mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-20 16:03:54 +08:00
c374f03187
* Revert "Fix modeld dropping frames if processing takes over 50 ms"
This reverts commit fb908877a50d72e20a047bd4138316b12c8a30cc.
* track frame drop
* fix unused
* alert on frame drop perc
* reduce thresholds
* posenet is invalid on non-consecutive frames
* Refactor filter time constant
* Use vipc_dropped_frames for posenet valid check
* Actually set frame drop percentage
* Add explicit cast just to be sure
* Prevent frames dropped to go up to quickly on startup
* bump cereal
* reduce soft disable threshold to 1%
Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 58c3b5ba84
82 lines
2.1 KiB
C
82 lines
2.1 KiB
C
#ifndef MODEL_H
|
|
#define MODEL_H
|
|
|
|
// gate this here
|
|
#define TEMPORAL
|
|
#define DESIRE
|
|
#define TRAFFIC_CONVENTION
|
|
|
|
|
|
#include "common/mat.h"
|
|
#include "common/util.h"
|
|
|
|
#include "commonmodel.h"
|
|
#include "runners/run.h"
|
|
|
|
#include <czmq.h>
|
|
#include "messaging.hpp"
|
|
|
|
#define MODEL_WIDTH 512
|
|
#define MODEL_HEIGHT 256
|
|
#define MODEL_FRAME_SIZE MODEL_WIDTH * MODEL_HEIGHT * 3 / 2
|
|
#define MODEL_NAME "supercombo_dlc"
|
|
|
|
#define MODEL_PATH_DISTANCE 192
|
|
#define POLYFIT_DEGREE 4
|
|
#define SPEED_PERCENTILES 10
|
|
#define DESIRE_LEN 8
|
|
#define TRAFFIC_CONVENTION_LEN 2
|
|
#define DESIRE_PRED_SIZE 32
|
|
#define OTHER_META_SIZE 4
|
|
#define LEAD_MDN_N 5 // probs for 5 groups
|
|
#define MDN_VALS 4 // output xyva for each lead group
|
|
#define SELECTION 3 //output 3 group (lead now, in 2s and 6s)
|
|
#define MDN_GROUP_SIZE 11
|
|
#define TIME_DISTANCE 100
|
|
#define POSE_SIZE 12
|
|
|
|
#define MODEL_FREQ 20
|
|
#define MAX_FRAME_DROP 0.05
|
|
|
|
struct ModelDataRaw {
|
|
float *path;
|
|
float *left_lane;
|
|
float *right_lane;
|
|
float *lead;
|
|
float *long_x;
|
|
float *long_v;
|
|
float *long_a;
|
|
float *desire_state;
|
|
float *meta;
|
|
float *pose;
|
|
};
|
|
|
|
|
|
typedef struct ModelState {
|
|
ModelFrame frame;
|
|
float *output;
|
|
float *input_frames;
|
|
RunModel *m;
|
|
#ifdef DESIRE
|
|
float *prev_desire;
|
|
float *pulse_desire;
|
|
#endif
|
|
#ifdef TRAFFIC_CONVENTION
|
|
float *traffic_convention;
|
|
#endif
|
|
} ModelState;
|
|
|
|
void model_init(ModelState* s, cl_device_id device_id,
|
|
cl_context context, int temporal);
|
|
ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
|
|
cl_mem yuv_cl, int width, int height,
|
|
mat3 transform, void* sock, float *desire_in);
|
|
void model_free(ModelState* s);
|
|
void poly_fit(float *in_pts, float *in_stds, float *out);
|
|
|
|
void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
|
|
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
|
|
void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
|
|
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
|
|
#endif
|