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Publish navEnabled from modeld (#28647)

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* Publish navEnabled from modeld

* Bump cereal
old-commit-hash: 4c2c73b15282f405900b64b0fb67d461f3058b5c
This commit is contained in:
Mitchell Goff
2023-06-22 19:39:51 -07:00
committed by GitHub
parent 65378a9faf
commit 4ad967f963
4 changed files with 5 additions and 4 deletions
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cereal
+1 -1
Submodule cereal updated: 1de4176d3e...cacfda17fd
selfdrive/modeld/modeld.cc
+1 -1
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@@ -179,7 +179,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
if (model_output != nullptr) {
model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, meta_main.timestamp_eof, model_execution_time,
kj::ArrayPtr<const float>(model.output.data(), model.output.size()), live_calib_seen);
kj::ArrayPtr<const float>(model.output.data(), model.output.size()), nav_enabled, live_calib_seen);
posenet_publish(pm, meta_main.frame_id, vipc_dropped_frames, *model_output, meta_main.timestamp_eof, live_calib_seen);
}
selfdrive/modeld/models/driving.cc
+2 -1
View File
@@ -364,7 +364,7 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out
void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
const ModelOutput &net_outputs, uint64_t timestamp_eof,
float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool valid) {
float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool nav_enabled, const bool valid) {
const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
MessageBuilder msg;
auto framed = msg.initEvent(valid).initModelV2();
@@ -374,6 +374,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id
framed.setFrameDropPerc(frame_drop * 100);
framed.setTimestampEof(timestamp_eof);
framed.setModelExecutionTime(model_execution_time);
framed.setNavEnabled(nav_enabled);
if (send_raw_pred) {
framed.setRawPredictions(raw_pred.asBytes());
}
selfdrive/modeld/models/driving.h
+1 -1
View File
@@ -285,6 +285,6 @@ ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide
void model_free(ModelState* s);
void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
const ModelOutput &net_outputs, uint64_t timestamp_eof,
float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool valid);
float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool nav_enabled, const bool valid);
void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid);