Test model refactor (#2720)

* template funcion fill_meta

* add function get_plan_max_idx

* add function get_mdn_max_idx

* remove temp builder variables

* get_mdn_max_idx->get_lead_data

* get_pan_max_idx->get_plan_data

* fill_lane_line

* combine fill_lane_line&fill_path into one function

* fill_lead_vw

* using unique_ptr

* prefer using constexpr

* more constexpr,remove duplicate defined TRAJECTORY_SIZE

* remove suffix _arr from variable name

* misc

* remove extern c

* refactor model_publish

* remove unused paramaters

* traffic_convention to c style array

* c style array:prev_desire&pulse_desire

* fix error&make easy for review

* const mat3 &transform

* move cl_command_queue into ModelState

* use maco LEAD_MHP_SELECTION

* move constexpr from .h to .cc

* remove #define MODEL_NAME

* modeldata.h: contexpr

* remove param temporal from model_init

* helper function get_best_data

* fix probs

* int

Co-authored-by: deanlee <deanlee3@gmail.com>
old-commit-hash: 630c7309a5

selfdrive/modeld/models/commonmodel.cc

@@ -25,7 +25,7 @@ void frame_init(ModelFrame* frame, int width, int height,
 
 float *frame_prepare(ModelFrame* frame, cl_command_queue q,
                            cl_mem yuv_cl, int width, int height,
-                           mat3 transform) {
+                           const mat3 &transform) {
   transform_queue(&frame->transform, q,
                   yuv_cl, width, height,
                   frame->transformed_y_cl, frame->transformed_u_cl, frame->transformed_v_cl,