mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-18 21:14:01 +08:00
a3fbbb26ac
* Added modeld.py (WIP)
* No more VisionIpcBufExtra
* Started work on cython bindings for runmodel
* Got ONNXModel cython bindings mostly working, added ModelFrame bindings
* Got modeld main loop running without model eval
* Move everything into ModelState
* Doesn't crash!
* Moved ModelState into modeld.py
* Added driving_pyx
* Added cython bindings for message generation
* Moved CLContext definition to visionipc.pxd
* *facepalm*
* Move cl_pyx into commonmodel_pyx
* Split out ONNXModel into a subclass of RunModel
* Added snpemodel/thneedmodel bindings
* Removed modeld.cc
* Fixed scons for macOS
* Fixed sconscript
* Added flag for thneedmodel
* paths are now relative to openpilot root dir
* Set cl kernel paths in SConscript
* Set LD_PRELOAD=libthneed.so to fix ioctl interception
* Run from root dir
* A few more fixes
* A few more minor fixes
* Use C update_calibration for now to exactly match refs
* Add nav_instructions input
* Link driving_pyx.pyx with transformations
* Checked python FirstOrderFilter against C++ FirstOrderFilter
* Set process name to fix test_onroad
* Revert changes to onnxmodel.cc
* Fixed bad onnx_runner.py path in onnxmodel.cc
* Import all constants from driving.h
* logging -> cloudlog
* pylint import-error suppressions no longer needed?
* Loop in SConscript
* Added parens
* Bump modeld cpu usage in test_onroad
* Get rid of use_nav
* use config_realtime_process
* error message from ioctl sniffer was messing up pyenv
* cast distance_idx to int
* Removed cloudlog.infos in model.run
* Fixed rebase conflicts
* Clean up driving.pxd/pyx
* Fixed linter error
old-commit-hash: 72a3c987c0
61 lines
3.0 KiB
Cython
61 lines
3.0 KiB
Cython
# distutils: language = c++
|
|
# cython: c_string_encoding=ascii
|
|
|
|
import numpy as np
|
|
cimport numpy as cnp
|
|
from libcpp cimport bool
|
|
from libc.string cimport memcpy
|
|
from libc.stdint cimport uint32_t, uint64_t
|
|
|
|
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
|
|
from .driving cimport MessageBuilder, PublishState as cppPublishState
|
|
from .driving cimport fill_model_msg, fill_pose_msg, update_calibration as cpp_update_calibration
|
|
|
|
FEATURE_LEN = CPP_FEATURE_LEN
|
|
HISTORY_BUFFER_LEN = CPP_HISTORY_BUFFER_LEN
|
|
DESIRE_LEN = CPP_DESIRE_LEN
|
|
TRAFFIC_CONVENTION_LEN = CPP_TRAFFIC_CONVENTION_LEN
|
|
DRIVING_STYLE_LEN = CPP_DRIVING_STYLE_LEN
|
|
NAV_FEATURE_LEN = CPP_NAV_FEATURE_LEN
|
|
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
|
|
|
|
def update_calibration(float[:] device_from_calib_euler, bool wide_camera, bool bigmodel_frame):
|
|
cdef mat3 result = cpp_update_calibration(&device_from_calib_euler[0], wide_camera, bigmodel_frame)
|
|
np_result = np.empty(9, dtype=np.float32)
|
|
cdef float[:] np_result_view = np_result
|
|
memcpy(&np_result_view[0], &result.v[0], 9*sizeof(float))
|
|
return np_result.reshape(3, 3)
|
|
|
|
def create_model_msg(float[:] model_outputs, PublishState ps, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
|
|
uint64_t timestamp_eof, uint64_t timestamp_llk, float model_execution_time, bool nav_enabled, bool valid):
|
|
cdef MessageBuilder msg
|
|
fill_model_msg(msg, &model_outputs[0], ps.state, vipc_frame_id, vipc_frame_id_extra, frame_id, frame_drop,
|
|
timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, valid)
|
|
|
|
output_size = msg.getSerializedSize()
|
|
output_data = bytearray(output_size)
|
|
cdef unsigned char * output_ptr = output_data
|
|
assert msg.serializeToBuffer(output_ptr, output_size) > 0, "output buffer is too small to serialize"
|
|
return bytes(output_data)
|
|
|
|
def create_pose_msg(float[:] model_outputs, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames, uint64_t timestamp_eof, bool valid):
|
|
cdef MessageBuilder msg
|
|
fill_pose_msg(msg, &model_outputs[0], vipc_frame_id, vipc_dropped_frames, timestamp_eof, valid)
|
|
|
|
output_size = msg.getSerializedSize()
|
|
output_data = bytearray(output_size)
|
|
cdef unsigned char * output_ptr = output_data
|
|
assert msg.serializeToBuffer(output_ptr, output_size) > 0, "output buffer is too small to serialize"
|
|
return bytes(output_data)
|