mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-09-30 19:33:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

fix frame drop percentage (#2578)

Browse Source 
* correct, I think

* add model execution time

* remove unused

* token is a file

* this is gonna change

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 7378bc42845a094bbb22fb76154cb40ecb098aaf
This commit is contained in:
HaraldSchafer
2020-11-19 21:05:29 -08:00
committed by GitHub
parent 597759d16c
commit 7c8ea30532
5 changed files with 30 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/modeld.cc
+6 -5
View File
@@ -193,17 +193,18 @@ int main(int argc, char **argv) {
model_eval_frame(&model, q, yuv_ion.buf_cl, buf_info.width, buf_info.height,
model_transform, NULL, vec_desire);
mt2 = millis_since_boot();
float model_execution_time = (mt2 - mt1) / 1000.0;
// tracked dropped frames
uint32_t vipc_dropped_frames = extra.frame_id - last_vipc_frame_id - 1;
frames_dropped = (1. - frame_filter_k) * frames_dropped + frame_filter_k * (float)std::min(vipc_dropped_frames, 10U);
float frame_drop_perc = frames_dropped / MODEL_FREQ;
float frame_drop_ratio = frames_dropped / (1 + frames_dropped);
model_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_perc, model_buf, extra.timestamp_eof);
model_publish_v2(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_perc, model_buf, extra.timestamp_eof);
posenet_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_perc, model_buf, extra.timestamp_eof);
model_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time);
model_publish_v2(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time);
posenet_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof);
LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu, frame_drop %.3f", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_perc);
LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu, frame_drop %.3f", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_ratio);
last = mt1;
last_vipc_frame_id = extra.frame_id;
}
selfdrive/modeld/models/driving.cc
+10 -4
View File
@@ -307,7 +307,8 @@ void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const float * data,
void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
uint32_t vipc_dropped_frames, float frame_drop,
const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
float model_execution_time) {
// make msg
MessageBuilder msg;
auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModelV2();
@@ -316,6 +317,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
framed.setFrameAge(frame_age);
framed.setFrameDropPerc(frame_drop * 100);
framed.setTimestampEof(timestamp_eof);
framed.setModelExecutionTime(model_execution_time);
// plan
int plan_mhp_max_idx = 0;
@@ -385,15 +387,18 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
}
void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
uint32_t vipc_dropped_frames, float frame_drop,
const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
float model_execution_time) {
uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
MessageBuilder msg;
auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModel();
framed.setFrameId(vipc_frame_id);
framed.setFrameAge(frame_age);
framed.setFrameDropPerc(frame_drop * 100);
framed.setTimestampEof(timestamp_eof);
framed.setModelExecutionTime(model_execution_time);
// Find the distribution that corresponds to the most probable plan
int plan_mhp_max_idx = 0;
@@ -461,7 +466,8 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
}
void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
uint32_t vipc_dropped_frames, float frame_drop,
const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
float trans_arr[3];
float trans_std_arr[3];
float rot_arr[3];
selfdrive/modeld/models/driving.h
+6 -3
View File
@@ -78,9 +78,12 @@ 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);
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data,
uint64_t timestamp_eof, float model_execution_time);
void model_publish_v2(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);
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data,
uint64_t timestamp_eof, float model_execution_time);
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);
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data,
uint64_t timestamp_eof);
#endif