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modeld: read frame_id if sm.update(0)>0 (#1947)

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* read frameid if sm.update(0)>0

* move postion

same line
This commit is contained in:
Dean Lee
2020-08-02 02:01:43 +08:00
committed by GitHub
parent 80acb32825
commit f80acad519
1 changed files with 3 additions and 3 deletions
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selfdrive/modeld/modeld.cc
+3 -3
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@@ -181,7 +181,7 @@ int main(int argc, char **argv) {
cl_mem yuv_cl;
VisionBuf yuv_ion = visionbuf_allocate_cl(buf_info.buf_len, device_id, context, &yuv_cl);
uint32_t last_vipc_frame_id = 0;
uint32_t frame_id = 0, last_vipc_frame_id = 0;
double last = 0;
int desire = -1;
while (!do_exit) {
@@ -202,6 +202,7 @@ int main(int argc, char **argv) {
if (sm.update(0) > 0){
// TODO: path planner timeout?
desire = ((int)sm["pathPlan"].getPathPlan().getDesire()) - 1;
frame_id = sm["frame"].getFrame().getFrameId();
}
double mt1 = 0, mt2 = 0;
@@ -212,8 +213,7 @@ int main(int argc, char **argv) {
}
mat3 model_transform = matmul3(yuv_transform, transform);
uint32_t frame_id = sm["frame"].getFrame().getFrameId();
mt1 = millis_since_boot();
// TODO: don't make copies!