x[tidx + 1]
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dx = next_x_val - current_x_val
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if dx <= 1e-9:
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LINE_T_IDXS[xidx] = ModelConstants.T_IDXS[tidx]
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else:
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p = (ModelConstants.X_IDXS[xidx] - current_x_val) / dx
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if p < 0.0: p = 0.0
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elif p > 1.0: p = 1.0
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LINE_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx + 1] + (1.0 - p) * ModelConstants.T_IDXS[tidx]
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#p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(
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# next_x_val - current_x_val) > 1e-9 else float('nan')
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#LINE_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx + 1] + (1 - p) * ModelConstants.T_IDXS[tidx]
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LINE_T_IDXS = [float(Tmax if math.isnan(float(v)) else float(v)) for v in LINE_T_IDXS]
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# 비내림(monotonic non-decreasing) 보정 (순수 파이썬, numpy 불사용)
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running = LINE_T_IDXS[0]
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for i in range(1, len(LINE_T_IDXS)):
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if LINE_T_IDXS[i] < running:
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LINE_T_IDXS[i] = running
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else:
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running = LINE_T_IDXS[i]
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# lane lines
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modelV2.init('laneLines', 4)
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for i in range(4):
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lane_line = modelV2.laneLines[i]
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fill_xyzt(lane_line, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
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modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
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modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
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fill_lane_line_meta(driving_model_data.laneLineMeta, modelV2.laneLines, modelV2.laneLineProbs)
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# road edges
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modelV2.init('roadEdges', 2)
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for i in range(2):
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road_edge = modelV2.roadEdges[i]
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fill_xyzt(road_edge, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
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modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
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# leads
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modelV2.init('leadsV3', 3)
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for i in range(3):
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lead = modelV2.leadsV3[i]
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fill_xyvat(lead, ModelConstants.LEAD_T_IDXS, *net_output_data['lead'][0,i].T, *net_output_data['lead_stds'][0,i].T)
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lead.prob = net_output_data['lead_prob'][0,i].tolist()
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lead.probTime = ModelConstants.LEAD_T_OFFSETS[i]
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# meta
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meta = modelV2.meta
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meta.desireState = net_output_data['desire_state'][0].reshape(-1).tolist()
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meta.desirePrediction = net_output_data['desire_pred'][0].reshape(-1).tolist()
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meta.engagedProb = net_output_data['meta'][0,Meta.ENGAGED].item()
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meta.init('disengagePredictions')
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disengage_predictions = meta.disengagePredictions
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disengage_predictions.t = ModelConstants.META_T_IDXS
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disengage_predictions.brakeDisengageProbs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE].tolist()
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disengage_predictions.gasDisengageProbs = net_output_data['meta'][0,Meta.GAS_DISENGAGE].tolist()
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disengage_predictions.steerOverrideProbs = net_output_data['meta'][0,Meta.STEER_OVERRIDE].tolist()
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disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
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disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
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disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
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disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
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disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
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publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
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publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]
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publish_state.prev_brake_3ms2_probs[:-1] = publish_state.prev_brake_3ms2_probs[1:]
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publish_state.prev_brake_3ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_3][0]
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hard_brake_predicted = (publish_state.prev_brake_5ms2_probs > ModelConstants.FCW_THRESHOLDS_5MS2).all() and \
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(publish_state.prev_brake_3ms2_probs > ModelConstants.FCW_THRESHOLDS_3MS2).all()
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meta.hardBrakePredicted = hard_brake_predicted.item()
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# confidence
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if vipc_frame_id % (2*ModelConstants.MODEL_RUN_FREQ) == 0:
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# any disengage prob
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brake_disengage_probs = net_output_data['meta'][0,Meta.BRAKE_DISENGAGE]
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gas_disengage_probs = net_output_data['meta'][0,Meta.GAS_DISENGAGE]
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steer_override_probs = net_output_data['meta'][0,Meta.STEER_OVERRIDE]
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any_disengage_probs = 1-((1-brake_disengage_probs)*(1-gas_disengage_probs)*(1-steer_override_probs))
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# independent disengage prob for each 2s slice
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ind_disengage_probs = np.r_[any_disengage_probs[0], np.diff(any_disengage_probs) / (1 - any_disengage_probs[:-1])]
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# rolling buf for 2, 4, 6, 8, 10s
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publish_state.disengage_buffer[:-ModelConstants.DISENGAGE_WIDTH] = publish_state.disengage_buffer[ModelConstants.DISENGAGE_WIDTH:]
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publish_state.disengage_buffer[-ModelConstants.DISENGAGE_WIDTH:] = ind_disengage_probs
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score = 0.
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for i in range(ModelConstants.DISENGAGE_WIDTH):
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score += publish_state.disengage_buffer[i*ModelConstants.DISENGAGE_WIDTH+ModelConstants.DISENGAGE_WIDTH-1-i].item() / ModelConstants.DISENGAGE_WIDTH
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if score < ModelConstants.RYG_GREEN:
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modelV2.confidence = ConfidenceClass.green
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elif score < ModelConstants.RYG_YELLOW:
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modelV2.confidence = ConfidenceClass.yellow
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else:
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modelV2.confidence = ConfidenceClass.red
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# raw prediction if enabled
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if SEND_RAW_PRED:
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modelV2.rawPredictions = net_output_data['raw_pred'].tobytes()
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def fill_pose_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray],
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vipc_frame_id: int, vipc_dropped_frames: int, timestamp_eof: int, live_calib_seen: bool) -> None:
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msg.valid = live_calib_seen & (vipc_dropped_frames < 1)
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cameraOdometry = msg.cameraOdometry
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cameraOdometry.frameId = vipc_frame_id
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cameraOdometry.timestampEof = timestamp_eof
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cameraOdometry.trans = net_output_data['pose'][0,:3].tolist()
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cameraOdometry.rot = net_output_data['pose'][0,3:].tolist()
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cameraOdometry.wideFromDeviceEuler = net_output_data['wide_from_device_euler'][0,:].tolist()
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cameraOdometry.roadTransformTrans = net_output_data['road_transform'][0,:3].tolist()
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cameraOdometry.transStd = net_output_data['pose_stds'][0,:3].tolist()
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cameraOdometry.rotStd = net_output_data['pose_stds'][0,3:].tolist()
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cameraOdometry.wideFromDeviceEulerStd = net_output_data['wide_from_device_euler_stds'][0,:].tolist()
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cameraOdometry.roadTransformTransStd = net_output_data['road_transform_stds'][0,:3].tolist()
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