Update model paths and refactor Driver class for improved functionality

Author: Danura30082

src/HL/Autotech_constant.py

@@ -7,7 +7,7 @@
 CRASH_DIST = 110
 
 script_dir = os.path.dirname(os.path.abspath(__file__))
-MODEL_PATH = os.path.join(script_dir, "model.onnx")  # Allows the model to be loaded from the same directory as the script regardless of the current working directory (aka where the script is run from)
+MODEL_PATH = os.path.join(script_dir, "model_CNN1D.onnx")  # Allows the model to be loaded from the same directory as the script regardless of the current working directory (aka where the script is run from)
 
 PWM_PROP = {
     "direction_prop": 1,

src/HL/Driver.py

@@ -9,15 +9,15 @@
 
 
 class Driver:
-    def __init__(self, context_size, horizontal_size):
+    def __init__(self, context_size=0, horizontal_size=0):
         self.ai_session = ort.InferenceSession(MODEL_PATH)
         self.context = np.zeros([2, context_size, horizontal_size], dtype=np.float32)
 
     def omniscent(self, lidar_data, camera_data):
-        pass
+        return self.ai_update_lidar_camera(lidar_data, camera_data)
 
     def ai(self, lidar_data, camera_data):
-        return self.ai_update_lidar_camera(lidar_data, camera_data)
+        return self.ai_update_lidar(lidar_data, camera_data)
 
     def simple_minded(self, lidar_data):
         return self.farthest_distants(lidar_data)