mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-07 14:42:08 +08:00
Willem Melching
ad5ccabce3
* Added wide cam vipc client and bigmodel transform logic * Added wide_frame to ModelState, should still work normally * Refactored image input into addImage method, should still work normally * Updated thneed/compile.cc * Bigmodel, untested: 44f83118-b375-4d4c-ae12-2017124f0cf4/200 * Have to initialize extra buffer in SNPEModel * Default paramater value in the wrong place I think * Move USE_EXTRA to SConscript * New model: 6c34d59a-acc3-4877-84bd-904c10745ba6/250 * move use extra check to runtime, not on C2 * this is always true * more C2 checks * log if frames are out of sync * more logging on no frame * store in pointer * print sof * add sync logic * log based on sof difference as well * keep both models * less assumptions * define above thneed * typo * simplify * no need for second client is main is already wide * more comments update * no optional reference * more logging to debug lags * add to release files * both defines * New model: 6831a77f-2574-4bfb-8077-79b0972a2771/950 * Path offset no longer relevant * Remove duplicate execute * Moved bigmodel back to big_supercombo.dlc * add wide vipc stream * Tici must be tici * Needs state too * add wide cam support to model replay * handle syncing better * ugh, c2 * print that * handle ecam lag * skip first one * so close * update refs Co-authored-by: mitchellgoffpc <mitchellgoffpc@gmail.com> Co-authored-by: Harald Schafer <harald.the.engineer@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Comma Device <device@comma.ai> old-commit-hash: 85efde269da2680a77c75c248aafc8c29435ca98
43 lines
1.2 KiB
C++
43 lines
1.2 KiB
C++
#include <cstring>
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#include "selfdrive/modeld/runners/snpemodel.h"
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#include "selfdrive/modeld/thneed/thneed.h"
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#include "selfdrive/hardware/hw.h"
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#define TEMPORAL_SIZE 512
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#define DESIRE_LEN 8
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#define TRAFFIC_CONVENTION_LEN 2
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// TODO: This should probably use SNPE directly.
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int main(int argc, char* argv[]) {
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#define OUTPUT_SIZE 0x10000
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float *output = (float*)calloc(OUTPUT_SIZE, sizeof(float));
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SNPEModel mdl(argv[1], output, 0, USE_GPU_RUNTIME, USE_EXTRA);
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float state[TEMPORAL_SIZE] = {0};
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float desire[DESIRE_LEN] = {0};
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float traffic_convention[TRAFFIC_CONVENTION_LEN] = {0};
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float *input = (float*)calloc(0x1000000, sizeof(float));
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float *extra = (float*)calloc(0x1000000, sizeof(float));
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mdl.addRecurrent(state, TEMPORAL_SIZE);
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mdl.addDesire(desire, DESIRE_LEN);
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mdl.addTrafficConvention(traffic_convention, TRAFFIC_CONVENTION_LEN);
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mdl.addImage(input, 0);
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if (USE_EXTRA) {
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mdl.addExtra(extra, 0);
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}
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// first run
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printf("************** execute 1 **************\n");
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memset(output, 0, OUTPUT_SIZE * sizeof(float));
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mdl.execute();
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// save model
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bool save_binaries = (argc > 3) && (strcmp(argv[3], "--binary") == 0);
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mdl.thneed->save(argv[2], save_binaries);
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return 0;
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}
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