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ONNXModel: use the actual model file name (#22084)

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* use the actual file name

* use macro

* fix typo

* continue

* Apply suggestions from code review

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 7db04ab0c5e1876f6c6bfe6c407a19c4df80158b
This commit is contained in:
Dean Lee
2021-09-03 05:21:15 +08:00
committed by GitHub
parent 1b98341932
commit a02ecc02c4
4 changed files with 15 additions and 20 deletions
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selfdrive/modeld/models/dmonitoring.cc
+6 -3
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@@ -15,12 +15,15 @@
void dmonitoring_init(DMonitoringModelState* s) {
s->is_rhd = Params().getBool("IsRHD");
const char *model_path = Hardware::PC() ? "../../models/dmonitoring_model.dlc" : "../../models/dmonitoring_model_q.dlc";
s->m = new DefaultRunModel(model_path, &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
for (int x = 0; x < std::size(s->tensor); ++x) {
s->tensor[x] = (x - 128.f) * 0.0078125f;
}
#ifdef USE_ONNX_MODEL
s->m = new ONNXModel("../../models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
#else
s->m = new SNPEModel("../../models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
#endif
}
template <class T>
selfdrive/modeld/models/driving.cc
+4 -2
View File
@@ -63,10 +63,12 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
constexpr int output_size = OUTPUT_SIZE + TEMPORAL_SIZE;
s->output.resize(output_size);
#if (defined(QCOM) || defined(QCOM2)) && defined(USE_THNEED)
#ifdef USE_THNEED
s->m = std::make_unique<ThneedModel>("../../models/supercombo.thneed", &s->output[0], output_size, USE_GPU_RUNTIME);
#elif USE_ONNX_MODEL
s->m = std::make_unique<ONNXModel>("../../models/supercombo.onnx", &s->output[0], output_size, USE_GPU_RUNTIME);
#else
s->m = std::make_unique<DefaultRunModel>("../../models/supercombo.dlc", &s->output[0], output_size, USE_GPU_RUNTIME);
s->m = std::make_unique<SNPEModel>("../../models/supercombo.dlc", &s->output[0], output_size, USE_GPU_RUNTIME);
#endif
#ifdef TEMPORAL
selfdrive/modeld/runners/onnxmodel.cc
+3 -7
View File
@@ -15,15 +15,11 @@
#include "selfdrive/common/util.h"
ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime) {
LOGD("loading model %s", path);
output = _output;
output_size = _output_size;
char tmp[1024];
strncpy(tmp, path, sizeof(tmp));
strstr(tmp, ".dlc")[0] = '\0';
strcat(tmp, ".onnx");
LOGD("loading model %s", tmp);
int err = pipe(pipein);
assert(err == 0);
err = pipe(pipeout);
@@ -35,7 +31,7 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int
proc_pid = fork();
if (proc_pid == 0) {
LOGD("spawning onnx process %s", onnx_runner.c_str());
char *argv[] = {(char*)onnx_runner.c_str(), tmp, NULL};
char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, nullptr};
dup2(pipein[0], 0);
dup2(pipeout[1], 1);
close(pipein[0]);
selfdrive/modeld/runners/run.h
+2 -8
View File
@@ -3,14 +3,8 @@
#include "runmodel.h"
#include "snpemodel.h"
#if defined(QCOM) || defined(QCOM2)
#if defined(USE_THNEED)
#include "thneedmodel.h"
#define DefaultRunModel SNPEModel
#else
#ifdef USE_ONNX_MODEL
#elif defined(USE_ONNX_MODEL)
#include "onnxmodel.h"
#define DefaultRunModel ONNXModel
#else
#define DefaultRunModel SNPEModel
#endif
#endif