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bigmodel (#23684)

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* Added wide cam vipc client and bigmodel transform logic

* Added wide_frame to ModelState, should still work normally

* Refactored image input into addImage method, should still work normally

* Updated thneed/compile.cc

* Bigmodel, untested: 44f83118-b375-4d4c-ae12-2017124f0cf4/200

* Have to initialize extra buffer in SNPEModel

* Default paramater value in the wrong place I think

* Move USE_EXTRA to SConscript

* New model: 6c34d59a-acc3-4877-84bd-904c10745ba6/250

* move use extra check to runtime, not on C2

* this is always true

* more C2 checks

* log if frames are out of sync

* more logging on no frame

* store in pointer

* print sof

* add sync logic

* log based on sof difference as well

* keep both models

* less assumptions

* define above thneed

* typo

* simplify

* no need for second client is main is already wide

* more comments update

* no optional reference

* more logging to debug lags

* add to release files

* both defines

* New model: 6831a77f-2574-4bfb-8077-79b0972a2771/950

* Path offset no longer relevant

* Remove duplicate execute

* Moved bigmodel back to big_supercombo.dlc

* add wide vipc stream

* Tici must be tici

* Needs state too

* add wide cam support to model replay

* handle syncing better

* ugh, c2

* print that

* handle ecam lag

* skip first one

* so close

* update refs

Co-authored-by: mitchellgoffpc <mitchellgoffpc@gmail.com>
Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com>
Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 85efde269d
This commit is contained in:
Willem Melching
2022-02-20 01:06:31 +01:00
committed by GitHub
parent a0d1f77394
commit ad5ccabce3
20 changed files with 410 additions and 124 deletions
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5
selfdrive/modeld/SConscript
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@@ -31,6 +31,9 @@ thneed_src = [
use_thneed = not GetOption('no_thneed')
use_extra = True # arch == "larch64"
lenv['CXXFLAGS'].append('-DUSE_EXTRA=true' if use_extra else '-DUSE_EXTRA=false')
if arch == "aarch64" or arch == "larch64":
libs += ['gsl', 'CB']
libs += ['gnustl_shared'] if arch == "aarch64" else ['pthread', 'dl']
@@ -65,7 +68,7 @@ common_model = lenv.Object(common_src)
# build thneed model
if use_thneed and arch in ("aarch64", "larch64"):
fn = "../../models/supercombo"
fn = "../../models/big_supercombo" if use_extra else "../../models/supercombo"
compiler = lenv.Program('thneed/compile', ["thneed/compile.cc"]+common_model, LIBS=libs)
cmd = f"cd {Dir('.').abspath} && {compiler[0].abspath} {fn}.dlc {fn}.thneed --binary"