mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-09-04 15:23:42 +08:00
Jason Wen
acd46aa94b
* modeld: Retain pre-20hz drive model support * Method not available anymore on OP * some fixes * Revert "Long planner get accel: new function args (#34288)" * Revert "Fix low-speed allow_throttle behavior in long planner (#33894)" * Revert "long planner: allow throttle reflects usage (#33792)" * Revert "Gate acceleration on model gas press predictions (#33643)" * Reapply "Gate acceleration on model gas press predictions (#33643)" This reverts commit 76b08e37cb8eb94266ad9f6fed80db227e7c3428. * Reapply "long planner: allow throttle reflects usage (#33792)" This reverts commit c75244ca4e9c48084b0205b7c871e1a4e0f4e693. * Reapply "Fix low-speed allow_throttle behavior in long planner (#33894)" This reverts commit b2b7d21b7b685a2785d1beede3d223f0bb954807. * Reapply "Long planner get accel: new function args (#34288)" This reverts commit 74dca2fccf4da59cc8ac62ba9c0ad10ba3fc264b. * don't need * retain snpe * wrong * they're symlinks * remove * put back into VCS * add back * don't include built * Refactor model runner retrieval with caching support Added caching for active model runner type via `ModelRunnerTypeCache` to enhance performance and avoid redundant checks. Introduced a `force_check` flag to bypass the cache when necessary. Updated related code to handle cache clearing during onroad transitions. * Update model runner determination logic with caching fix Enhances `get_active_model_runner` to utilize caching more effectively by ensuring type consistency and updating cache only when necessary. Also updates `is_snpe_model` to pass the `started` state to the runner determination function, improving behavior for dynamic checks. * default to none * enable in next PR * more --------- Co-authored-by: DevTekVE <devtekve@gmail.com>
46 lines
1.5 KiB
Cython
46 lines
1.5 KiB
Cython
# distutils: language = c++
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# cython: c_string_encoding=ascii, language_level=3
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import numpy as np
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cimport numpy as cnp
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from libc.string cimport memcpy
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from msgq.visionipc.visionipc cimport cl_mem
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from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
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from openpilot.sunnypilot.modeld.models.commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
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from openpilot.sunnypilot.modeld.models.commonmodel cimport mat3, ModelFrame as cppModelFrame
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cdef class CLContext(BaseCLContext):
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def __cinit__(self):
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self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
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self.context = cl_create_context(self.device_id)
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cdef class CLMem:
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@staticmethod
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cdef create(void * cmem):
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mem = CLMem()
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mem.mem = <cl_mem*> cmem
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return mem
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cdef class ModelFrame:
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cdef cppModelFrame * frame
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def __cinit__(self, CLContext context):
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self.frame = new cppModelFrame(context.device_id, context.context)
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def __dealloc__(self):
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del self.frame
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def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
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cdef mat3 cprojection
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memcpy(cprojection.v, &projection[0], 9*sizeof(float))
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cdef float * data
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if output is None:
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data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
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else:
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data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
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if not data:
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return None
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return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
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