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UI: better read_model (#1586)

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* update model struct inplace

* refer params

* pass path by refer
old-commit-hash: 108a13ead84ea5f06bba77d81cae371a08c020c6
This commit is contained in:
Dean Lee
2020-05-29 06:10:49 +08:00
committed by GitHub
parent 2b60ee9531
commit 7db5410f10
2 changed files with 13 additions and 19 deletions
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selfdrive/ui/paint.cc
+1 -1
View File
@@ -322,7 +322,7 @@ static void update_lane_line_data(UIState *s, const float *points, float off, bo
}
}
static void update_all_lane_lines_data(UIState *s, const PathData path, model_path_vertices_data *pstart) {
static void update_all_lane_lines_data(UIState *s, const PathData &path, model_path_vertices_data *pstart) {
update_lane_line_data(s, path.points, 0.025*path.prob, false, pstart);
float var = fmin(path.std, 0.7);
update_lane_line_data(s, path.points, -var, true, pstart + 1);
selfdrive/ui/ui.cc
+12 -18
View File
@@ -288,38 +288,32 @@ static void ui_init_vision(UIState *s, const VisionStreamBufs back_bufs,
s->limit_set_speed_timeout = UI_FREQ;
}
static PathData read_path(cereal::ModelData::PathData::Reader pathp) {
PathData ret = {0};
static void read_path(PathData& p, const cereal::ModelData::PathData::Reader &pathp) {
p = {};
ret.prob = pathp.getProb();
ret.std = pathp.getStd();
p.prob = pathp.getProb();
p.std = pathp.getStd();
auto polyp = pathp.getPoly();
for (int i = 0; i < POLYFIT_DEGREE; i++) {
ret.poly[i] = polyp[i];
p.poly[i] = polyp[i];
}
// Compute points locations
for (int i = 0; i < MODEL_PATH_DISTANCE; i++) {
ret.points[i] = ret.poly[0] * (i*i*i) + ret.poly[1] * (i*i)+ ret.poly[2] * i + ret.poly[3];
p.points[i] = p.poly[0] * (i*i*i) + p.poly[1] * (i*i)+ p.poly[2] * i + p.poly[3];
}
return ret;
}
static ModelData read_model(cereal::ModelData::Reader model) {
ModelData d = {0};
d.path = read_path(model.getPath());
d.left_lane = read_path(model.getLeftLane());
d.right_lane = read_path(model.getRightLane());
static void read_model(ModelData &d, const cereal::ModelData::Reader &model) {
d = {};
read_path(d.path, model.getPath());
read_path(d.left_lane, model.getLeftLane());
read_path(d.right_lane, model.getRightLane());
auto leadd = model.getLead();
d.lead = (LeadData){
.dist = leadd.getDist(), .prob = leadd.getProb(), .std = leadd.getStd(),
};
return d;
}
static void update_status(UIState *s, int status) {
@@ -414,7 +408,7 @@ void handle_message(UIState *s, SubMaster &sm) {
}
}
if (sm.updated("model")) {
scene.model = read_model(sm["model"].getModel());
read_model(scene.model, sm["model"].getModel());
s->model_changed = true;
}
// else if (which == cereal::Event::LIVE_MPC) {