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openpilot v0.8.8 release

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Vehicle Researcher
2021-08-22 22:13:11 -07:00
parent 444aace15f
commit baffaeee93
193 changed files with 60566 additions and 1933 deletions
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selfdrive/modeld/dmonitoringmodeld
+13 -11
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@@ -1,15 +1,17 @@
#!/bin/sh
if [ -d /system ]; then
if [ -f /TICI ]; then # QCOM2
export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/phonelibs/snpe/larch64:$LD_LIBRARY_PATH"
else # QCOM
export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$LD_LIBRARY_PATH"
fi
export ADSP_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/dsp/"
else
# PC
export LD_LIBRARY_PATH="$HOME/openpilot/phonelibs/snpe/x86_64-linux-clang:/openpilot/phonelibs/snpe/x86_64:$HOME/openpilot/phonelibs/snpe/x86_64:$LD_LIBRARY_PATH"
fi
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
if [ -d /system ]; then
if [ -f /TICI ]; then # QCOM2
export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/phonelibs/snpe/larch64:$LD_LIBRARY_PATH"
else # QCOM
export LD_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/aarch64/:$LD_LIBRARY_PATH"
fi
export ADSP_LIBRARY_PATH="/data/pythonpath/phonelibs/snpe/dsp/"
else
# PC
export LD_LIBRARY_PATH="$DIR/../../phonelibs/snpe/x86_64-linux-clang:$DIR/../../openpilot/phonelibs/snpe/x86_64:$LD_LIBRARY_PATH"
fi
exec ./_dmonitoringmodeld
selfdrive/modeld/modeld
+1
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@@ -1,6 +1,7 @@
#!/bin/sh
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
cd $DIR
if [ -d /system ]; then
if [ -f /TICI ]; then # QCOM2
selfdrive/modeld/models/driving.cc
+34 -12
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@@ -24,7 +24,9 @@ constexpr int PLAN_MHP_SELECTION = 1;
constexpr int PLAN_MHP_GROUP_SIZE = (2*PLAN_MHP_VALS + PLAN_MHP_SELECTION);
constexpr int LEAD_MHP_N = 5;
constexpr int LEAD_MHP_VALS = 4;
constexpr int LEAD_TRAJ_LEN = 6;
constexpr int LEAD_PRED_DIM = 4;
constexpr int LEAD_MHP_VALS = LEAD_PRED_DIM*LEAD_TRAJ_LEN;
constexpr int LEAD_MHP_SELECTION = 3;
constexpr int LEAD_MHP_GROUP_SIZE = (2*LEAD_MHP_VALS + LEAD_MHP_SELECTION);
@@ -147,18 +149,38 @@ void fill_sigmoid(const float *input, float *output, int len, int stride) {
}
}
void fill_lead_v2(cereal::ModelDataV2::LeadDataV2::Builder lead, const float *lead_data, const float *prob, int t_offset, float t) {
void fill_lead_v3(cereal::ModelDataV2::LeadDataV3::Builder lead, const float *lead_data, const float *prob, int t_offset, float prob_t) {
float t[LEAD_TRAJ_LEN] = {0.0, 2.0, 4.0, 6.0, 8.0, 10.0};
const float *data = get_lead_data(lead_data, t_offset);
lead.setProb(sigmoid(prob[t_offset]));
lead.setT(t);
float xyva_arr[LEAD_MHP_VALS];
float xyva_stds_arr[LEAD_MHP_VALS];
for (int i=0; i<LEAD_MHP_VALS; i++) {
xyva_arr[i] = data[i];
xyva_stds_arr[i] = exp(data[LEAD_MHP_VALS + i]);
lead.setProbTime(prob_t);
float x_arr[LEAD_TRAJ_LEN];
float y_arr[LEAD_TRAJ_LEN];
float v_arr[LEAD_TRAJ_LEN];
float a_arr[LEAD_TRAJ_LEN];
float x_stds_arr[LEAD_TRAJ_LEN];
float y_stds_arr[LEAD_TRAJ_LEN];
float v_stds_arr[LEAD_TRAJ_LEN];
float a_stds_arr[LEAD_TRAJ_LEN];
for (int i=0; i<LEAD_TRAJ_LEN; i++) {
x_arr[i] = data[i*LEAD_PRED_DIM+0];
y_arr[i] = data[i*LEAD_PRED_DIM+1];
v_arr[i] = data[i*LEAD_PRED_DIM+2];
a_arr[i] = data[i*LEAD_PRED_DIM+3];
x_stds_arr[i] = exp(data[LEAD_MHP_VALS + i*LEAD_PRED_DIM+0]);
y_stds_arr[i] = exp(data[LEAD_MHP_VALS + i*LEAD_PRED_DIM+1]);
v_stds_arr[i] = exp(data[LEAD_MHP_VALS + i*LEAD_PRED_DIM+2]);
a_stds_arr[i] = exp(data[LEAD_MHP_VALS + i*LEAD_PRED_DIM+3]);
}
lead.setXyva(xyva_arr);
lead.setXyvaStd(xyva_stds_arr);
lead.setT(t);
lead.setX(x_arr);
lead.setY(y_arr);
lead.setV(v_arr);
lead.setA(a_arr);
lead.setXStd(x_stds_arr);
lead.setYStd(y_stds_arr);
lead.setVStd(v_stds_arr);
lead.setAStd(a_stds_arr);
}
void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const float *meta_data) {
@@ -303,10 +325,10 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelDataRaw &net_ou
fill_meta(framed.initMeta(), net_outputs.meta);
// leads
auto leads = framed.initLeads(LEAD_MHP_SELECTION);
auto leads = framed.initLeadsV3(LEAD_MHP_SELECTION);
float t_offsets[LEAD_MHP_SELECTION] = {0.0, 2.0, 4.0};
for (int t_offset=0; t_offset<LEAD_MHP_SELECTION; t_offset++) {
fill_lead_v2(leads[t_offset], net_outputs.lead, net_outputs.lead_prob, t_offset, t_offsets[t_offset]);
fill_lead_v3(leads[t_offset], net_outputs.lead, net_outputs.lead_prob, t_offset, t_offsets[t_offset]);
}
}
selfdrive/modeld/thneed/serialize.cc
+1 -1
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@@ -238,7 +238,7 @@ void Thneed::save(const char *filename, bool save_binaries) {
if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") {
assert(false);
} else {
// buffers alloced with CL_MEM_HOST_WRITE_ONLY, hence this hack
// buffers allocated with CL_MEM_HOST_WRITE_ONLY, hence this hack
//hexdump((uint32_t*)val, 0x100);
// the worst hack in thneed, the flags are at 0x14