mirror of
https://github.com/MoreTore/openpilot.git
synced 2026-08-03 08:41:47 +08:00
Mitchell Goff
72a3c987c0
* 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
30 lines
944 B
Cython
30 lines
944 B
Cython
# distutils: language = c++
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from libcpp cimport bool
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from libc.stdint cimport uint32_t, uint64_t
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from .commonmodel cimport mat3
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cdef extern from "cereal/messaging/messaging.h":
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cdef cppclass MessageBuilder:
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size_t getSerializedSize()
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int serializeToBuffer(unsigned char *, size_t)
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cdef extern from "selfdrive/modeld/models/driving.h":
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cdef int FEATURE_LEN
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cdef int HISTORY_BUFFER_LEN
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cdef int DESIRE_LEN
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cdef int TRAFFIC_CONVENTION_LEN
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cdef int DRIVING_STYLE_LEN
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cdef int NAV_FEATURE_LEN
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cdef int NAV_INSTRUCTION_LEN
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cdef int OUTPUT_SIZE
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cdef int NET_OUTPUT_SIZE
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cdef int MODEL_FREQ
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cdef bool CPP_USE_THNEED
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cdef struct PublishState: pass
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mat3 update_calibration(float *, bool, bool)
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void fill_model_msg(MessageBuilder, float *, PublishState, uint32_t, uint32_t, uint32_t, float, uint64_t, uint64_t, float, bool, bool)
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void fill_pose_msg(MessageBuilder, float *, uint32_t, uint32_t, uint64_t, bool)
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