mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-09-12 03:03:41 +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>
113 lines
3.8 KiB
C
113 lines
3.8 KiB
C
//==============================================================================
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//
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// Copyright (c) 2019-2020 Qualcomm Technologies, Inc.
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// All Rights Reserved.
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// Confidential and Proprietary - Qualcomm Technologies, Inc.
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//
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//==============================================================================
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// Header to be used by a GPU UDO Implementation library
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#ifndef SNPE_UDO_IMPL_GPU_H
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#define SNPE_UDO_IMPL_GPU_H
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#include "CL/cl.h"
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#include "SnpeUdo/UdoBase.h"
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/** @addtogroup c_plus_plus_apis C++
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@{ */
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/**
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* This header defines version 0.0.0 of the GPU UDO Infrastructure.
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* It defines the interpretation of the global and per-OpFactory infrastructure pointers
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* as well as the interpretation of tensorData pointers.
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*
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* The per-Operation infrastructure pointer is defined to be null, and should not be used.
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*
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* The SnpeUdoTensorParam_t struct below provides the interpretation for
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* the tensorData opaque pointer for SnpeUdoTensorParams representing inputs or outputs.
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*
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* The tensorData opaque pointer populated in SnpeUdoScalarParam_t structs should be interpreted
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* as a host-readable data pointer.
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*
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*/
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/**
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* @brief Function to retrieve opencl program from Program Cache repository.
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* @param programCache is opaque pointer to Program Cache repository provided by
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* SNPE GPU UDO runtime.
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* @param programName is name associated with opencl program for UDO.
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* @param program is pointer to opencl program which will be populated with
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* valid opencl program if found in Program Cache repository.
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* @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
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* on success.
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*/
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typedef SnpeUdo_ErrorType_t (*SnpeUdo_getProgram_t)
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(void* programCache, const char* programName, cl_program* program);
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/**
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* @brief Function to store valid opencl program in Program Cache repository.
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* @param programCache is opaque pointer to Program Cache repository provided by
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* SNPE GPU UDO runtime.
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* @param programName is name associated with opencl program for UDO.
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* @param program is valid opencl program after program is built.
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* @return SnpeUdo_ErrorType_t is error type returned. SNPE_UDO_NO_ERROR is returned
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* on success.
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* */
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typedef SnpeUdo_ErrorType_t (*SnpeUdo_storeProgram_t)
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(void* programCache, const char * programName, cl_program program);
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/**
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* @brief Global Infrastructure Definition for GPU UDO Implementations.
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*/
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typedef struct {
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// Infrastructure definition version. This header is 0.0.0
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SnpeUdo_Version_t gpuInfraVersion;
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SnpeUdo_getProgram_t SnpeUdo_getProgram;
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SnpeUdo_storeProgram_t SnpeUdo_storeProgram;
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} SnpeUdo_GpuInfrastructure_t;
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/**
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* @brief Per OpFactory Infrastructure Definition for GPU UDO Implementations.
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* @note This version of the infrastructure definition guarantees that the same
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* Per OpFactory infrastructure pointer will be provided to all OpFactories
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* in the same network.
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*/
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typedef struct
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{
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cl_context context;
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cl_command_queue commandQueue;
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void* programCache;
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} SnpeUdo_GpuOpFactoryInfrastructure_t;
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/**
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* @brief Opaque tensorData definition for operation inputs and outputs.
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*
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* The following is a list of all SnpeUdoTensorLayout_t values supported by the
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* GPU UDO implementation, and how the parameters of the struct should be
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* interpreted in each case:
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*
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* SNPE_UDO_LAYOUT_NHWC:
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* mem shall be single-element array, pointing to a cl buffer memory object.
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* the dimensions of this object match the dimensions specified in the encompassing
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* SnpeUdoTensorParam_t's currDimensions.
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*
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* memCount shall be 1.
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*
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* paddedRank and paddedDimensions are undefined and shall be ignored by the UDO
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* implementation.
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*
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*/
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typedef struct
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{
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cl_mem* mem;
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uint32_t memCount;
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uint32_t paddedRank;
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uint32_t* paddedDimensions;
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} SnpeUdo_GpuTensorData_t;
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/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
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#endif // SNPE_UDO_IMPL_GPU_H
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