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log DM model execution time (#2589)

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old-commit-hash: 580589b2507bf344cd692a47b52edf85fa7bd784
This commit is contained in:
Adeeb Shihadeh
2020-11-20 13:38:31 -08:00
committed by GitHub
parent 5d6c00b64e
commit 1a99d77746
4 changed files with 5 additions and 4 deletions
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2
cereal

Submodule cereal updated: 3da12dc835...3d09a7508f

2
selfdrive/modeld/dmonitoringmodeld.cc
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@@ -65,7 +65,7 @@ int main(int argc, char **argv) {
double t2 = millis_since_boot();
// send dm packet
dmonitoring_publish(pm, extra.frame_id, res);
dmonitoring_publish(pm, extra.frame_id, res, t2-t1);
LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
last = t1;

3
selfdrive/modeld/models/dmonitoring.cc
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@@ -165,11 +165,12 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
return ret;
}
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res){
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time){
// make msg
MessageBuilder msg;
auto framed = msg.initEvent().initDriverState();
framed.setFrameId(frame_id);
framed.setModelExecutionTime(execution_time);
kj::ArrayPtr<const float> face_orientation(&res.face_orientation[0], ARRAYSIZE(res.face_orientation));
kj::ArrayPtr<const float> face_orientation_std(&res.face_orientation_meta[0], ARRAYSIZE(res.face_orientation_meta));

2
selfdrive/modeld/models/dmonitoring.h
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@@ -36,7 +36,7 @@ typedef struct DMonitoringModelState {
void dmonitoring_init(DMonitoringModelState* s);
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height);
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res);
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time);
void dmonitoring_free(DMonitoringModelState* s);
#ifdef __cplusplus