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Make sure memory is released by using unique_ptr (#1958)

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This commit is contained in:
Dean Lee
2020-08-05 18:27:56 +08:00
committed by GitHub
parent e704da0c28
commit ef435ef2ac
2 changed files with 9 additions and 18 deletions
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selfdrive/modeld/models/driving.cc
+5 -15
View File
@@ -9,9 +9,6 @@
#include "common/params.h"
#include "driving.h"
#define PATH_IDX 0
#define LL_IDX PATH_IDX + MODEL_PATH_DISTANCE*2 + 1
#define RL_IDX LL_IDX + MODEL_PATH_DISTANCE*2 + 2
@@ -48,17 +45,14 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
#endif
#ifdef DESIRE
s->prev_desire = (float*)malloc(DESIRE_LEN * sizeof(float));
for (int i = 0; i < DESIRE_LEN; i++) s->prev_desire[i] = 0.0;
s->pulse_desire = (float*)malloc(DESIRE_LEN * sizeof(float));
for (int i = 0; i < DESIRE_LEN; i++) s->pulse_desire[i] = 0.0;
s->m->addDesire(s->pulse_desire, DESIRE_LEN);
s->prev_desire = std::make_unique<float[]>(DESIRE_LEN);
s->pulse_desire = std::make_unique<float[]>(DESIRE_LEN);
s->m->addDesire(s->pulse_desire.get(), DESIRE_LEN);
#endif
#ifdef TRAFFIC_CONVENTION
s->traffic_convention = (float*)malloc(TRAFFIC_CONVENTION_LEN * sizeof(float));
for (int i = 0; i < TRAFFIC_CONVENTION_LEN; i++) s->traffic_convention[i] = 0.0;
s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
s->traffic_convention = std::make_unique<float[]>(TRAFFIC_CONVENTION_LEN);
s->m->addTrafficConvention(s->traffic_convention.get(), TRAFFIC_CONVENTION_LEN);
std::vector<char> result = read_db_bytes("IsRHD");
if (result.size() > 0) {
@@ -79,8 +73,6 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context, int t
}
}
ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
cl_mem yuv_cl, int width, int height,
mat3 transform, void* sock,
@@ -100,7 +92,6 @@ ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
}
#endif
//for (int i = 0; i < OUTPUT_SIZE + TEMPORAL_SIZE; i++) { printf("%f ", s->output[i]); } printf("\n");
float *new_frame_buf = frame_prepare(&s->frame, q, yuv_cl, width, height, transform);
@@ -163,7 +154,6 @@ void poly_fit(float *in_pts, float *in_stds, float *out, int valid_len) {
out[3] = y0;
}
void fill_path(cereal::ModelData::PathData::Builder path, const float * data, bool has_prob, const float offset) {
float points_arr[MODEL_PATH_DISTANCE];
float stds_arr[MODEL_PATH_DISTANCE];
selfdrive/modeld/models/driving.h
+4 -3
View File
@@ -14,6 +14,7 @@
#include "runners/run.h"
#include <czmq.h>
#include <memory>
#include "messaging.hpp"
#define MODEL_WIDTH 512
@@ -58,11 +59,11 @@ typedef struct ModelState {
float *input_frames;
RunModel *m;
#ifdef DESIRE
float *prev_desire;
float *pulse_desire;
std::unique_ptr<float[]> prev_desire;
std::unique_ptr<float[]> pulse_desire;
#endif
#ifdef TRAFFIC_CONVENTION
float *traffic_convention;
std::unique_ptr<float[]> traffic_convention;
#endif
} ModelState;