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https://github.com/dragonpilot/dragonpilot.git
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41 lines
1.2 KiB
C++
41 lines
1.2 KiB
C++
#include <cstring>
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#include "selfdrive/modeld/runners/snpemodel.h"
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#include "selfdrive/modeld/thneed/thneed.h"
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#include "selfdrive/hardware/hw.h"
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#define TEMPORAL_SIZE 512
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#define DESIRE_LEN 8
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#define TRAFFIC_CONVENTION_LEN 2
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// TODO: This should probably use SNPE directly.
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int main(int argc, char* argv[]) {
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#define OUTPUT_SIZE 0x10000
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float *output = (float*)calloc(OUTPUT_SIZE, sizeof(float));
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SNPEModel mdl(argv[1], output, 0, USE_GPU_RUNTIME, true);
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float state[TEMPORAL_SIZE] = {0};
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float desire[DESIRE_LEN] = {0};
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float traffic_convention[TRAFFIC_CONVENTION_LEN] = {0};
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float *input = (float*)calloc(0x1000000, sizeof(float));
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float *extra = (float*)calloc(0x1000000, sizeof(float));
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mdl.addRecurrent(state, TEMPORAL_SIZE);
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mdl.addDesire(desire, DESIRE_LEN);
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mdl.addTrafficConvention(traffic_convention, TRAFFIC_CONVENTION_LEN);
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mdl.addImage(input, 0);
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mdl.addExtra(extra, 0);
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// first run
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printf("************** execute 1 **************\n");
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memset(output, 0, OUTPUT_SIZE * sizeof(float));
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mdl.execute();
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// save model
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bool save_binaries = (argc > 3) && (strcmp(argv[3], "--binary") == 0);
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mdl.thneed->save(argv[2], save_binaries);
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return 0;
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}
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