mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-07-15 09:52:04 +08:00
George Hotz
302d06ee70
* thneed runs the model * thneed is doing the hooking * set kernel args * thneeding the bufferS * print the images well * thneeds with better buffers * includes * disasm adreno * parse packets * disasm works * disasm better * more thneeding * much thneeding * much more thneeding * thneed works i think * thneed is patient * thneed works * 7.7% * gpuobj sync * yay, it mallocs now * cleaning it up, Thneed * sync objs and set power * thneed needs inputs and outputs * thneed in modeld * special modeld runs * can't thneed the DSP * test is weird * thneed modeld uses 6.4% CPU * add thneed to release * move to debug * delete some junk from the pr * always track the timestamp * timestamp hacks in thneed * create a new command queue * fix timestamp * pretty much back to what we had, you can't use SNPE with thneed * improve thneed test * disable save log Co-authored-by: Comma Device <device@comma.ai>
96 lines
2.8 KiB
C++
96 lines
2.8 KiB
C++
#include "../thneed.h"
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#include "../../runners/snpemodel.h"
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#define TEMPORAL_SIZE 512
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#define DESIRE_LEN 8
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#define TRAFFIC_CONVENTION_LEN 2
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void hexdump(uint32_t *d, int len);
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int main(int argc, char* argv[]) {
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float *output = (float*)calloc(0x10000, sizeof(float));
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float *golden = (float*)calloc(0x10000, sizeof(float));
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SNPEModel mdl(argv[1], output, 0, USE_GPU_RUNTIME);
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// cmd line test
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if (argc > 2) {
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for (int i = 2; i < argc; i++) {
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float *buf[5];
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FILE *f = fopen(argv[i], "rb");
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size_t sz;
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for (int j = 0; j < 5; j++) {
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fread(&sz, 1, sizeof(sz), f);
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printf("reading %zu\n", sz);
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buf[j] = (float*)malloc(sz);
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fread(buf[j], 1, sz, f);
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}
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if (sz != 9532) continue;
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mdl.addRecurrent(buf[0], TEMPORAL_SIZE);
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mdl.addTrafficConvention(buf[1], TRAFFIC_CONVENTION_LEN);
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mdl.addDesire(buf[2], DESIRE_LEN);
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mdl.execute(buf[3], 0);
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hexdump((uint32_t*)buf[4], 0x100);
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hexdump((uint32_t*)output, 0x100);
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for (int j = 0; j < sz/4; j++) {
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if (buf[4][j] != output[j]) {
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printf("MISMATCH %d real:%f comp:%f\n", j, buf[4][j], output[j]);
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}
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}
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}
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return 0;
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}
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float state[TEMPORAL_SIZE];
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mdl.addRecurrent(state, TEMPORAL_SIZE);
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float desire[DESIRE_LEN];
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mdl.addDesire(desire, DESIRE_LEN);
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float traffic_convention[TRAFFIC_CONVENTION_LEN];
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mdl.addTrafficConvention(traffic_convention, TRAFFIC_CONVENTION_LEN);
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float *input = (float*)calloc(0x1000000, sizeof(float));;
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// first run
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printf("************** execute 1 **************\n");
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memset(output, 0, sizeof(output));
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mdl.execute(input, 0);
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hexdump((uint32_t *)output, 0x100);
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memcpy(golden, output, sizeof(output));
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// second run
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printf("************** execute 2 **************\n");
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memset(output, 0, sizeof(output));
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Thneed *t = new Thneed();
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t->record = 3; // debug print with record
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mdl.execute(input, 0);
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t->stop();
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hexdump((uint32_t *)output, 0x100);
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if (memcmp(golden, output, sizeof(output)) != 0) { printf("FAILURE\n"); return -1; }
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// third run
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printf("************** execute 3 **************\n");
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memset(output, 0, sizeof(output));
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t->record = 2; // debug print w/o record
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float *inputs[4] = {state, traffic_convention, desire, input};
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t->execute(inputs, output);
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hexdump((uint32_t *)output, 0x100);
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if (memcmp(golden, output, sizeof(output)) != 0) { printf("FAILURE\n"); return -1; }
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printf("************** execute 4 **************\n");
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memset(output, 0, sizeof(output));
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//t->record = 2; // debug print w/o record
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t->execute(inputs, output);
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hexdump((uint32_t *)output, 0x100);
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if (memcmp(golden, output, sizeof(output)) != 0) { printf("FAILURE\n"); return -1; }
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printf("************** execute done **************\n");
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}
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