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raw pred api (#2611)

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* send both

* update cereal

* ptr type

* this is fine

* clean up

* v1 and v2

* header

* update cereal

* cereal
old-commit-hash: f30d15ea24c3d122b55c2789dc996725f13d0bd6
This commit is contained in:
ZwX1616
2020-12-02 18:46:12 -08:00
committed by GitHub
parent 08cd2dbb86
commit f4bdc2127c
7 changed files with 23 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/modeld/dmonitoringmodeld.cc
+2 -1
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@@ -62,7 +62,8 @@ int main(int argc, char **argv) {
double t2 = millis_since_boot();
// send dm packet
dmonitoring_publish(pm, extra.frame_id, res, (t2-t1)/1000.0);
const float* raw_pred_ptr = send_raw_pred ? (const float *)dmonitoringmodel.output : nullptr;
dmonitoring_publish(pm, extra.frame_id, res, raw_pred_ptr, (t2-t1)/1000.0);
LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
last = t1;
selfdrive/modeld/modeld.cc
+3 -2
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@@ -201,8 +201,9 @@ int main(int argc, char **argv) {
if (run_count < 10) frames_dropped = 0; // let frame drops warm up
float frame_drop_ratio = frames_dropped / (1 + frames_dropped);
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);
const float* raw_pred_ptr = send_raw_pred ? (const float *)model.output : nullptr;
model_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_ratio, model_buf, raw_pred_ptr, extra.timestamp_eof, model_execution_time);
model_publish_v2(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_ratio, model_buf, raw_pred_ptr, 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_ratio);
selfdrive/modeld/models/commonmodel.h
+3
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@@ -9,6 +9,7 @@
#endif
#include <float.h>
#include <stdlib.h>
#include "common/mat.h"
#include "transforms/transform.h"
#include "transforms/loadyuv.h"
@@ -17,6 +18,8 @@
extern "C" {
#endif
const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL;
void softmax(const float* input, float* output, size_t len);
float softplus(float input);
float sigmoid(float input);
selfdrive/modeld/models/dmonitoring.cc
+4 -1
View File
@@ -181,7 +181,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
return ret;
}
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time){
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, const float* raw_pred, float execution_time){
// make msg
MessageBuilder msg;
auto framed = msg.initEvent().initDriverState();
@@ -198,6 +198,9 @@ void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResu
framed.setLeftBlinkProb(res.left_blink_prob);
framed.setRightBlinkProb(res.right_blink_prob);
framed.setSgProb(res.sg_prob);
if (send_raw_pred) {
framed.setRawPred(kj::arrayPtr((const uint8_t*)raw_pred, OUTPUT_SIZE*sizeof(float)));
}
pm.send("driverState", msg);
}
selfdrive/modeld/models/dmonitoring.h
+1 -1
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@@ -37,7 +37,7 @@ typedef struct DMonitoringModelState {
void dmonitoring_init(DMonitoringModelState* s);
DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height);
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time);
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, const float* raw_pred, float execution_time);
void dmonitoring_free(DMonitoringModelState* s);
#ifdef __cplusplus
selfdrive/modeld/models/driving.cc
+8 -2
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@@ -295,7 +295,7 @@ 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, const float* raw_pred, uint64_t timestamp_eof,
float model_execution_time) {
// make msg
MessageBuilder msg;
@@ -306,6 +306,9 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
framed.setFrameDropPerc(frame_drop * 100);
framed.setTimestampEof(timestamp_eof);
framed.setModelExecutionTime(model_execution_time);
if (send_raw_pred) {
framed.setRawPred(kj::arrayPtr((const uint8_t*)raw_pred, (OUTPUT_SIZE+TEMPORAL_SIZE)*sizeof(float)));
}
// plan
int plan_mhp_max_idx = 0;
@@ -371,7 +374,7 @@ 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,
const ModelDataRaw &net_outputs, const float* raw_pred, uint64_t timestamp_eof,
float model_execution_time) {
uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
@@ -382,6 +385,9 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
framed.setFrameDropPerc(frame_drop * 100);
framed.setTimestampEof(timestamp_eof);
framed.setModelExecutionTime(model_execution_time);
if (send_raw_pred) {
framed.setRawPred(kj::arrayPtr((const uint8_t*)raw_pred, (OUTPUT_SIZE+TEMPORAL_SIZE)*sizeof(float)));
}
// Find the distribution that corresponds to the most probable plan
int plan_mhp_max_idx = 0;
selfdrive/modeld/models/driving.h
+2 -2
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@@ -77,10 +77,10 @@ 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,
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, const float* raw_pred,
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,
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, const float* raw_pred,
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,