mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-09 07:32:06 +08:00
HaraldSchafer
cd44a6b07f
* add traffic convention * hope this work * no comment * latest and gratest * big gru model * 1af55c7d-ee15-414a-9e98-a0cb08c3441f/75 * much later in training * wrong temporal size * converged * fix lane changes old-commit-hash: d3edc594cef776847645a6cd14e9e3ce6893bd29
54 lines
1.5 KiB
C++
54 lines
1.5 KiB
C++
#ifndef SNPEMODEL_H
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#define SNPEMODEL_H
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#include <SNPE/SNPE.hpp>
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#include <SNPE/SNPEBuilder.hpp>
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#include <SNPE/SNPEFactory.hpp>
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#include <DlContainer/IDlContainer.hpp>
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#include <DlSystem/DlError.hpp>
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#include <DlSystem/ITensor.hpp>
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#include <DlSystem/ITensorFactory.hpp>
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#include <DlSystem/IUserBuffer.hpp>
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#include <DlSystem/IUserBufferFactory.hpp>
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#include "runmodel.h"
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#define USE_CPU_RUNTIME 0
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#define USE_GPU_RUNTIME 1
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#define USE_DSP_RUNTIME 2
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class SNPEModel : public RunModel {
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public:
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SNPEModel(const char *path, float *output, size_t output_size, int runtime);
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~SNPEModel() {
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if (model_data) free(model_data);
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}
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void addRecurrent(float *state, int state_size);
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void addTrafficConvention(float *state, int state_size);
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void addDesire(float *state, int state_size);
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void execute(float *net_input_buf, int buf_size);
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private:
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uint8_t *model_data = NULL;
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// snpe model stuff
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std::unique_ptr<zdl::SNPE::SNPE> snpe;
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// snpe input stuff
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zdl::DlSystem::UserBufferMap inputMap;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> inputBuffer;
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// snpe output stuff
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zdl::DlSystem::UserBufferMap outputMap;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> outputBuffer;
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float *output;
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// recurrent and desire
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std::unique_ptr<zdl::DlSystem::IUserBuffer> addExtra(float *state, int state_size, int idx);
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std::unique_ptr<zdl::DlSystem::IUserBuffer> recurrentBuffer;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> trafficConventionBuffer;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> desireBuffer;
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};
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#endif
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