mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-12 12:52:13 +08:00
HaraldSchafer
b0b1aff5cc
* dd9a502d-c8e2-4831-b365-804b0ae0739d/600 80041070-d276-4fed-bdb9-0075e5442908/420 * no elementwise op * 9dabf0fe-2e60-44bf-8d3a-d20a74aca072/600 ae746590-0bb5-4a16-80db-15f02d314f03/300 c4663a12-b499-4c9b-90dd-b169e3948cb1/60 * explicit slice * some copies are useful * 1456d261-d232-4654-8885-4d9fde883894/440 c06eba55-1931-4e00-9d63-acad00161be0/700 af2eb6ba-1935-4318-aaf8-868db81a4932/425 * 154f663e-d3e9-4020-ad49-0e640588ebbe/399 badb5e69-504f-4544-a99e-ba75ed204b74/800 08330327-7663-4874-af7a-dcbd2c994ba7/800 * set steer rate cost to 1.0 * smaller temporal size * Update model reg * update model ref again * This did upload somehow * Update steer rate cost Co-authored-by: Yassine Yousfi <yyousfi1@binghamton.edu> old-commit-hash: 9283040d847b120fdf7759d5bd12000863e12f73
82 lines
2.3 KiB
C++
82 lines
2.3 KiB
C++
#include <cstring>
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#include <getopt.h>
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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 "system/hardware/hw.h"
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#define TEMPORAL_SIZE 512+256
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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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bool run_optimizer = false, save_binaries = false;
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const char *input_file = NULL, *output_file = NULL;
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static struct option long_options[] = {
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{"in", required_argument, 0, 'i' },
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{"out", required_argument, 0, 'o' },
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{"binary", no_argument, 0, 'b' },
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{"optimize", no_argument, 0, 'f' },
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{0, 0, 0, 0 }
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};
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int long_index = 0, opt = 0;
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while ((opt = getopt_long_only(argc, argv,"", long_options, &long_index)) != -1) {
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switch (opt) {
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case 'i': input_file = optarg; break;
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case 'o': output_file = optarg; break;
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case 'b': save_binaries = true; break;
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case 'f': run_optimizer = true; break;
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}
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}
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// no input?
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if (!input_file) {
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printf("usage: -i <input file> -o <output file> --binary --optimize\n");
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return -1;
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}
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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(input_file, output, 0, USE_GPU_RUNTIME, true);
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mdl.thneed->run_optimizer = run_optimizer;
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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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mdl.addExtra(extra, 0);
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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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// don't save?
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if (!output_file) {
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printf("no output file, exiting\n");
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return 0;
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}
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// save model
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printf("saving %s with binary %d\n", output_file, save_binaries);
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mdl.thneed->save(output_file, save_binaries);
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// test model
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auto thneed = new Thneed(true);
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thneed->record = false;
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thneed->load(output_file);
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thneed->clexec();
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thneed->find_inputs_outputs();
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return 0;
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}
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