mirror of
https://github.com/sunnypilot/sunnypilot.git
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ad5ccabce3
* 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
74 lines
1.9 KiB
C++
74 lines
1.9 KiB
C++
#include "selfdrive/modeld/runners/thneedmodel.h"
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#include <cassert>
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ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra) {
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thneed = new Thneed(true);
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thneed->record = 0;
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thneed->load(path);
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thneed->clexec();
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thneed->find_inputs_outputs();
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recorded = false;
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output = loutput;
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use_extra = luse_extra;
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}
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void ThneedModel::addRecurrent(float *state, int state_size) {
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recurrent = state;
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}
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void ThneedModel::addTrafficConvention(float *state, int state_size) {
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trafficConvention = state;
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}
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void ThneedModel::addDesire(float *state, int state_size) {
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desire = state;
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}
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void ThneedModel::addImage(float *image_input_buf, int buf_size) {
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input = image_input_buf;
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}
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void ThneedModel::addExtra(float *extra_input_buf, int buf_size) {
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extra = extra_input_buf;
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}
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void* ThneedModel::getInputBuf() {
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if (use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
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else if (!use_extra && thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
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else return nullptr;
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}
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void* ThneedModel::getExtraBuf() {
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if (thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
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else return nullptr;
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}
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void ThneedModel::execute() {
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if (!recorded) {
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thneed->record = THNEED_RECORD;
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if (use_extra) {
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float *inputs[5] = {recurrent, trafficConvention, desire, extra, input};
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thneed->copy_inputs(inputs);
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} else {
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float *inputs[4] = {recurrent, trafficConvention, desire, input};
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thneed->copy_inputs(inputs);
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}
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thneed->clexec();
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thneed->copy_output(output);
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thneed->stop();
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recorded = true;
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} else {
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if (use_extra) {
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float *inputs[5] = {recurrent, trafficConvention, desire, extra, input};
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thneed->execute(inputs, output);
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} else {
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float *inputs[4] = {recurrent, trafficConvention, desire, input};
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thneed->execute(inputs, output);
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}
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}
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}
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