mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-09-03 22:53:44 +08:00
Jason Wen
acd46aa94b
* modeld: Retain pre-20hz drive model support * Method not available anymore on OP * some fixes * Revert "Long planner get accel: new function args (#34288)" * Revert "Fix low-speed allow_throttle behavior in long planner (#33894)" * Revert "long planner: allow throttle reflects usage (#33792)" * Revert "Gate acceleration on model gas press predictions (#33643)" * Reapply "Gate acceleration on model gas press predictions (#33643)" This reverts commit 76b08e37cb8eb94266ad9f6fed80db227e7c3428. * Reapply "long planner: allow throttle reflects usage (#33792)" This reverts commit c75244ca4e9c48084b0205b7c871e1a4e0f4e693. * Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)" This reverts commit b2b7d21b7b685a2785d1beede3d223f0bb954807. * Reapply "Long planner get accel: new function args (#34288)" This reverts commit 74dca2fccf4da59cc8ac62ba9c0ad10ba3fc264b. * don't need * retain snpe * wrong * they're symlinks * remove * put back into VCS * add back * don't include built * Refactor model runner retrieval with caching support Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions. * Update model runner determination logic with caching fix Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks. * default to none * enable in next PR * more --------- Co-authored-by: DevTekVE <devtekve@gmail.com>
51 lines
2.1 KiB
C++
51 lines
2.1 KiB
C++
#include "sunnypilot/modeld/models/commonmodel.h"
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#include <cassert>
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#include <cmath>
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#include <cstring>
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#include "common/clutil.h"
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ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
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input_frames = std::make_unique<float[]>(buf_size);
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q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
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y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
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u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
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v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
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net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
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transform_init(&transform, context, device_id);
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loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
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}
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float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
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transform_queue(&this->transform, q,
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yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
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y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
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if (output == NULL) {
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loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
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std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
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CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
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clFinish(q);
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return &input_frames[0];
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} else {
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loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, *output, true);
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// NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
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clFinish(q);
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return NULL;
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}
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}
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ModelFrame::~ModelFrame() {
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transform_destroy(&transform);
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loadyuv_destroy(&loadyuv);
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CL_CHECK(clReleaseMemObject(net_input_cl));
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CL_CHECK(clReleaseMemObject(v_cl));
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CL_CHECK(clReleaseMemObject(u_cl));
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CL_CHECK(clReleaseMemObject(y_cl));
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CL_CHECK(clReleaseCommandQueue(q));
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}
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