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Added USE_THNEED environment variable and removed build flag (#29645)

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This commit is contained in:
Mitchell Goff
2023-08-29 14:07:57 -07:00
committed by GitHub
parent 5dc7028f91
commit d998fd88a8
4 changed files with 5 additions and 11 deletions
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6
selfdrive/modeld/modeld.py
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@@ -1,4 +1,5 @@
#!/usr/bin/env python3
import os
import sys
import time
import numpy as np
@@ -7,7 +8,7 @@ from typing import Dict, Optional
from setproctitle import setproctitle
from cereal.messaging import PubMaster, SubMaster
from cereal.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
from openpilot.system.hardware import PC
from openpilot.system.hardware import PC, TICI
from openpilot.system.swaglog import cloudlog
from openpilot.common.params import Params
from openpilot.common.filter_simple import FirstOrderFilter
@@ -16,8 +17,9 @@ from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLCont
from openpilot.selfdrive.modeld.models.driving_pyx import (
PublishState, create_model_msg, create_pose_msg, update_calibration,
FEATURE_LEN, HISTORY_BUFFER_LEN, DESIRE_LEN, TRAFFIC_CONVENTION_LEN, NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN,
OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ, USE_THNEED)
OUTPUT_SIZE, NET_OUTPUT_SIZE, MODEL_FREQ)
USE_THNEED = int(os.getenv('USE_THNEED', str(int(TICI))))
if USE_THNEED:
from selfdrive.modeld.runners.thneedmodel_pyx import ThneedModel as ModelRunner
else:

6
selfdrive/modeld/models/driving.h
View File

@@ -9,12 +9,6 @@
#include "common/util.h"
#include "selfdrive/modeld/models/nav.h"
#ifdef USE_THNEED
constexpr bool CPP_USE_THNEED = true;
#else
constexpr bool CPP_USE_THNEED = false;
#endif
constexpr int FEATURE_LEN = 128;
constexpr int HISTORY_BUFFER_LEN = 99;
constexpr int DESIRE_LEN = 8;

1
selfdrive/modeld/models/driving.pxd
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@@ -21,7 +21,6 @@ cdef extern from "selfdrive/modeld/models/driving.h":
cdef int OUTPUT_SIZE
cdef int NET_OUTPUT_SIZE
cdef int MODEL_FREQ
cdef bool CPP_USE_THNEED
cdef struct PublishState: pass
mat3 update_calibration(float *, bool, bool)

3
selfdrive/modeld/models/driving_pyx.pyx
View File

@@ -11,7 +11,7 @@ from .commonmodel cimport mat3
from .driving cimport FEATURE_LEN as CPP_FEATURE_LEN, HISTORY_BUFFER_LEN as CPP_HISTORY_BUFFER_LEN, DESIRE_LEN as CPP_DESIRE_LEN, \
TRAFFIC_CONVENTION_LEN as CPP_TRAFFIC_CONVENTION_LEN, DRIVING_STYLE_LEN as CPP_DRIVING_STYLE_LEN, \
NAV_FEATURE_LEN as CPP_NAV_FEATURE_LEN, NAV_INSTRUCTION_LEN as CPP_NAV_INSTRUCTION_LEN, \
OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ, CPP_USE_THNEED
OUTPUT_SIZE as CPP_OUTPUT_SIZE, NET_OUTPUT_SIZE as CPP_NET_OUTPUT_SIZE, MODEL_FREQ as CPP_MODEL_FREQ
from .driving cimport MessageBuilder, PublishState as cppPublishState
from .driving cimport fill_model_msg, fill_pose_msg, update_calibration as cpp_update_calibration
@@ -25,7 +25,6 @@ NAV_INSTRUCTION_LEN = CPP_NAV_INSTRUCTION_LEN
OUTPUT_SIZE = CPP_OUTPUT_SIZE
NET_OUTPUT_SIZE = CPP_NET_OUTPUT_SIZE
MODEL_FREQ = CPP_MODEL_FREQ
USE_THNEED = CPP_USE_THNEED
cdef class PublishState:
cdef cppPublishState state