mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-01 19:42:07 +08:00
Willem Melching
7f0b3180a4
* add PubMaster & SubMaster remove 'delete msg' remove headers * use constructor to initial all submster * modify drain sockets * fix typo in ssconscript.remove lines no checkValid in loggerd last modify handle_message:event->&event fix type remove heads event to auto * new interface * api changed * Revert "use constructor to initial all submster" This reverts commit 73be7ea46250a325ce41d3a0445e34395a2ae692. * change to new api * revert loggerd * dd * use new PubSub api * update to new interface don't modify loggerd reset panda reset opendbc remove empty lines * switch to new pubMaster * update to the new inteface change remove error code . to -> merge paramsd.cc update panda fix typo simplify fix typo * Fix build * always conflate Co-authored-by: deanlee <deanlee3@gmail.com> old-commit-hash: ab5af232b243ba8137695f68c125f922fb412d44
79 lines
1.9 KiB
C
79 lines
1.9 KiB
C
#ifndef MODEL_H
|
|
#define MODEL_H
|
|
|
|
// gate this here
|
|
#define TEMPORAL
|
|
#define DESIRE
|
|
#define TRAFFIC_CONVENTION
|
|
|
|
|
|
#include "common/mat.h"
|
|
#include "common/util.h"
|
|
|
|
#include "commonmodel.h"
|
|
#include "runners/run.h"
|
|
|
|
#include <czmq.h>
|
|
#include "messaging.hpp"
|
|
|
|
#define MODEL_WIDTH 512
|
|
#define MODEL_HEIGHT 256
|
|
#define MODEL_FRAME_SIZE MODEL_WIDTH * MODEL_HEIGHT * 3 / 2
|
|
#define MODEL_NAME "supercombo_dlc"
|
|
|
|
#define MODEL_PATH_DISTANCE 192
|
|
#define POLYFIT_DEGREE 4
|
|
#define SPEED_PERCENTILES 10
|
|
#define DESIRE_LEN 8
|
|
#define TRAFFIC_CONVENTION_LEN 2
|
|
#define DESIRE_PRED_SIZE 32
|
|
#define OTHER_META_SIZE 4
|
|
#define LEAD_MDN_N 5 // probs for 5 groups
|
|
#define MDN_VALS 4 // output xyva for each lead group
|
|
#define SELECTION 3 //output 3 group (lead now, in 2s and 6s)
|
|
#define MDN_GROUP_SIZE 11
|
|
#define TIME_DISTANCE 100
|
|
#define POSE_SIZE 12
|
|
|
|
struct ModelDataRaw {
|
|
float *path;
|
|
float *left_lane;
|
|
float *right_lane;
|
|
float *lead;
|
|
float *long_x;
|
|
float *long_v;
|
|
float *long_a;
|
|
float *desire_state;
|
|
float *meta;
|
|
float *pose;
|
|
};
|
|
|
|
|
|
typedef struct ModelState {
|
|
ModelFrame frame;
|
|
float *output;
|
|
float *input_frames;
|
|
RunModel *m;
|
|
#ifdef DESIRE
|
|
float *prev_desire;
|
|
float *pulse_desire;
|
|
#endif
|
|
#ifdef TRAFFIC_CONVENTION
|
|
float *traffic_convention;
|
|
#endif
|
|
} ModelState;
|
|
|
|
void model_init(ModelState* s, cl_device_id device_id,
|
|
cl_context context, int temporal);
|
|
ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
|
|
cl_mem yuv_cl, int width, int height,
|
|
mat3 transform, void* sock, float *desire_in);
|
|
void model_free(ModelState* s);
|
|
void poly_fit(float *in_pts, float *in_stds, float *out);
|
|
|
|
void model_publish(PubMaster &pm, uint32_t frame_id,
|
|
const ModelDataRaw data, uint64_t timestamp_eof);
|
|
void posenet_publish(PubMaster &pm, uint32_t frame_id,
|
|
const ModelDataRaw data, uint64_t timestamp_eof);
|
|
#endif
|