Condensing a little

This commit introduces functionality to detect if the active model operates at 20Hz. A new helper function `is_active_model_20hz` was added, alongside updates to model initialization and configuration handling. Additionally, a new `is20hz` field was added to the model bundle for improved introspection and performance adaptation.

.github/PULL_REQUEST_TEMPLATE/bugfix.md

@@ -1,15 +0,0 @@
----
-name: Bug fix
-about: For openpilot bug fixes
-title: ''
-labels: 'bugfix'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the bug and the fix. Also link the issue if it exists. -->
-
-**Verification**
-
-<!-- Explain how you tested this bug fix. -->

.github/PULL_REQUEST_TEMPLATE/car_bugfix.md

@@ -1,19 +0,0 @@
----
-name: Car Bug fix
-about: For vehicle/brand specific bug fixes
-title: ''
-labels: 'car bug fix'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the bug and the fix. Also link the issue if it exists. -->
-
-**Verification**
-
-<!-- Explain how you tested this bug fix. -->
-
-**Route**
-
-Route: [a route with the bug fix]

.github/PULL_REQUEST_TEMPLATE/car_port.md

@@ -1,15 +0,0 @@
----
-name: Car port
-about: For new car ports
-title: ''
-labels: 'car port'
-assignees: ''
----
-
-**Checklist**
-
-- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs
-- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py)
-- [ ] route with openpilot:
-- [ ] route with stock system:
-- [ ] car harness used (if comma doesn't sell it, put N/A):

.github/PULL_REQUEST_TEMPLATE/fingerprint.md

@@ -1,13 +0,0 @@
----
-name: Fingerprint
-about: For adding fingerprints to existing cars
-title: ''
-labels: 'fingerprint'
-assignees: ''
----
-
-**Car**
-Which car (make, model, year) this fingerprint is for
-
-**Route**
-A route with the fingerprint

.github/PULL_REQUEST_TEMPLATE/refactor.md

@@ -1,15 +0,0 @@
----
-name: Refactor
-about: For code refactors
-title: ''
-labels: 'refactor'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of the refactor, including the goals it accomplishes. -->
-
-**Verification**
-
-<!-- Explain how you tested the refactor for regressions. -->

.github/PULL_REQUEST_TEMPLATE/tuning.md

@@ -1,31 +0,0 @@
----
-name: Tuning
-about: For openpilot tuning changes
-title: ''
-labels: 'tuning'
-assignees: ''
----
-
-**Description**
-
-<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
-
-**Verification**
-
-<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
-Use the PlotJuggler tuning layout to compare planned versus actual behavior.
-
-Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
-
-Longitudinal:
-* Maintaining speed at 25, 40, 65mph
-* Driving up and down hills
-* Accelerating from a stop
-* Decelerating to a stop
-* Following large changes in set speed
-* Coming to a stop behind a lead car
-
-Lateral:
-* Straight driving at ~25, ~45 and ~65mph
-* Turns driving at ~25, ~45 and ~65mph
--->

.github/build.py

@@ -1,30 +0,0 @@
-import pathlib
-
-GITHUB_FOLDER = pathlib.Path(__file__).parent
-
-PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE")
-
-order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"]
-
-def create_pull_request_template():
-  with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f:
-    f.write("<!-- Please copy and paste the relevant template -->\n\n")
-
-    for t in order:
-      template = PULL_REQUEST_TEMPLATES / f"{t}.md"
-      text = template.read_text()
-
-      # Remove metadata for GitHub
-      start = text.find("---")
-      end = text.find("---", start+1)
-      text = text[end + 4:]
-
-      # Remove comments
-      text = text.replace("<!-- ", "").replace("-->", "")
-
-      f.write(f"<!--- ***** Template: {template.stem.replace('_', ' ').title()} *****\n")
-      f.write(text)
-      f.write("\n\n")
-      f.write("-->\n\n")
-
-create_pull_request_template()

SConstruct

@@ -49,10 +49,6 @@ AddOption('--ccflags',
           default='',
           help='pass arbitrary flags over the command line')
 
-AddOption('--snpe',
-          action='store_true',
-          help='use SNPE on PC')
-
 AddOption('--external-sconscript',
           action='store',
           metavar='FILE',

cereal/custom.capnp

@@ -73,6 +73,7 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     status @4 :DownloadStatus;
     generation @5 :UInt32;
     environment @6 :Text;
+    is20hz @7 :Bool;
   }
 }
 

cereal/maptile.capnp

@@ -1,49 +0,0 @@
-using Cxx = import "./include/c++.capnp";
-$Cxx.namespace("cereal");
-
-@0xa086df597ef5d7a0;
-
-# Geometry
-struct Point {
-  x @0: Float64;
-  y @1: Float64;
-  z @2: Float64;
-}
-
-struct PolyLine {
-  points @0: List(Point);
-}
-
-# Map features
-struct Lane {
-  id @0 :Text;
-
-  leftBoundary @1 :LaneBoundary;
-  rightBoundary @2 :LaneBoundary;
-
-  leftAdjacentId @3 :Text;
-  rightAdjacentId @4 :Text;
-
-  inboundIds @5 :List(Text);
-  outboundIds @6 :List(Text);
-
-  struct LaneBoundary {
-    polyLine @0 :PolyLine;
-    startHeading @1 :Float32; # WRT north
-  }
-}
-
-# Map tiles
-struct TileSummary {
-  version @0 :Text;
-  updatedAt @1 :UInt64; # Millis since epoch
-
-  level @2 :UInt8;
-  x @3 :UInt16;
-  y @4 :UInt16;
-}
-
-struct MapTile {
-  summary @0 :TileSummary;
-  lanes @1 :List(Lane);
-}

common/params.cc

@@ -133,7 +133,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"GsmRoaming", PERSISTENT | BACKUP},
     {"HardwareSerial", PERSISTENT},
     {"HasAcceptedTerms", PERSISTENT},
-    {"IMEI", PERSISTENT},
     {"InstallDate", PERSISTENT},
     {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START},
     {"IsEngaged", PERSISTENT},
@@ -212,7 +211,7 @@ std::unordered_map<std::string, uint32_t> keys = {
 
     // Model Manager params
     {"ModelManager_ActiveBundle", PERSISTENT},
-    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION | CLEAR_ON_ONROAD_TRANSITION},
+    {"ModelManager_DownloadIndex", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ModelManager_LastSyncTime", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"ModelManager_ModelsCache", PERSISTENT | BACKUP},
 

common/util.cc

@@ -255,6 +255,29 @@ bool ends_with(const std::string& s, const std::string& suffix) {
          strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0;
 }
 
+std::string strip(const std::string &str) {
+  auto should_trim = [](unsigned char ch) {
+    // trim whitespace or a null character
+    return std::isspace(ch) || ch == '\0';
+  };
+
+  size_t start = 0;
+  while (start < str.size() && should_trim(static_cast<unsigned char>(str[start]))) {
+    start++;
+  }
+
+  if (start == str.size()) {
+    return "";
+  }
+
+  size_t end = str.size() - 1;
+  while (end > 0 && should_trim(static_cast<unsigned char>(str[end]))) {
+    end--;
+  }
+
+  return str.substr(start, end - start + 1);
+}
+
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;

common/util.h

@@ -74,6 +74,7 @@ float getenv(const char* key, float default_val);
 std::string hexdump(const uint8_t* in, const size_t size);
 bool starts_with(const std::string &s1, const std::string &s2);
 bool ends_with(const std::string &s, const std::string &suffix);
+std::string strip(const std::string &str);
 
 // ***** random helpers *****
 int random_int(int min, int max);

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 289 Supported Cars
+# 290 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -56,6 +56,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -79,7 +80,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
 |Honda|Passport 2019-23|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
-|Honda|Ridgeline 2017-24|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-24">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-25">Buy Here</a></sub></details>||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2019">Buy Here</a></sub></details>||
 |Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
@@ -91,7 +92,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
@@ -294,7 +295,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
 |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
 |Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
 |Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 

pyproject.toml

@@ -103,7 +103,6 @@ dev = [
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
-  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -112,13 +111,10 @@ dev = [
   "tabulate",
   "types-requests",
   "types-tabulate",
-
-  # this is only pinned since 5.15.11 is broken
-  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
 ]
 
 tools = [
-  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal/metadrive_simulator-0.4.2.3-py3-none-any.whl ; (platform_machine != 'aarch64')",
+  "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
   "rerun-sdk >= 0.18",
 ]
 

scripts/build_small.sh

@@ -1,39 +0,0 @@
-#!/usr/bin/env bash
-set -ex
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-# git clone --mirror
-SRC=/tmp/openpilot.git/
-OUT=/tmp/smallpilot/
-
-echo "starting size $(du -hs .git/)"
-
-rm -rf $OUT
-
-cd $SRC
-git remote update
-
-# copy contents
-#rsync -a --exclude='.git/' $DIR $OUT
-
-cp -r $SRC $OUT
-
-cd $OUT
-
-# remove all tags
-git tag -l | xargs git tag -d
-
-# remove non-master branches
-BRANCHES="release2 release3 devel master-ci nightly"
-for branch in $BRANCHES; do
-  git branch -D $branch
-  git branch -D ${branch}-staging || true
-done
-
-#git gc
-git reflog expire --expire=now --all
-git gc --prune=now
-git gc --aggressive --prune=now
-echo "new one is $(du -hs .)"

scripts/code_stats.py

@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import os
-import ast
-import stat
-import subprocess
-
-fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']).strip().split()}
-
-pyf = []
-for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
-  for root, _, files in os.walk(d):
-    for f in files:
-      if f.endswith(".py"):
-        pyf.append(os.path.join(root, f))
-
-imps: set[str] = set()
-
-class Analyzer(ast.NodeVisitor):
-  def visit_Import(self, node):
-    for alias in node.names:
-      imps.add(alias.name)
-    self.generic_visit(node)
-
-  def visit_ImportFrom(self, node):
-    imps.add(node.module)
-    self.generic_visit(node)
-
-tlns = 0
-carlns = 0
-scriptlns = 0
-testlns = 0
-for f in sorted(pyf):
-  if f not in fouts:
-    continue
-  xbit = bool(os.stat(f)[stat.ST_MODE] & stat.S_IXUSR)
-  src = open(f).read()
-  lns = len(src.split("\n"))
-  tree = ast.parse(src)
-  Analyzer().visit(tree)
-  print(f"{lns:5d} {f} {xbit}")
-  if 'test' in f:
-    testlns += lns
-  elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
-    scriptlns += lns
-  elif f.startswith('selfdrive/car'):
-    carlns += lns
-  else:
-    tlns += lns
-
-print(f"{tlns} lines of openpilot python")
-print(f"{carlns} lines of car ports")
-print(f"{scriptlns} lines of tools/scripts/debug")
-print(f"{testlns} lines of tests")
-#print(sorted(list(imps)))

scripts/count_cars.py

@@ -1,11 +0,0 @@
-#!/usr/bin/env python3
-from collections import Counter
-from pprint import pprint
-
-from opendbc.car.docs import get_all_car_docs
-
-if __name__ == "__main__":
-  cars = get_all_car_docs()
-  make_count = Counter(l.make for l in cars)
-  print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n")
-  pprint(make_count)

scripts/git_rewrite/rewrite-git-history.sh

@@ -1,391 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SRC=/tmp/openpilot/
-SRC_CLONE=/tmp/openpilot-clone/
-OUT=/tmp/openpilot-tiny/
-
-REWRITE_IGNORE_BRANCHES=(
-  dashcam3
-  devel
-  master-ci
-  nightly
-  release2
-  release3
-  release3-staging
-)
-
-VALIDATE_IGNORE_FILES=(
-  ".github/ISSUE_TEMPLATE/bug_report.md"
-  ".github/pull_request_template.md"
-)
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
-mkdir -p $LOGS_DIR
-
-GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
-BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
-COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
-
-START_TIME=$(date +%s)
-exec > >(while IFS= read -r line; do
-  CURRENT_TIME=$(date +%s)
-  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
-  echo "[${ELAPSED_TIME}s] $line"
-done | tee -a "$GIT_REWRITE_LOG") 2>&1
-
-# INSTALL git-filter-repo
-if [ ! -f /tmp/git-filter-repo ]; then
-  echo "Installing git-filter-repo..."
-  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
-  chmod +x /tmp/git-filter-repo
-fi
-
-# MIRROR openpilot
-if [ ! -d $SRC ]; then
-  echo "Mirroring openpilot..."
-  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
-
-  cd $SRC
-
-  echo "Starting size $(du -sh .)"
-
-  git remote update
-
-  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
-  echo "Analyzing with git-filter-repo..."
-  /tmp/git-filter-repo --force --analyze
-
-  echo "Pushing to openpilot-archive..."
-  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
-  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
-  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
-  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
-  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
-  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
-  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-fi
-
-# REWRITE master and tags
-if [ ! -d $SRC_CLONE ]; then
-  echo "Cloning $SRC..."
-  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
-
-  cd $SRC_CLONE
-
-  echo "Checking out old history..."
-
-  git checkout tags/v0.7.1 > /dev/null 2>&1
-  # checkout as main, since we need master ref later
-  git checkout -b main
-
-  echo "Creating setup commits..."
-
-  # rm these so we don't get conflicts later
-  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
-  git commit -m "removed conflicting files" > /dev/null
-
-  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
-  # we don't care about fetching/pushing lfs right now
-  git lfs install --skip-smudge --local
-
-  # squash initial setup commits
-  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
-  git commit -m "switching to master" > /dev/null
-
-  # squash the two commits
-  git reset --soft HEAD~2
-  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
-
-  # get commits we want to cherry-pick
-  # will start with the next commit after #59b3d06 tools is local now
-  COMMITS=$(git rev-list --reverse 59b3d06..master)
-
-  # we need this for logging
-  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
-  CURRENT_COMMIT_NUMBER=0
-
-  # empty this file
-  > commit-map.txt
-
-  echo "Rewriting master commits..."
-
-  for COMMIT in $COMMITS; do
-      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
-
-      # set environment variables to preserve author/committer and dates
-      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
-      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
-      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
-      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
-      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
-      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
-
-      # cherry-pick the commit
-      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
-        # check if the failure is because of an empty commit
-        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
-          echo "Empty commit detected. Skipping commit $COMMIT"
-          git cherry-pick --skip
-          # log it was empty to the mapping file
-          echo "$COMMIT EMPTY" >> commit-map.txt
-        else
-          # handle other errors or conflicts
-          echo "Cherry-pick failed. Handling error..."
-          echo "$GIT_OUTPUT"
-          exit 1
-        fi
-      else
-        # capture the new commit hash
-        NEW_COMMIT=$(git rev-parse HEAD)
-
-        # save the old and new commit hashes to the mapping file
-        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
-
-        # append the old commit ID to the commit message
-        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
-      fi
-
-    # prune every 3000 commits to avoid gc errors
-    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
-      echo "Pruning repo..."
-      git gc
-    fi
-  done
-
-  echo "Rewriting tags..."
-
-  # remove all old tags
-  git tag -l | xargs git tag -d
-
-  # read each line from the tag-commit-map.txt
-  while IFS=' ' read -r TAG OLD_COMMIT; do
-    # search for the new commit in commit-map.txt corresponding to the old commit
-    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
-
-    # check if this is a rebased commit
-    if [ -z "$NEW_COMMIT" ]; then
-      # if not, then just use old commit hash
-      NEW_COMMIT=$OLD_COMMIT
-    fi
-
-    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
-    git tag -f "$TAG" "$NEW_COMMIT"
-  done < "$DIR/tag-commit-map.txt"
-
-  # uninstall lfs since we don't want to touch (push to) lfs right now
-  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
-  git lfs uninstall --local
-
-  # force push new master
-  git push --force origin main:master
-
-  # force push new tags
-  git push --force --tags
-fi
-
-# REWRITE branches based on master
-if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
-  cd $SRC_CLONE
-  > rewrite-branches-done
-
-  # empty file
-  > $BRANCH_DIFF_LOG
-
-  echo "Rewriting branches based on master..."
-
-  # will store raw diffs here, if exist
-  mkdir -p differences
-
-  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
-  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
-
-  for BRANCH in $BRANCHES; do
-    # check if the branch is based on master history
-    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
-    if [ -n "$MERGE_BASE" ]; then
-      echo "Rewriting branch: $BRANCH"
-
-      # create a new branch based on the new master
-      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
-      if [ -z "$NEW_MERGE_BASE" ]; then
-        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
-        continue
-      fi
-      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
-
-      # get the range of commits unique to this branch
-      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
-
-      HAS_ERROR=0
-
-      # simple delimiter
-      echo "BRANCH ${BRANCH}" >> commit-map.txt
-
-      for COMMIT in $COMMITS; do
-        # set environment variables to preserve author/committer and dates
-        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
-        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
-        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
-        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
-        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
-        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
-
-        # cherry-pick the commit
-        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
-          # check if the failure is because of an empty commit
-          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
-            echo "Empty commit detected. Skipping commit $COMMIT"
-            git cherry-pick --skip
-            # log it was empty to the mapping file
-            echo "$COMMIT EMPTY" >> commit-map.txt
-          else
-            # handle other errors or conflicts
-            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
-            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
-            git cherry-pick --abort
-            git push --delete origin ${BRANCH}
-            HAS_ERROR=1
-            break
-          fi
-        else
-          # capture the new commit hash
-          NEW_COMMIT=$(git rev-parse HEAD)
-
-          # save the old and new commit hashes to the mapping file
-          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
-
-          # append the old commit ID to the commit message
-          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
-        fi
-      done
-
-      # force push the new branch
-      if [ $HAS_ERROR -eq 0 ]; then
-        # git lfs goes haywire here, so we need to install and uninstall
-        # git lfs install --skip-smudge --local
-        git lfs uninstall --local > /dev/null
-        git push -f origin ${BRANCH}_new:${BRANCH}
-      fi
-
-      # clean up local branch
-      git checkout master > /dev/null
-      git branch -D ${BRANCH}_new > /dev/null
-    else
-      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
-      git push --delete origin ${BRANCH}
-    fi
-  done
-fi
-
-# VALIDATE cherry-pick
-if [ ! -f "$SRC_CLONE/validation-done" ]; then
-  cd $SRC_CLONE
-  > validation-done
-
-  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
-  CURRENT_COMMIT_NUMBER=0
-  COUNT_SAME=0
-  COUNT_DIFF=0
-
-  # empty file
-  > $COMMIT_DIFF_LOG
-
-  echo "Validating commits..."
-
-  # will store raw diffs here, if exist
-  mkdir -p differences
-
-  # read each line from commit-map.txt
-  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
-    if [ "$NEW_COMMIT" == "EMPTY" ]; then
-      continue
-    fi
-    if [ "$OLD_COMMIT" == "BRANCH" ]; then
-      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
-      continue
-    fi
-    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
-    # retrieve short hashes and dates for the old and new commits
-    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
-    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
-    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
-    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
-
-    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
-    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
-
-    # generate lists of files and their hashes for the old and new commits, excluding ignored files
-    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
-    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
-
-    # Compare the diffs
-    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
-      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
-      COUNT_SAME=$((COUNT_SAME + 1))
-    else
-      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
-      COUNT_DIFF=$((COUNT_DIFF + 1))
-      set +e
-      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
-      set -e
-    fi
-  done < "commit-map.txt"
-
-  echo "Summary:" >> $COMMIT_DIFF_LOG
-  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
-  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
-fi
-
-if [ ! -d $OUT ]; then
-  cp -r $SRC $OUT
-
-  cd $OUT
-
-  # remove all non-master branches
-  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
-
-  # echo "cleaning up refs"
-  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
-  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
-
-  echo "importing new lfs files"
-  # import "almost" everything to lfs
-  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
-  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
-
-  echo "reflog and gc"
-  # this is needed after lfs import
-  git reflog expire --expire=now --all
-  git gc --prune=now --aggressive
-
-  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
-  echo "Analyzing with git-filter-repo..."
-  /tmp/git-filter-repo --force --analyze
-
-  echo "New size is $(du -sh .)"
-fi
-
-cd $OUT
-
-# fetch all lfs files from https://github.com/commaai/openpilot.git
-# some lfs files are missing on gitlab, but they can be found on github
-git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
-git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
-git lfs fetch --all || true
-
-# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
-git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
-git lfs fetch --all || true
-
-# final push - will also push lfs
-# TODO: switch to git@github.com:commaai/openpilot.git when ready
-# git push --mirror git@github.com:commaai/openpilot-tiny.git
-# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
-git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

scripts/git_rewrite/rewrite.sh

@@ -1,59 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-git clone --bare https://github.com/commaai/openpilot
-cp -r openpilot.git openpilot_backup
-cd openpilot.git
-
-# backup old repo
-git push git@github.com:commaai/openpilot-archive.git +refs/heads/master:refs/heads/master
-git push git@github.com:commaai/openpilot-archive.git +refs/heads/*:refs/heads/*
-git push git@github.com:commaai/openpilot-archive.git +refs/tags/*:refs/tags/*
-git push --mirror git@github.com:commaai/openpilot-archive.git
-
-# ignore all release branches
-git for-each-ref --format='delete %(refname)' | grep 'dashcam3\|devel\|master-ci\|nightly\|release2\|release3\|release3-staging' | git update-ref --stdin
-
-# re-tag old releases on master
-declare -A TAGS=( ["f8cb04e4a8b032b72a909f68b808a50936184bee"]="v0.9.7" ["0b4d08fab8e35a264bc7383e878538f8083c33e5"]="v0.9.6" ["3b1e9017c560499786d8a0e46aaaeea65037acac"]="v0.9.5" ["fa310d9e2542cf497d92f007baec8fd751ffa99c"]="v0.9.4" ["8704c1ff952b5c85a44f50143bbd1a4f7b4887e2"]="v0.9.3" ["c7d3b28b93faa6c955fb24bc64031512ee985ee9"]="v0.9.2" ["89f68bf0cbf53a81b0553d3816fdbe522f941fa1"]="v0.9.1" ["58b84fb401a804967aa0dd5ee66fafa90194fd30"]="v0.9.0" ["f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e"]="v0.8.16" ["5a7c2f90361e72e9c35e88abd2e11acdc4aba354"]="v0.8.15" ["71901c94dbbaa2f9f156a80c14cc7ea65219fc7c"]="v0.8.14" ["95da47079510afc91665263619e5939126da637c"]="v0.8.13" ["472177e2a8a1d002e56f9096326fd2dff62e54f9"]="v0.8.12" ["08078acbd0b4f7da469c7dff6159000e358974a9"]="v0.8.11" ["687925c775c375495f9827946138a724bde00b9d"]="v0.8.10" ["204e5a090735a059d69c29145a4cee49450da07e"]="v0.8.9" ["4be956f8861ecbb521ef9503a3c87b07c9d36721"]="v0.8.8" ["589f82c76627d634761a31a34b2488403556eb0b"]="v0.8.7" ["507cfc8910f74ddb8810039d68b880b426ff9ff9"]="v0.8.6" ["d47b00b45a866bef088f51d1ff31de5885ab04e9"]="v0.8.5" ["553e7d1cce314e7eb0587186b1764c3ff43bed62"]="v0.8.4" ["9896438d1511602a1ff87f7c4eb3c7172b30104a"]="v0.8.3" ["280192ed1443f112463417c2d815ea8ee2762fbd"]="v0.8.2" ["8039361567e4659eae2a084e6f39f34acadf4cac"]="v0.8.1" ["d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc"]="v0.8" ["3d456e5d0fbf0c9887d0499dee812f2b029edf6d"]="v0.7.10" ["81763a18b5d0e379b749e090ecce36a91fca7c43"]="v0.7.9" ["9bc0b350fd273bbb2deb3dcaef0312944e4f6cfd"]="v0.7.8" ["ede5b632b58c55e4ff003f948efae07fe03c2280"]="v0.7.7" ["775acd11ba2e0a8c2f5a5655338718d796491b36"]="v0.7.6.1" ["302417b4cf0dcf00d45e4995b5410e543ad121d1"]="v0.7.5" ["12ff088b42221dd17d9d97decb1fc61a7cb0a861"]="v0.7.4" ["9563f7730252451fdcba9bc3d9fe36dab9c86a26"]="v0.7.3" ["8321cf283abbc2ca3fda7e0c7a069a77a492fe0c"]="v0.7.2" ["1e1de64a1e59476b7b3d3558b92149246d5c3292"]="v0.7.1" ["a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3"]="v0.7" ["d4eb5a6eafdd4803d09e6f3963918216cca5a81f"]="v0.6.6" ["70d17cd69b80e7627dcad8fd5b6438f2309ac307"]="v0.6.5" ["58f376002e0c654fbc2de127765fa297cf694a33"]="v0.6.4" ["d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3"]="v0.6.3" ["095ef5f9f60fca1b269aabcc3cfd322b17b9e674"]="v0.6.2" ["cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22"]="v0.6.1" ["60a20537c5f3fcc7f11946d81aebc8f90c08c117"]="v0.6" ["dd34ccfe288ebda8e2568cf550994ae890379f45"]="v0.5.13" ["3f9059fea886f1fa3b0c19a62a981d891dcc84eb"]="v0.5.12" ["2f92d577f995ff6ae1945ef6b89df3cb69b92999"]="v0.5.11" ["5a9d89ed42ddcd209d001a10d7eb828ef0e6d9de"]="v0.5.10" ["0207a970400ee28d3e366f2e8f5c551281accf02"]="v0.5.9" ["b967da5fc1f7a07e3561db072dd714d325e857b0"]="v0.5.8" ["210db686bb89f8696aa040e6e16de65424b808c9"]="v0.5.7" ["860a48765d1016ba226fb2c64aea35a45fe40e4a"]="v0.5.6" ["8f3539a27b28851153454eb737da9624cccaed2d"]="v0.5.5" ["a422246dc30bce11e970514f13f7c110f4470cc3"]="v0.5.4" ["285c52eb693265a0a530543e9ca0aeb593a2a55e"]="v0.5.3" ["0129a8a4ff8da5314e8e4d4d3336e89667ff6d54"]="v0.5.2" ["6f3d10a4c475c4c4509f0b370805419acd13912d"]="v0.5.1" ["de33bc46452b1046387ee2b3a03191b2c71135fb"]="v0.5" ["ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9"]="v0.4.7" ["c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1"]="v0.4.6" ["37285038d3f91fa1b49159c4a35a8383168e644f"]="v0.4.5" ["9a9ff839a9b70cb2601d7696af743f5652395389"]="v0.4.4" ["28c0797d30175043bbfa31307b63aab4197cf996"]="v0.4.2" ["4474b9b3718653aeb0aee26422caefb90460cc0e"]="v0.4.1" ["da52d065a4c4f52d6017a537f3a80326f5af8bdc"]="v0.4.0.2" ["9d3963559ae7b15193057937ff3e72481899f40d"]="v0.3.5"  ["1b8c44b5067525a5d266b6e99799d8097da76a29"]="v0.3.4" ["5cf91d0496688fed4f2a6c7021349b1fc0e057a2"]="v0.3.3" ["7fe46f1e1df5dec08a940451ba0feefd5c039165"]="v0.3.2" ["41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24"]="v0.3.1" ["c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8"]="v0.3.0" ["693bcb0f83478f2651db6bac9be5ca5ad60d03f3"]="v0.2.9" ["95a349abcc050712c50d4d85a1c8a804eee7f6c2"]="v0.2.8" ["c6ba5dc5391d3ca6cda479bf1923b88ce45509a0"]="v0.2.7" ["6c3afeec0fb439070b2912978b8dbb659033b1d9"]="v0.2.6" ["29c58b45882ac79595356caf98580c1d2a626011"]="v0.2.5" ["ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0"]="v0.2.4" ["adaa4ed350acda4067fc0b455ad15b54cdf4c768"]="v0.2.3" ["a64b9aa9b8cb5863c917b6926516291a63c02fe5"]="v0.2.2" ["17d9becd3c673091b22f09aa02559a9ed9230f50"]="v0.2.1" ["449b482cc3236ccf31829830b4f6a44b2dcc06c2"]="v0.2" ["e94a30bec07e719c5a7b037ca1f4db8312702cce"]="v0.1" )
-for tag in "${!TAGS[@]}"; do git tag -f "${TAGS[$tag]}" "$tag" ; done
-
-# get master root commit
-ROOT_COMMIT=$(git rev-list --max-parents=0 HEAD | tail -n 1)
-
-# link master and devel
-git replace --graft $ROOT_COMMIT v0.7.1
-git-filter-repo --prune-empty never --force --commit-callback 'h=commit.original_id.decode("utf-8");m=commit.message.decode("utf-8");commit.message=str.encode(m + "\n" + "old-commit-hash: " + h)'
-
-# delete replace refs
-git for-each-ref --format='delete %(refname)' refs/replace | git update-ref --stdin
-
-# machine validation
-tail -n +2 "filter-repo/commit-map" | tr ' ' '\n' | xargs -P $(nproc) -n 2 bash -c 'H1=$(cd ../openpilot_backup && git ls-tree -r $0 | sha1sum) && H2=$(git ls-tree -r $1 | sha1sum) && echo "$H1 $H2" >> /tmp/GIT_HASHES && diff <(echo $H1) <(echo $H2) || exit 255'
-# human validation
-less /tmp/GIT_HASH
-
-# cleanup
-git reflog expire --expire=now --all
-git gc --prune=now --aggressive
-
-# get all lfs files
-set +e
-git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
-git lfs fetch --all
-git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-git lfs fetch --all
-set -e
-
-# add new files to lfs
-git lfs migrate import --everything --include="*.ico,*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,pyextra/**/*,panda/board/**/inc/*.h,panda/board/obj/*.elf,board/inc/*.h,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,*.pro,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,poetry.lock,*.qm"
-
-# set new lfs endpoint
-git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
-
-# push all branch+tag (scary stuff...)
-git push -f --set-upstream git@github.com:commaai/openpilot.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*

scripts/git_rewrite/tag-commit-map.txt

@@ -1,82 +0,0 @@
-v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
-v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2
-v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50
-v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5
-v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768
-v0.2.4 ecc565aa3fdc4c7e719aadc000e1fdc4d80d4fe0
-v0.2.5 29c58b45882ac79595356caf98580c1d2a626011
-v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9
-v0.2.7 c6ba5dc5391d3ca6cda479bf1923b88ce45509a0
-v0.2.8 95a349abcc050712c50d4d85a1c8a804eee7f6c2
-v0.2.9 693bcb0f83478f2651db6bac9be5ca5ad60d03f3
-v0.3.0 c5d8aec28b5230d34ae4b677c2091cc3dec7e3e8
-v0.3.1 41e3a0f699f5c39cb61a15c0eb7a4aa816d47c24
-v0.3.2 7fe46f1e1df5dec08a940451ba0feefd5c039165
-v0.3.3 5cf91d0496688fed4f2a6c7021349b1fc0e057a2
-v0.3.4 1b8c44b5067525a5d266b6e99799d8097da76a29
-v0.3.5 b111277f464cf66fa34b67819a83ea683e0f64df
-v0.4.0.2 da52d065a4c4f52d6017a537f3a80326f5af8bdc
-v0.4.1 4474b9b3718653aeb0aee26422caefb90460cc0e
-v0.4.2 28c0797d30175043bbfa31307b63aab4197cf996
-v0.4.4 9a9ff839a9b70cb2601d7696af743f5652395389
-v0.4.5 37285038d3f91fa1b49159c4a35a8383168e644f
-v0.4.6 c6df34f55ba8c5a911b60d3f9eb20e3fa45f68c1
-v0.4.7 ae5cb7a0dab8b1bed9d52292f9b4e8e66a0f8ec9
-v0.5 de33bc46452b1046387ee2b3a03191b2c71135fb
-v0.5.1 8f22f52235c48eada586795ac57edb22688e4d08
-v0.5.2 0129a8a4ff8da5314e8e4d4d3336e89667ff6d54
-v0.5.3 285c52eb693265a0a530543e9ca0aeb593a2a55e
-v0.5.4 a422246dc30bce11e970514f13f7c110f4470cc3
-v0.5.5 8f3539a27b28851153454eb737da9624cccaed2d
-v0.5.6 860a48765d1016ba226fb2c64aea35a45fe40e4a
-v0.5.7 9ce3045f139ee29bf0eea5ec59dfe7df9c3d2c51
-v0.5.8 2cee2e05ba0f3824fdbb8b957958800fa99071a1
-v0.5.9 ad145da3bcded0fe75306df02061d07a633963c3
-v0.5.10 ff4c1557d8358f158f4358788ff18ef93d2470ef
-v0.5.11 d1866845df423c6855e2b365ff230cf7d89a420b
-v0.5.12 f6e8ef27546e9a406724841e75f8df71cc4c2c97
-v0.5.13 dd34ccfe288ebda8e2568cf550994ae890379f45
-v0.6 60a20537c5f3fcc7f11946d81aebc8f90c08c117
-v0.6.1 cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22
-v0.6.2 095ef5f9f60fca1b269aabcc3cfd322b17b9e674
-v0.6.3 d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3
-v0.6.4 58f376002e0c654fbc2de127765fa297cf694a33
-v0.6.5 70d17cd69b80e7627dcad8fd5b6438f2309ac307
-v0.6.6 d4eb5a6eafdd4803d09e6f3963918216cca5a81f
-v0.7 a2ae18d1dbd1e59c38ce22fa25ddffbd1d3084e3
-v0.7.1 1e1de64a1e59476b7b3d3558b92149246d5c3292
-v0.7.2 59bd58c940673b4c4a6a86f299022614bcf42b22
-v0.7.3 d7acd8b68f8131e0e714400cf124a3e228638643
-v0.7.4 e93649882c5e914eec4a8b8b593dc0587e497033
-v0.7.5 8abc0afe464626a461d2c7e192c912eeebeccc65
-v0.7.6 69aacd9d179fe6dd3110253a099c38b34cff7899
-v0.7.7 f1caed7299cdba5e45635d8377da6cc1e5fd7072
-v0.7.8 2189fe8741b635d8394d55dee28959425cfd5ad0
-v0.7.9 86dc54b836a973f132ed26db9f5a60b29f9b25b2
-v0.7.10 47a42ff432db8a2494e922ca5e767e58020f0446
-v0.7.11 f46ed718ba8d6bb4d42cd7b0f0150c406017c373
-v0.8 d56e04c0d960c8d3d4ab88b578dc508a2b4e07dc
-v0.8.1 cd6f26664cb8d32a13847d6648567c47c580e248
-v0.8.2 7cc0999aebfe63b6bb6dd83c1dff62c3915c4820
-v0.8.3 986500fe2f10870018f1fba1e5465476b8915977
-v0.8.4 f0d0b82b8d6f5f450952113e234d0a5a49e80c48
-v0.8.5 f5d9ddc6c2a2802a61e5ce590c6b6688bf736a69
-v0.8.6 75904ed7452c6cbfb2a70cd379a899d8a75b97c2
-v0.8.7 4f9e568019492126e236da85b5ca0a059f292900
-v0.8.8 a949a49d5efaaf2d881143d23e9fb5ff9e28e88c
-v0.8.9 a034926264cd1025c69d6ceb3fe444965f960b75
-v0.8.10 59accdd814398b884167c0f41dbf46dcccf0c29c
-v0.8.11 d630ec9092f039cb5e51c5dd6d92fc47b91407e4
-v0.8.12 57871c99031cf597ffa0d819057ac1401e129f32
-v0.8.13 e43e6e876513450d235124fcb711f1724ed9814c
-v0.8.14 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c
-v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354
-v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e
-v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30
-v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1
-v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9
-v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
-v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c
-v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac
-v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5
-v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee

scripts/pyqt_demo.py

@@ -1,14 +0,0 @@
-#!/usr/bin/env python3
-
-from PyQt5.QtWidgets import QApplication, QLabel
-from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
-
-
-if __name__ == "__main__":
-  app = QApplication([])
-  label = QLabel('Hello World!')
-
-  # Set full screen and rotate
-  set_main_window(label)
-
-  app.exec_()

selfdrive/assets/offroad/icon_plus.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fa3f1c39a4e82adfb52d43fc0ad6773a70dbaa4fc79109a7d6b6c1f73b298eac
-size 2833

selfdrive/debug/touch_replay.py

@@ -30,7 +30,7 @@ if __name__ == '__main__':
         elif event.type == 3 and event.code == 57 and event.value == -1:
           fingers[current_slot] = [-1, -1]
         elif event.type == 3 and event.code == 53:
-          fingers[current_slot][1] = h - (h - event.value)
+          fingers[current_slot][1] = event.value
           if fingers[current_slot][0] != -1:
             touch_points.append(fingers[current_slot].copy())
         elif event.type == 3 and event.code == 54:

selfdrive/modeld/SConscript

@@ -26,10 +26,6 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
     xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
 
 # Compile cython
-snpe_rpath_qcom = "/data/pythonpath/third_party/snpe/larch64"
-snpe_rpath_pc = f"{Dir('#').abspath}/third_party/snpe/x86_64-linux-clang"
-snpe_rpath = lenvCython['RPATH'] + [snpe_rpath_qcom if arch == "larch64" else snpe_rpath_pc]
-
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)

selfdrive/modeld/constants.py

@@ -16,7 +16,6 @@ class ModelConstants:
   MODEL_FREQ = 20
   FEATURE_LEN = 512
   FULL_HISTORY_BUFFER_LEN = 99
-  HISTORY_BUFFER_LEN = 24
   DESIRE_LEN = 8
   TRAFFIC_CONVENTION_LEN = 2
   LAT_PLANNER_STATE_LEN = 4
@@ -73,14 +72,13 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 31, 6)
-  BRAKE_DISENGAGE = slice(2, 31, 6)
-  STEER_OVERRIDE = slice(3, 31, 6)
-  HARD_BRAKE_3 = slice(4, 31, 6)
-  HARD_BRAKE_4 = slice(5, 31, 6)
-  HARD_BRAKE_5 = slice(6, 31, 6)
+  GAS_DISENGAGE = slice(1, 36, 7)
+  BRAKE_DISENGAGE = slice(2, 36, 7)
+  STEER_OVERRIDE = slice(3, 36, 7)
+  HARD_BRAKE_3 = slice(4, 36, 7)
+  HARD_BRAKE_4 = slice(5, 36, 7)
+  HARD_BRAKE_5 = slice(6, 36, 7)
+  GAS_PRESS = slice(7, 36, 7)
   # next 0, 2, 4, 6, 8, 10 seconds
-  GAS_PRESS = slice(31, 55, 4)
-  BRAKE_PRESS = slice(32, 55, 4)
-  LEFT_BLINKER = slice(33, 55, 4)
-  RIGHT_BLINKER = slice(34, 55, 4)
+  LEFT_BLINKER = slice(36, 48, 2)
+  RIGHT_BLINKER = slice(37, 48, 2)

selfdrive/modeld/fill_model_msg.py

@@ -3,21 +3,11 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan, Meta
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
-def curv_from_psis(psi_target, psi_rate, vego, delay):
-  vego = np.clip(vego, MIN_SPEED, np.inf)
-  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
-  return 2*curv_from_psi - psi_rate / vego
-
-def get_curvature_from_plan(plan, vego, delay):
-  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
-  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
-  return curv_from_psis(psi_target, psi_rate, vego, delay)
 
 class PublishState:
   def __init__(self):
@@ -75,8 +65,6 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   extended_msg.valid = valid
   base_msg.valid = valid
 
-  desired_curv = float(get_curvature_from_plan(net_output_data['plan'][0], v_ego, delay))
-
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
@@ -85,7 +73,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.modelExecutionTime = model_execution_time
 
   action = driving_model_data.action
-  action.desiredCurvature = desired_curv
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -120,7 +108,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # lateral planning
   action = modelV2.action
-  action.desiredCurvature = desired_curv
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
@@ -181,8 +169,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   disengage_predictions.brake3MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_3].tolist()
   disengage_predictions.brake4MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_4].tolist()
   disengage_predictions.brake5MetersPerSecondSquaredProbs = net_output_data['meta'][0,Meta.HARD_BRAKE_5].tolist()
-  disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
-  disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
+  #disengage_predictions.gasPressProbs = net_output_data['meta'][0,Meta.GAS_PRESS].tolist()
+  #disengage_predictions.brakePressProbs = net_output_data['meta'][0,Meta.BRAKE_PRESS].tolist()
 
   publish_state.prev_brake_5ms2_probs[:-1] = publish_state.prev_brake_5ms2_probs[1:]
   publish_state.prev_brake_5ms2_probs[-1] = net_output_data['meta'][0,Meta.HARD_BRAKE_5][0]

selfdrive/modeld/modeld.py

@@ -1,21 +1,15 @@
 #!/usr/bin/env python3
-import os
 from openpilot.system.hardware import TICI
 
+from openpilot.selfdrive.modeld.runners.model_runner import ONNXRunner, TinygradRunner
+from openpilot.sunnypilot.models.helpers import is_active_model_20hz
+
 #
-if TICI:
-  from tinygrad.tensor import Tensor
-  from tinygrad.dtype import dtypes
-  from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-  os.environ['QCOM'] = '1'
-else:
-  from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner
+import os
 import time
-import pickle
 import numpy as np
 import cereal.messaging as messaging
 from cereal import car, log
-from pathlib import Path
 from setproctitle import setproctitle
 from cereal.messaging import PubMaster, SubMaster
 from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
@@ -27,19 +21,16 @@ from openpilot.common.realtime import config_realtime_process
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
+from openpilot.system.hardware import PC
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
-
 PROCESS_NAME = "selfdrive.modeld.modeld"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-
-MODEL_PATH = Path(__file__).parent / 'models/supercombo.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/supercombo_tinygrad.pkl'
-METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
+USE_ONNX = bool(os.getenv('USE_ONNX', PC))
+IS_20HZ_MODEL_DEFAULT = False
 
 class FrameMeta:
   frame_id: int = 0
@@ -57,79 +48,86 @@ class ModelState:
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
 
   def __init__(self, context: CLContext):
-    self.frames = {'input_imgs': DrivingModelFrame(context), 'big_input_imgs': DrivingModelFrame(context)}
+    self.is_20hz = IS_20HZ_MODEL_DEFAULT
+    if (active_20hz := is_active_model_20hz(None)) is not None:
+      self.is_20hz = active_20hz
+
+    self.frames = {'input_imgs': DrivingModelFrame(context, self.is_20hz), 'big_input_imgs': DrivingModelFrame(context, self.is_20hz)}
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
     self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
     self.desire_20Hz =  np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    # Initialize model runner
+    self.model_runner = ONNXRunner(self.frames) if (not TICI) and USE_ONNX else TinygradRunner(self.frames)
 
     # img buffers are managed in openCL transform code
-    self.numpy_inputs = {
-      'desire': np.zeros((1, (ModelConstants.HISTORY_BUFFER_LEN+1), ModelConstants.DESIRE_LEN), dtype=np.float32),
-      'traffic_convention': np.zeros((1, ModelConstants.TRAFFIC_CONVENTION_LEN), dtype=np.float32),
-      'features_buffer': np.zeros((1, ModelConstants.HISTORY_BUFFER_LEN,  ModelConstants.FEATURE_LEN), dtype=np.float32),
-    }
+    self.numpy_inputs = {}
 
-    with open(METADATA_PATH, 'rb') as f:
-      model_metadata = pickle.load(f)
-    self.input_shapes =  model_metadata['input_shapes']
+    for key, shape in self.model_runner.input_shapes.items():
+      if key not in self.frames:  # Managed by opencl
+        self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
 
-    self.output_slices = model_metadata['output_slices']
-    net_output_size = model_metadata['output_shapes']['outputs'][1]
-    self.output = np.zeros(net_output_size, dtype=np.float32)
     self.parser = Parser()
 
-    if TICI:
-      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-      with open(MODEL_PKL_PATH, "rb") as f:
-        self.model_run = pickle.load(f)
-    else:
-      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
+    net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
+    self.output = np.zeros(net_output_size, dtype=np.float32)
 
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]:
-    parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_model_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_model_outputs
+    num_elements = self.numpy_inputs['features_buffer'].shape[1]
+    step_size = int(-100 / num_elements)
+    self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+    self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
 
   def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
-                inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+          inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire'][0] = 0
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-    self.desire_20Hz[-1] = new_desire
-    self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape((1,25,4,-1)).max(axis=2)
+    if self.is_20hz:
+      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
+      self.desire_20Hz[-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
+    else:
+      self.numpy_inputs['desire'][0,:-1] = self.numpy_inputs['desire'][0,1:]
+      self.numpy_inputs['desire'][0,-1] = new_desire
+
+    for key in self.numpy_inputs:
+      if key in inputs and key not in ['desire']:
+        self.numpy_inputs[key][:] = inputs[key]
 
-    self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention']
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      for key in imgs_cl:
-        if key not in self.tensor_inputs:
-          self.tensor_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
-    else:
-      for key in imgs_cl:
-        self.numpy_inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
+    # Prepare inputs using the model runner
+    self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs)
 
     if prepare_only:
       return None
 
-    if TICI:
-      self.output = self.model_run(**self.tensor_inputs).numpy().flatten()
+    # Run model inference
+    self.output = self.model_runner.run_model()
+    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
+
+    if self.is_20hz:
+      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
+      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
     else:
-      self.output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
+      self.numpy_inputs['features_buffer'][0,:-1] = self.numpy_inputs['features_buffer'][0,1:]
+      self.numpy_inputs['features_buffer'][0,-1] = outputs['hidden_state'][0, :]
 
-    outputs = self.parser.parse_outputs(self.slice_outputs(self.output))
+    if "desired_curvature" in outputs:
+      input_name_prev = None
 
-    self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-    self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
+      if "prev_desired_curvs" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curvs'
+      elif "prev_desired_curv" in self.numpy_inputs.keys():
+        input_name_prev = 'prev_desired_curv'
 
-    idxs = np.arange(-4,-100,-4)[::-1]
-    self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[idxs]
+      if input_name_prev is not None:
+        len = outputs['desired_curvature'][0].size
+        self.numpy_inputs['prev_desired_curv'][0,:-len] = self.numpy_inputs['prev_desired_curv'][0,len:]
+        self.numpy_inputs['prev_desired_curv'][0,-len,:] = outputs['desired_curvature'][0, :]
     return outputs
 
 
@@ -270,7 +268,10 @@ def main(demo=False):
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
-      }
+    }
+
+    if "lateral_control_params" in model.numpy_inputs.keys():
+      inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
     model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)

selfdrive/modeld/models/commonmodel.cc

@@ -5,11 +5,11 @@
 
 #include "common/clutil.h"
 
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, bool is_20hz) : ModelFrame(device_id, context), is_20hz(is_20hz) {
   input_frames = std::make_unique<uint8_t[]>(buf_size);
   input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err));
-  region.origin = 4 * frame_size_bytes;
+  img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_len*frame_size_bytes, NULL, &err));
+  region.origin = (buf_len - 1) * frame_size_bytes;
   region.size = frame_size_bytes;
   last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, &region, &err));
 
@@ -20,7 +20,7 @@ DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context)
 cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
   run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
 
-  for (int i = 0; i < 4; i++) {
+  for (int i = 0; i < (buf_len - 1); i++) {
     CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
   }
   loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);

selfdrive/modeld/models/commonmodel.h

@@ -64,7 +64,7 @@ protected:
 
 class DrivingModelFrame : public ModelFrame {
 public:
-  DrivingModelFrame(cl_device_id device_id, cl_context context);
+  DrivingModelFrame(cl_device_id device_id, cl_context context, bool is_20hz = false);
   ~DrivingModelFrame();
   cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
 
@@ -74,6 +74,9 @@ public:
   const int buf_size = MODEL_FRAME_SIZE * 2;
   const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
 
+  const bool is_20hz;
+  const int buf_len = is_20hz ? 5 : 2;
+
 private:
   LoadYUVState loadyuv;
   cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;

selfdrive/modeld/models/commonmodel.pxd

@@ -19,7 +19,7 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
 
   cppclass DrivingModelFrame:
     int buf_size
-    DrivingModelFrame(cl_device_id, cl_context)
+    DrivingModelFrame(cl_device_id, cl_context, bint)
 
   cppclass MonitoringModelFrame:
     int buf_size

selfdrive/modeld/models/commonmodel_pyx.pyx

@@ -55,8 +55,8 @@ cdef class ModelFrame:
 cdef class DrivingModelFrame(ModelFrame):
   cdef cppDrivingModelFrame * _frame
 
-  def __cinit__(self, CLContext context):
-    self._frame = new cppDrivingModelFrame(context.device_id, context.context)
+  def __cinit__(self, CLContext context, bint is_20hz=False):
+    self._frame = new cppDrivingModelFrame(context.device_id, context.context, is_20hz)
     self.frame = <cppModelFrame*>(self._frame)
     self.buf_size = self._frame.buf_size
 

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:72d3d6f8d3c98f5431ec86be77b6350d7d4f43c25075c0106f1d1e7ec7c77668
-size 49096168
+oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+size 51453312

selfdrive/modeld/parse_model_outputs.py

@@ -85,6 +85,7 @@ class Parser:
     outs[name + '_stds'] = pred_std_final.reshape(final_shape)
 
   def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    """ Parse the model outputs into a dictionary of numpy arrays. The input_keys are used to determine how the output should be parsed. """
     self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION,
                    out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH))
     self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH))
@@ -96,6 +97,8 @@ class Parser:
                    out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH))
     if 'lat_planner_solution' in outs:
       self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,))
     for k in ['lead_prob', 'lane_lines_prob', 'meta']:
       self.parse_binary_crossentropy(k, outs)
     self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))

selfdrive/modeld/runners/model_runner.py

@@ -0,0 +1,120 @@
+import os
+from openpilot.system.hardware import TICI
+
+from openpilot.sunnypilot.modeld.run_helpers import get_custom_model_paths
+#
+from tinygrad.tensor import Tensor, dtypes
+from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from openpilot.selfdrive.modeld.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
+import pickle
+import numpy as np
+from pathlib import Path
+from abc import ABC, abstractmethod
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLMem
+from openpilot.system.hardware import PC
+
+if TICI:
+  os.environ['QCOM'] = '1'
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+MODEL_PATH = Path(__file__).parent / '../models/supercombo.onnx'
+MODEL_PKL_PATH = Path(__file__).parent / '../models/supercombo_tinygrad.pkl'
+METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
+USE_ONNX = os.getenv('USE_ONNX', PC)
+
+
+class ModelRunner(ABC):
+  """Abstract base class for model runners that defines the interface for running ML models."""
+
+  def __init__(self):
+    """Initialize the model runner with paths to model and metadata files."""
+    self.model_paths = ({"model": MODEL_PATH, "metadata": METADATA_PATH} if USE_ONNX else
+                        get_custom_model_paths() or {"model": MODEL_PKL_PATH, "metadata": METADATA_PATH})
+
+    with open(self.model_paths["metadata"], 'rb') as f:
+      self.model_metadata = pickle.load(f)
+
+    self.input_shapes = self.model_metadata['input_shapes']
+    self.output_slices = self.model_metadata['output_slices']
+    self.inputs: dict = {}
+
+  @abstractmethod
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray]) -> dict:
+    """Prepare inputs for model inference."""
+
+  @abstractmethod
+  def run_model(self):
+    """Run model inference with prepared inputs."""
+
+  def slice_outputs(self, model_outputs: np.ndarray) -> dict:
+    """Slice model outputs according to metadata configuration."""
+    parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
+    if SEND_RAW_PRED:
+      parsed_outputs['raw_pred'] = model_outputs.copy()
+    return parsed_outputs
+
+
+class TinygradRunner(ModelRunner):
+  """Tinygrad implementation of model runner for TICI hardware."""
+
+  def __init__(self, frames: dict[str, DrivingModelFrame] | None = None):
+    super().__init__()
+    if not str(self.model_paths["model"]).endswith("_tinygrad.pkl"):
+      raise ValueError(f"Tinygrad model must be a _tinygrad.pkl file, we got {self.model_paths['model']}")
+
+    # Load Tinygrad model
+    with open(self.model_paths["model"], "rb") as f:
+      self.model_run = pickle.load(f)
+
+    self.input_to_dtype = {}
+    self.input_to_device = {}
+
+    for idx, name in enumerate(self.model_run.captured.expected_names):
+      self.input_to_dtype[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][2]  # 2 is the dtype
+      self.input_to_device[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][3]  # 3 is the device
+
+    assert TICI or frames is not None, "TinygradRunner requires frames for non-TICI hardware"
+    self.frames = frames
+    self.is_memory_model = None  # Use None to indicate that it hasn't been determined yet
+
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray]) -> dict:
+    # Initialize image tensors if not already done
+    for key in imgs_cl:
+      if TICI and key not in self.inputs:
+        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=dtypes.uint8)
+      elif not TICI:
+        shape = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
+        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+    # Update numpy inputs
+    for key, value in numpy_inputs.items():
+      if key not in imgs_cl:
+        self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+    return self.inputs
+
+  def run_model(self):
+    return self.model_run(**self.inputs).numpy().flatten()
+
+
+class ONNXRunner(ModelRunner):
+  """ONNX implementation of model runner for non-TICI hardware."""
+
+  def __init__(self, frames: dict[str, DrivingModelFrame]):
+    super().__init__()
+    self.runner = make_onnx_cpu_runner(self.model_paths["model"])
+    self.frames = frames
+
+    self.input_to_nptype = {
+      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
+      for model_input in self.runner.get_inputs()
+    }
+
+  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray]) -> dict:
+    self.inputs = numpy_inputs.copy()
+    for key in imgs_cl:
+      self.inputs[key] = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=np.float32)
+    return self.inputs
+
+  def run_model(self):
+    return self.runner.run(None, self.inputs)[0].flatten()

selfdrive/modeld/tests/snpe_benchmark/.gitignore

@@ -1 +0,0 @@
-benchmark

selfdrive/modeld/tests/snpe_benchmark/benchmark.cc

@@ -1,192 +0,0 @@
-#include <SNPE/SNPE.hpp>
-#include <SNPE/SNPEBuilder.hpp>
-#include <SNPE/SNPEFactory.hpp>
-#include <DlContainer/IDlContainer.hpp>
-#include <DlSystem/DlError.hpp>
-#include <DlSystem/ITensor.hpp>
-#include <DlSystem/ITensorFactory.hpp>
-#include <iostream>
-#include <fstream>
-#include <sstream>
-
-using namespace std;
-
-int64_t timespecDiff(struct timespec *timeA_p, struct timespec *timeB_p) {
-  return ((timeA_p->tv_sec * 1000000000) + timeA_p->tv_nsec) - ((timeB_p->tv_sec * 1000000000) + timeB_p->tv_nsec);
-}
-
-void PrintErrorStringAndExit() {
-  cout << "ERROR!" << endl;
-  const char* const errStr = zdl::DlSystem::getLastErrorString();
-  std::cerr << errStr << std::endl;
-  std::exit(EXIT_FAILURE);
-}
-
-
-zdl::DlSystem::Runtime_t checkRuntime() {
-  static zdl::DlSystem::Version_t Version = zdl::SNPE::SNPEFactory::getLibraryVersion();
-  static zdl::DlSystem::Runtime_t Runtime;
-  std::cout << "SNPE Version: " << Version.asString().c_str() << std::endl; //Print Version number
-  if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::DSP)) {
-    std::cout << "Using DSP runtime" << std::endl;
-    Runtime = zdl::DlSystem::Runtime_t::DSP;
-  } else if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::GPU)) {
-    std::cout << "Using GPU runtime" << std::endl;
-    Runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else {
-    std::cout << "Using cpu runtime" << std::endl;
-    Runtime = zdl::DlSystem::Runtime_t::CPU;
-  }
-  return Runtime;
-}
-
-void test(char *filename) {
-  static zdl::DlSystem::Runtime_t runtime = checkRuntime();
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container;
-  container = zdl::DlContainer::IDlContainer::open(filename);
-
-  if (!container) { PrintErrorStringAndExit(); }
-  cout << "start build" << endl;
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  {
-    snpe = NULL;
-    zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
-    snpe = snpeBuilder.setOutputLayers({})
-      .setRuntimeProcessor(runtime)
-      .setUseUserSuppliedBuffers(false)
-      //.setDebugMode(true)
-      .build();
-    if (!snpe) {
-      cout << "ERROR!" << endl;
-      const char* const errStr = zdl::DlSystem::getLastErrorString();
-      std::cerr << errStr << std::endl;
-    }
-    cout << "ran snpeBuilder" << endl;
-  }
-
-  const auto &strList_opt = snpe->getInputTensorNames();
-  if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names");
-
-  cout << "get input tensor names done" << endl;
-  const auto &strList = *strList_opt;
-  static zdl::DlSystem::TensorMap inputTensorMap;
-  static zdl::DlSystem::TensorMap outputTensorMap;
-  vector<std::unique_ptr<zdl::DlSystem::ITensor> > inputs;
-  for (int i = 0; i < strList.size(); i++) {
-    cout << "input name: " << strList.at(i) << endl;
-
-    const auto &inputDims_opt = snpe->getInputDimensions(strList.at(i));
-    const auto &inputShape = *inputDims_opt;
-    inputs.push_back(zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape));
-    inputTensorMap.add(strList.at(i), inputs[i].get());
-  }
-
-  struct timespec start, end;
-  cout << "**** starting benchmark ****" << endl;
-  for (int i = 0; i < 50; i++) {
-    clock_gettime(CLOCK_MONOTONIC, &start);
-    int err = snpe->execute(inputTensorMap, outputTensorMap);
-    assert(err == true);
-    clock_gettime(CLOCK_MONOTONIC, &end);
-    uint64_t timeElapsed = timespecDiff(&end, &start);
-    printf("time: %f ms\n", timeElapsed*1.0/1e6);
-  }
-}
-
-void get_testframe(int index, std::unique_ptr<zdl::DlSystem::ITensor> &input) {
-  FILE * pFile;
-  string filepath="/data/ipt/quantize_samples/sample_input_"+std::to_string(index);
-  pFile = fopen(filepath.c_str(), "rb");
-  int length = 1*6*160*320*4;
-  float * frame_buffer = new float[length/4]; // 32/8
-  fread(frame_buffer, length, 1, pFile);
-  // std::cout << *(frame_buffer+length/4-1) << std::endl;
-  std::copy(frame_buffer, frame_buffer+(length/4), input->begin());
-  fclose(pFile);
-}
-
-void SaveITensor(const std::string& path, const zdl::DlSystem::ITensor* tensor)
-{
-   std::ofstream os(path, std::ofstream::binary);
-   if (!os)
-   {
-      std::cerr << "Failed to open output file for writing: " << path << "\n";
-      std::exit(EXIT_FAILURE);
-   }
-   for ( auto it = tensor->cbegin(); it != tensor->cend(); ++it )
-   {
-      float f = *it;
-      if (!os.write(reinterpret_cast<char*>(&f), sizeof(float)))
-      {
-         std::cerr << "Failed to write data to: " << path << "\n";
-         std::exit(EXIT_FAILURE);
-      }
-   }
-}
-
-void testrun(char* modelfile) {
-  static zdl::DlSystem::Runtime_t runtime = checkRuntime();
-  std::unique_ptr<zdl::DlContainer::IDlContainer> container;
-  container = zdl::DlContainer::IDlContainer::open(modelfile);
-
-  if (!container) { PrintErrorStringAndExit(); }
-  cout << "start build" << endl;
-  std::unique_ptr<zdl::SNPE::SNPE> snpe;
-  {
-    snpe = NULL;
-    zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
-    snpe = snpeBuilder.setOutputLayers({})
-      .setRuntimeProcessor(runtime)
-      .setUseUserSuppliedBuffers(false)
-      //.setDebugMode(true)
-      .build();
-    if (!snpe) {
-      cout << "ERROR!" << endl;
-      const char* const errStr = zdl::DlSystem::getLastErrorString();
-      std::cerr << errStr << std::endl;
-    }
-    cout << "ran snpeBuilder" << endl;
-  }
-
-  const auto &strList_opt = snpe->getInputTensorNames();
-  if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names");
-  cout << "get input tensor names done" << endl;
-
-  const auto &strList = *strList_opt;
-  static zdl::DlSystem::TensorMap inputTensorMap;
-  static zdl::DlSystem::TensorMap outputTensorMap;
-
-  assert(strList.size() == 1);
-  const auto &inputDims_opt = snpe->getInputDimensions(strList.at(0));
-  const auto &inputShape = *inputDims_opt;
-  std::cout << "winkwink" << std::endl;
-
-  for (int i=0; i<10000; i++) {
-    std::unique_ptr<zdl::DlSystem::ITensor> input;
-    input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape);
-    get_testframe(i, input);
-    snpe->execute(input.get(), outputTensorMap);
-    zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames();
-    std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) {
-      std::ostringstream path;
-      path << "/data/opt/Result_" << std::to_string(i) << ".raw";
-      auto tensorPtr = outputTensorMap.getTensor(name);
-      SaveITensor(path.str(), tensorPtr);
-    });
-  }
-}
-
-int main(int argc, char* argv[]) {
-  if (argc < 2) {
-    printf("usage: %s <filename>\n", argv[0]);
-    return -1;
-  }
-
-  if (argc == 2) {
-    while (true) test(argv[1]);
-  } else if (argc == 3) {
-    testrun(argv[1]);
-  }
-  return 0;
-}
-

selfdrive/modeld/tests/snpe_benchmark/benchmark.sh

@@ -1,4 +0,0 @@
-#!/bin/sh -e
-clang++ -I /data/openpilot/third_party/snpe/include/ -L/data/pythonpath/third_party/snpe/aarch64 -lSNPE benchmark.cc -o benchmark
-export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$HOME/openpilot/third_party/snpe/x86_64/:$LD_LIBRARY_PATH"
-exec ./benchmark $1

selfdrive/test/ciui.py

@@ -1,58 +0,0 @@
-#!/usr/bin/env python3
-import signal
-import subprocess
-
-signal.signal(signal.SIGINT, signal.SIG_DFL)
-signal.signal(signal.SIGTERM, signal.SIG_DFL)
-
-from PyQt5.QtCore import QTimer
-from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel
-from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
-
-class Window(QWidget):
-  def __init__(self, parent=None):
-    super().__init__(parent)
-
-    layout = QVBoxLayout()
-    self.setLayout(layout)
-
-    self.l = QLabel("jenkins runner")
-    layout.addWidget(self.l)
-    layout.addStretch(1)
-    layout.setContentsMargins(20, 20, 20, 20)
-
-    cmds = [
-      "cat /etc/hostname",
-      "echo AGNOS v$(cat /VERSION)",
-      "uptime -p",
-    ]
-    self.labels = {}
-    for c in cmds:
-      self.labels[c] = QLabel(c)
-      layout.addWidget(self.labels[c])
-
-    self.setStyleSheet("""
-      * {
-        color: white;
-        font-size: 55px;
-        background-color: black;
-        font-family: "JetBrains Mono";
-      }
-    """)
-
-    self.timer = QTimer()
-    self.timer.timeout.connect(self.update)
-    self.timer.start(10 * 1000)
-    self.update()
-
-  def update(self):
-    for cmd, label in self.labels.items():
-      out = subprocess.run(cmd, capture_output=True,
-                           shell=True, check=False, encoding='utf8').stdout
-      label.setText(out.strip())
-
-if __name__ == "__main__":
-  app = QApplication([])
-  w = Window()
-  set_main_window(w)
-  app.exec_()

selfdrive/test/docker_tag_multiarch.sh

@@ -1,25 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-if [ $# -lt 2 ]; then
-  echo "Usage: $0 <base|docs|sim|prebuilt|cl> <arch1> <arch2> ..."
-  exit 1
-fi
-
-SCRIPT_DIR=$(dirname "$0")
-ARCHS=("${@:2}")
-
-source $SCRIPT_DIR/docker_common.sh $1
-
-MANIFEST_AMENDS=""
-for ARCH in ${ARCHS[@]}; do
-  MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA"
-done
-
-docker manifest create $REMOTE_TAG $MANIFEST_AMENDS
-docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS
-
-if [[ -n "$PUSH_IMAGE" ]]; then
-  docker manifest push $REMOTE_TAG
-  docker manifest push $REMOTE_SHA_TAG
-fi

selfdrive/test/loop_until_fail.sh

@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-# Loop something forever until it fails, for verifying new tests
-
-while true; do
-  $@
-done

selfdrive/test/process_replay/imgproc_replay_ref_hash

@@ -1 +0,0 @@
-707434c540e685bbe2886b3ff7c82fd61939d362

selfdrive/test/process_replay/model_replay.py

@@ -57,7 +57,7 @@ def generate_report(proposed, master, tmp, commit):
                      (lambda x: x.action.desiredCurvature, "desiredCurvature"),
                      (lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
                      (lambda x: x.laneLines[1].y[0], "laneLines.y"),
-                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
+                     #(lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
                     ], "modelV2")
   DriverStateV2_Plots = zl([
                      (lambda x: x.wheelOnRightProb, "wheelOnRightProb"),

selfdrive/test/process_replay/test_imgproc.py

@@ -1,98 +0,0 @@
-import os
-import numpy as np
-import hashlib
-
-import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
-
-from openpilot.system.hardware import PC, TICI
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
-from openpilot.tools.lib.logreader import LogReader
-
-# TODO: check all sensors
-TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0"
-
-cam = DEVICE_CAMERAS[("tici", "ar0231")]
-FRAME_WIDTH, FRAME_HEIGHT = (cam.dcam.width, cam.dcam.height)
-FRAME_STRIDE = FRAME_WIDTH * 12 // 8 + 4
-
-UV_WIDTH = FRAME_WIDTH // 2
-UV_HEIGHT = FRAME_HEIGHT // 2
-UV_SIZE = UV_WIDTH * UV_HEIGHT
-
-
-def init_kernels(frame_offset=0):
-  ctx = cl.create_some_context(interactive=False)
-
-  with open(os.path.join(BASEDIR, 'system/camerad/cameras/process_raw.cl')) as f:
-    build_args = f' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant -I{BASEDIR}/system/camerad/sensors ' + \
-      f' -DFRAME_WIDTH={FRAME_WIDTH} -DFRAME_HEIGHT={FRAME_WIDTH} -DFRAME_STRIDE={FRAME_STRIDE} -DFRAME_OFFSET={frame_offset} ' + \
-      f' -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DYUV_STRIDE={FRAME_WIDTH} -DUV_OFFSET={FRAME_WIDTH*FRAME_HEIGHT}' + \
-      ' -DSENSOR_ID=1 -DVIGNETTING=0 '
-    if PC:
-      build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0'
-    imgproc_prg = cl.Program(ctx, f.read()).build(options=build_args)
-
-  return ctx, imgproc_prg
-
-def proc_frame(ctx, imgproc_prg, data, rgb=False):
-  q = cl.CommandQueue(ctx)
-
-  yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8)
-
-  cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data)
-  yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2)
-
-  krn = imgproc_prg.process_raw
-  krn.set_scalar_arg_dtypes([None, None, np.int32])
-  local_worksize = (20, 20) if TICI else (4, 4)
-
-  ev1 = krn(q, (FRAME_WIDTH//2, FRAME_HEIGHT//2), local_worksize, cam_g, yuv_g, 1)
-  cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait()
-  cl.enqueue_barrier(q)
-
-  y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH))
-  u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT::2].reshape((UV_HEIGHT, UV_WIDTH))
-  v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+1::2].reshape((UV_HEIGHT, UV_WIDTH))
-
-  if rgb:
-    return yuv_to_rgb(y, u, v)
-  else:
-    return y, u, v
-
-
-def imgproc_replay(lr):
-  ctx, imgproc_prg = init_kernels()
-
-  frames = []
-  for m in lr:
-    if m.which() == 'roadCameraState':
-      cs = m.roadCameraState
-      if cs.image:
-        data = np.frombuffer(cs.image, dtype=np.uint8)
-        img = proc_frame(ctx, imgproc_prg, data)
-
-        frames.append(img)
-
-  return frames
-
-
-if __name__ == "__main__":
-  # load logs
-  lr = list(LogReader(TEST_ROUTE))
-  # run replay
-  out_frames = imgproc_replay(lr)
-
-  all_pix = np.concatenate([np.concatenate([d.flatten() for d in f]) for f in out_frames])
-  pix_hash = hashlib.sha1(all_pix).hexdigest()
-
-  with open('imgproc_replay_ref_hash') as f:
-    ref_hash = f.read()
-
-  if pix_hash != ref_hash:
-    print("result changed! please check kernel")
-    print(f"ref: {ref_hash}")
-    print(f"new: {pix_hash}")
-  else:
-    print("test passed")

selfdrive/test/profiling/.gitignore

@@ -1,2 +0,0 @@
-cachegrind.out.*
-*.prof

selfdrive/test/profiling/lib.py

@@ -1,91 +0,0 @@
-from collections import defaultdict
-from cereal.services import SERVICE_LIST
-import cereal.messaging as messaging
-import capnp
-
-
-class ReplayDone(Exception):
-  pass
-
-
-class SubSocket:
-  def __init__(self, msgs, trigger):
-    self.i = 0
-    self.trigger = trigger
-    self.msgs = [m.as_builder().to_bytes() for m in msgs if m.which() == trigger]
-    self.max_i = len(self.msgs) - 1
-
-  def receive(self, non_blocking=False):
-    if non_blocking:
-      return None
-
-    if self.i == self.max_i:
-      raise ReplayDone
-
-    while True:
-      msg = self.msgs[self.i]
-      self.i += 1
-      return msg
-
-
-class PubSocket:
-  def send(self, data):
-    pass
-
-
-class SubMaster(messaging.SubMaster):
-  def __init__(self, msgs, trigger, services, check_averag_freq=False):
-    self.frame = 0
-    self.data = {}
-    self.ignore_alive = []
-
-    self.alive = {s: True for s in services}
-    self.updated = {s: False for s in services}
-    self.rcv_time = {s: 0. for s in services}
-    self.rcv_frame = {s: 0 for s in services}
-    self.valid = {s: True for s in services}
-    self.freq_ok = {s: True for s in services}
-    self.freq_tracker = {s: messaging.FrequencyTracker(SERVICE_LIST[s].frequency, SERVICE_LIST[s].frequency, False) for s in services}
-    self.logMonoTime = {}
-    self.sock = {}
-    self.freq = {}
-    self.check_average_freq = check_averag_freq
-    self.non_polled_services = []
-    self.ignore_average_freq = []
-
-    # TODO: specify multiple triggers for service like plannerd that poll on more than one service
-    cur_msgs = []
-    self.msgs = []
-    msgs = [m for m in msgs if m.which() in services]
-
-    for msg in msgs:
-      cur_msgs.append(msg)
-      if msg.which() == trigger:
-        self.msgs.append(cur_msgs)
-        cur_msgs = []
-
-    self.msgs = list(reversed(self.msgs))
-
-    for s in services:
-      self.freq[s] = SERVICE_LIST[s].frequency
-      try:
-        data = messaging.new_message(s)
-      except capnp.lib.capnp.KjException:
-        # lists
-        data = messaging.new_message(s, 0)
-
-      self.data[s] = getattr(data, s)
-      self.logMonoTime[s] = 0
-      self.sock[s] = SubSocket(msgs, s)
-
-  def update(self, timeout=None):
-    if not len(self.msgs):
-      raise ReplayDone
-
-    cur_msgs = self.msgs.pop()
-    self.update_msgs(cur_msgs[0].logMonoTime, self.msgs.pop())
-
-
-class PubMaster(messaging.PubMaster):
-  def __init__(self):
-    self.sock = defaultdict(PubSocket)

selfdrive/test/profiling/profiler.py

@@ -1,97 +0,0 @@
-#!/usr/bin/env python3
-import os
-import sys
-import cProfile
-import pprofile
-import pyprof2calltree
-
-from opendbc.car.toyota.values import CAR as TOYOTA
-from opendbc.car.honda.values import CAR as HONDA
-from opendbc.car.volkswagen.values import CAR as VW
-from openpilot.common.params import Params
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
-from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
-
-BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
-
-CARS = {
-  'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.TOYOTA_RAV4),
-  'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.HONDA_CIVIC),
-  "vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3),
-}
-
-
-def get_inputs(msgs, process, fingerprint):
-  for config in CONFIGS:
-    if config.proc_name == process:
-      sub_socks = list(config.pubs)
-      trigger = sub_socks[0]
-      break
-
-  # some procs block on CarParams
-  for msg in msgs:
-    if msg.which() == 'carParams':
-      m = msg.as_builder()
-      m.carParams.carFingerprint = fingerprint
-      Params().put("CarParams", m.carParams.copy().to_bytes())
-      break
-
-  sm = SubMaster(msgs, trigger, sub_socks)
-  pm = PubMaster()
-  if 'can' in sub_socks:
-    can_sock = SubSocket(msgs, 'can')
-  else:
-    can_sock = None
-  return sm, pm, can_sock
-
-
-def profile(proc, func, car='toyota'):
-  segment, fingerprint = CARS[car]
-  segment = segment.replace('|', '/')
-  rlog_url = f"{BASE_URL}{segment}/rlog.bz2"
-  msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1"))
-
-  os.environ['FINGERPRINT'] = fingerprint
-  os.environ['SKIP_FW_QUERY'] = "1"
-  os.environ['REPLAY'] = "1"
-
-  def run(sm, pm, can_sock):
-    try:
-      if can_sock is not None:
-        func(sm, pm, can_sock)
-      else:
-        func(sm, pm)
-    except ReplayDone:
-      pass
-
-  # Statistical
-  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
-  with pprofile.StatisticalProfile()(period=0.00001) as pr:
-    run(sm, pm, can_sock)
-  pr.dump_stats(f'cachegrind.out.{proc}_statistical')
-
-  # Deterministic
-  sm, pm, can_sock = get_inputs(msgs, proc, fingerprint)
-  with cProfile.Profile() as pr:
-    run(sm, pm, can_sock)
-  pyprof2calltree.convert(pr.getstats(), f'cachegrind.out.{proc}_deterministic')
-
-
-if __name__ == '__main__':
-  from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
-  from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
-  from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
-
-  procs = {
-    'controlsd': controlsd_thread,
-    'paramsd': paramsd_thread,
-    'plannerd': plannerd_thread,
-  }
-
-  proc = sys.argv[1]
-  if proc not in procs:
-    print(f"{proc} not available")
-    sys.exit(0)
-  else:
-    profile(proc, procs[proc])

selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc

@@ -83,8 +83,6 @@ void SoftwarePanelSP::handleBundleDownloadProgress() {
   if (bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
     currentModelLblBtn->showDescription();
   }
-
-  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
 }
 
 /**
@@ -128,7 +126,6 @@ void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
     bundleNames.append(index_to_bundle[index]);
   }
 
-  currentModelLblBtn->setEnabled(!is_onroad);
   currentModelLblBtn->setValue(GetActiveModelName());
 
   const QString selectedBundleName = MultiOptionDialog::getSelection(
@@ -161,6 +158,7 @@ void SoftwarePanelSP::updateLabels() {
   }
 
   handleBundleDownloadProgress();
+  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
   currentModelLblBtn->setValue(GetActiveModelName());
   SoftwarePanel::updateLabels();
 }

selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h

@@ -24,7 +24,7 @@ private:
     const SubMaster &sm = *(uiStateSP()->sm);
     const auto model_manager = sm["modelManagerSP"].getModelManagerSP();
 
-    if (!model_manager.hasSelectedBundle()) {
+    if (!model_manager.hasSelectedBundle() || !sm.updated("modelManagerSP")) {
       return false;
     }
 

sunnypilot/modeld/run_helpers.py

@@ -0,0 +1,48 @@
+# Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+#
+# This file is part of sunnypilot and is licensed under the MIT License.
+# See the LICENSE.md file in the root directory for more details.
+
+import pickle
+import numpy as np
+from pathlib import Path
+from cereal import custom
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.system.hardware.hw import Paths
+
+CUSTOM_MODEL_PATH = Paths.model_root()
+METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
+
+ModelManager = custom.ModelManagerSP
+
+
+def get_custom_model_paths():
+  bundle = get_active_bundle(None)
+  if bundle:
+    drive_model = next((model for model in bundle.models if model.type == ModelManager.Type.drive), None)
+    metadata_model = next(model for model in bundle.models if model.type == ModelManager.Type.metadata)
+    if drive_model and metadata_model:
+      return {"model": f"{CUSTOM_MODEL_PATH}/{drive_model.fileName}", "metadata": f"{CUSTOM_MODEL_PATH}/{metadata_model.fileName}"}
+
+  return None
+
+
+def load_custom_metadata():
+  if not (bundle := get_active_bundle(None)):
+    return None
+
+  metadata_model = next(model for model in bundle.models if model.type == ModelManager.Type.metadata)
+  metadata_path = f"{CUSTOM_MODEL_PATH}/{metadata_model.fileName}"
+  with open(metadata_path, 'rb') as f:
+    return pickle.load(f)
+
+
+def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
+  # img buffers are managed in openCL transform code so we don't pass them as inputs
+  inputs: dict[str, np.ndarray] = {
+    key: np.zeros(shape, dtype=np.float32).flatten()  # Inputs were defined flattened back then
+    for key, shape in model_metadata['input_shapes'].items()
+    if key not in ['input_imgs', 'big_input_imgs']
+  }
+
+  return inputs

sunnypilot/models/fetcher.py

@@ -71,6 +71,7 @@ class ModelParser:
     model_bundle.status = 0
     model_bundle.generation = int(value["generation"])
     model_bundle.environment = value["environment"]
+    model_bundle.is20hz = value.get("is_20hz", False)
 
     return model_bundle
 

sunnypilot/models/helpers.py

@@ -21,8 +21,25 @@ async def verify_file(file_path: str, expected_hash: str) -> bool:
 
   return sha256_hash.hexdigest().lower() == expected_hash.lower()
 
-def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
-  """Gets the active model bundle from cache"""
+
+def get_active_bundle(params: Params | None) -> custom.ModelManagerSP.ModelBundle:
+  """
+  Retrieves and deserializes the active model bundle from the provided parameters.
+
+  This function attempts to extract and deserialize a model bundle from the given
+  `params`. If the parameter `ModelManager_ActiveBundle` is present, it is
+  deserialized into a `ModelBundle` object. If not, the function returns `None`.
+
+  Note: We intentionally don't set a default value for `params` to encourage
+  the caller to provide it explicitly. If not provided, the function will
+  instantiate a new `Params` object internally.
+
+  :param params: Optional. Can provide None and will instantiate it itself.
+  :type params: Params | None
+  :return: A deserialized `ModelBundle` instance if the active bundle
+      is found in the provided parameters, otherwise `None`.
+  :rtype: custom.ModelManagerSP.ModelBundle | None
+  """
   if params is None:
     params = Params()
 
@@ -30,3 +47,26 @@ def get_active_bundle(params: Params) -> custom.ModelManagerSP.ModelBundle:
     return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
 
   return None
+
+
+def is_active_model_20hz(params: Params | None) -> [bool | None]:
+  """
+  Determine if the active model is operating at 20Hz.
+
+  This function evaluates the provided parameters to determine the active
+  bundle and checks its frequency status. If there is no active bundle,
+  the function will return None. If a bundle is active, the function will
+  return a boolean value indicating whether the model is operating at
+  20Hz.
+
+  :param params: System or configuration parameters used to fetch the 
+      active bundle. The parameter can be None.
+  :type params: Params | None
+  :return: A boolean indicating if the active model is operating at 20Hz,
+      or None if no active bundle is found.
+  :rtype: bool | None
+  """
+  if active_bundle := get_active_bundle(params):
+    return active_bundle.is20hz
+
+  return None

sunnypilot/sunnylink/api.py

@@ -14,7 +14,7 @@ from openpilot.system.hardware.hw import Paths
 API_HOST = os.getenv('SUNNYLINK_API_HOST', 'https://stg.api.sunnypilot.ai')
 UNREGISTERED_SUNNYLINK_DONGLE_ID = "UnregisteredDevice"
 MAX_RETRIES = 6
-CRASH_LOG_DIR = '/data/community/crashes'
+CRASH_LOG_DIR = Paths.crash_log_root()
 
 
 class SunnylinkApi(BaseApi):

system/athena/registration.py

@@ -33,20 +33,17 @@ def register(show_spinner=False) -> str | None:
   """
   params = Params()
 
-  IMEI = params.get("IMEI", encoding='utf8')
-  HardwareSerial = params.get("HardwareSerial", encoding='utf8')
   dongle_id: str | None = params.get("DongleId", encoding='utf8')
   if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
     # not all devices will have this; added early in comma 3X production (2/28/24)
     with open(Paths.persist_root()+"/comma/dongle_id") as f:
       dongle_id = f.read().strip()
 
-  needs_registration = None in (IMEI, HardwareSerial, dongle_id)
   pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
   if not pubkey.is_file():
     dongle_id = UNREGISTERED_DONGLE_ID
     cloudlog.warning(f"missing public key: {pubkey}")
-  elif needs_registration:
+  elif dongle_id is None:
     if show_spinner:
       spinner = Spinner()
       spinner.update("registering device")
@@ -71,9 +68,6 @@ def register(show_spinner=False) -> str | None:
       if time.monotonic() - start_time > 60 and show_spinner:
         spinner.update(f"registering device - serial: {serial}, IMEI: ({imei1}, {imei2})")
 
-    params.put("IMEI", imei1)
-    params.put("HardwareSerial", serial)
-
     backoff = 0
     start_time = time.monotonic()
     while True:

system/athena/tests/test_registration.py

@@ -32,8 +32,6 @@ class TestRegistration:
   def test_valid_cache(self, mocker):
     # if all params are written, return the cached dongle id.
     # should work with a dongle ID on either /persist/ or normal params
-    self.params.put("IMEI", "imei")
-    self.params.put("HardwareSerial", "serial")
     self._generate_keys()
 
     dongle = "DONGLE_ID_123"

system/hardware/hw.py

@@ -70,3 +70,10 @@ class Paths:
       return str(Path(Paths.comma_home()) / "media" / "0" / "models")
     else:
       return "/data/media/0/models"
+
+  @staticmethod
+  def crash_log_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "community" / "crashes")
+    else:
+      return "/data/community/crashes"

system/hardware/tici/hardware.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cstdlib>
+#include <cassert>
 #include <fstream>
 #include <map>
 #include <string>
@@ -22,7 +23,7 @@ public:
 
   static std::string get_name() {
     std::string model = util::read_file("/sys/firmware/devicetree/base/model");
-    return model.substr(std::string("comma ").size());
+    return util::strip(model.substr(std::string("comma ").size()));
   }
 
   static cereal::InitData::DeviceType get_device_type() {
@@ -32,7 +33,8 @@ public:
       {"mici", cereal::InitData::DeviceType::MICI}
     };
     auto it = device_map.find(get_name());
-    return it != device_map.end() ? it->second : cereal::InitData::DeviceType::UNKNOWN;
+    assert(it != device_map.end());
+    return it->second;
   }
 
   static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
@@ -82,17 +84,17 @@ public:
       return;
     }
 
-    percent = std::clamp(percent, 0, 100);
+    int value = util::map_val(std::clamp(percent, 0, 100), 0, 100, 0, 255);
 
     std::ofstream torch_brightness("/sys/class/leds/led:torch_2/brightness");
     if (torch_brightness.is_open()) {
-      torch_brightness << percent << "\n";
+      torch_brightness << value << "\n";
       torch_brightness.close();
     }
 
     std::ofstream switch_brightness("/sys/class/leds/led:switch_2/brightness");
     if (switch_brightness.is_open()) {
-      switch_brightness << percent << "\n";
+      switch_brightness << value << "\n";
       switch_brightness.close();
     }
   }

system/manager/manager.py

@@ -67,7 +67,8 @@ def manager_init() -> None:
   except PermissionError:
     print(f"WARNING: failed to make {Paths.shm_path()}")
 
-  # set version params
+  # set params
+  serial = HARDWARE.get_serial()
   params.put("Version", build_metadata.openpilot.version)
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
@@ -77,13 +78,13 @@ def manager_init() -> None:
   params.put("GitRemote", build_metadata.openpilot.git_origin)
   params.put_bool("IsTestedBranch", build_metadata.tested_channel)
   params.put_bool("IsReleaseBranch", build_metadata.release_channel)
+  params.put("HardwareSerial", serial)
 
   # set dongle id
   reg_res = register(show_spinner=True)
   if reg_res:
     dongle_id = reg_res
   else:
-    serial = params.get("HardwareSerial")
     raise Exception(f"Registration failed for device {serial}")
   os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
   os.environ['GIT_ORIGIN'] = build_metadata.openpilot.git_normalized_origin # Needed for swaglog

system/manager/process_config.py

@@ -79,7 +79,8 @@ def and_(*fns):
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
 
-  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
+  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
+  PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
   NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
   NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
   PythonProcess("logmessaged", "system.logmessaged", always_run),
@@ -87,7 +88,7 @@ procs = [
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   # TODO Make python process once TG allows opening QCOM from child proc
-  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(WEBCAM or not PC)),
   NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
   NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
   NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
@@ -105,7 +106,7 @@ procs = [
   PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad),
   PythonProcess("card", "selfdrive.car.card", only_onroad),
   PythonProcess("deleter", "system.loggerd.deleter", always_run),
-  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(WEBCAM or not PC)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),

system/timed.py

@@ -13,7 +13,7 @@ from openpilot.common.gps import get_gps_location_service
 
 def set_time(new_time):
   diff = datetime.datetime.now() - new_time
-  if diff < datetime.timedelta(seconds=10):
+  if abs(diff) < datetime.timedelta(seconds=10):
     cloudlog.debug(f"Time diff too small: {diff}")
     return
 

third_party/snpe/aarch64-ubuntu-gcc7.5/libPlatformValidatorShared.so

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fb3b1fd29d958e9a3a6625eac9fac9e7cd6eb40309b285ad973324761db0b4c9
-size 1202792

third_party/snpe/aarch64-ubuntu-gcc7.5/libSNPE.so

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:161a5d0bf7347465b53ae49690a38fbacf03d606ef204147b3b148a5f59188da
-size 9008016

third_party/snpe/aarch64-ubuntu-gcc7.5/libcalculator.so

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7e0e66c12a1eb3b5b4b2b2694831ca51e5132818f400dad789adbcc30e0e0793
-size 14032

third_party/snpe/aarch64-ubuntu-gcc7.5/libhta.so

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:784f2e80fa3534cf7934c5ecbbda37db633104380f2b41d896b4721ad6006eb2
-size 2420312

third_party/snpe/aarch64-ubuntu-gcc7.5/libsnpe_dsp_domains_v2.so

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:33afe465e74bbe2c409350d2ca8e86cfadf050ceb8feac75a86adc19ff1f9c48
-size 26016

third_party/snpe/dsp/libcalculator_skel.so

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7bee94d38195478ffdd0ce15292a2dfa7813377f4c3b7d99c270e05079d1746b
-size 20828

third_party/snpe/dsp/libsnpe_dsp_v65_domains_v2_skel.so

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-size 1813866

third_party/snpe/dsp/libsnpe_dsp_v66_domains_v2_skel.so

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-size 1817962

third_party/snpe/dsp/libsnpe_dsp_v68_domains_v3_skel.so

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-version https://git-lfs.github.com/spec/v1
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-size 10098673

third_party/snpe/include/DiagLog/IDiagLog.hpp

@@ -1,84 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __IDIAGLOG_HPP_
-#define __IDIAGLOG_HPP_
-
-#include <string>
-
-#include "DiagLog/Options.hpp"
-#include "DlSystem/String.hpp"
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Interface for controlling logging for zdl components.
-
-class ZDL_EXPORT IDiagLog
-{
-public:
-
-   /// @brief .
-   ///
-   /// Sets the options after initialization occurs.
-   ///
-   /// @param[in] loggingOptions The options to set up diagnostic logging.
-   ///
-   /// @return False if the options could not be set. Ensure logging is not started.
-   virtual bool setOptions(const Options& loggingOptions) = 0;
-
-   /// @brief .
-   ///
-   /// Gets the curent options for the diag logger.
-   ///
-   /// @return Diag log options object.
-   virtual Options getOptions() = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const std::string& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Allows for setting the log mask once diag logging has started
-   ///
-   /// @return True if the level was set successfully, false if a failure occurred.
-   virtual bool setDiagLogMask(const zdl::DlSystem::String& mask) = 0;
-
-   /// @brief .
-   ///
-   /// Enables logging for zdl components.
-   ///
-   /// Logging should be started prior to the instantiation of zdl components
-   /// to ensure all events are captured.
-   ///
-   /// @return False if diagnostic logging could not be started.
-   virtual bool start(void) = 0;
-
-   /// @brief Disables logging for zdl components.
-   virtual bool stop(void) = 0;
-
-   virtual ~IDiagLog() {};
-};
-
-} // DiagLog namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif

third_party/snpe/include/DiagLog/Options.hpp

@@ -1,79 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#ifndef __DIAGLOG_OPTIONS_HPP_
-#define __DIAGLOG_OPTIONS_HPP_
-
-#include <string>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DiagLog
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/// @brief .
-///
-/// Options for setting up diagnostic logging for zdl components.
-class ZDL_EXPORT Options
-{
-public:
-   Options() :
-      DiagLogMask(""),
-      LogFileDirectory("diaglogs"),
-      LogFileName("DiagLog"),
-      LogFileRotateCount(20),
-      LogFileReplace(true)
-   {
-      // Solves the empty string problem with multiple std libs
-      DiagLogMask.reserve(1);
-   }
-
-   /// @brief .
-   ///
-   /// Enables diag logging only on the specified area mask (DNN_RUNTIME=ON | OFF)
-   std::string DiagLogMask;
-
-   /// @brief .
-   ///
-   /// The path to the directory where log files will be written.
-   /// The path may be relative or absolute. Relative paths are interpreted
-   /// from the current working directory.
-   /// Default value is "diaglogs"
-   std::string LogFileDirectory;
-
-   /// @brief .
-   ///
-   //// The name used for log files. If this value is empty then BaseName will be
-   /// used as the default file name.
-   /// Default value is "DiagLog"
-   std::string LogFileName;
-
-   /// @brief .
-   ///
-   /// The maximum number of log files to create. If set to 0 no log rotation
-   /// will be used and the log file name specified will be used each time, overwriting
-   /// any existing log file that may exist.
-   /// Default value is 20
-   uint32_t LogFileRotateCount;
-
-   /// @brief
-   ///
-   /// If the log file already exists, control whether it will be replaced
-   /// (existing contents truncated), or appended.
-   /// Default value is true
-   bool LogFileReplace;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DiagLog namespace
-} // zdl namespace
-
-
-#endif

third_party/snpe/include/DlContainer/IDlContainer.hpp

@@ -1,191 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef ZEROTH_IDNC_CONTAINER_HPP
-#define ZEROTH_IDNC_CONTAINER_HPP
-
-#include <memory>
-#include <stdint.h>
-#include <string>
-#include <vector>
-#include <set>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include "DlSystem/String.hpp"
-
-namespace zdl {
-namespace DlContainer {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-class IDlContainer;
-class dlc_error;
-
-/**
- * The structure of a record in a DL container.
- */
-struct ZDL_EXPORT DlcRecord
-{
-   /// Name of the record.
-   std::string name;
-   /// Byte blob holding the data for the record.
-   std::vector<uint8_t> data;
-
-   DlcRecord();
-   DlcRecord( DlcRecord&& other )
-      : name(std::move(other.name))
-      , data(std::move(other.data))
-   {}
-   DlcRecord(const std::string& new_name)
-      : name(new_name)
-      , data()
-   {
-      if(name.empty())
-      {
-         name.reserve(1);
-      }
-   }
-   DlcRecord(const DlcRecord&) = delete;
-};
-
-// The maximum length of any record name.
-extern const uint32_t RECORD_NAME_MAX_SIZE;
-// The maximum size of the record payload (bytes).
-extern const uint32_t RECORD_DATA_MAX_SIZE;
-// The maximum number of records in an archive at one time.
-extern const uint32_t ARCHIVE_MAX_RECORDS;
-
-/**
- * Represents a container for a neural network model which can
- * be used to load the model into the SNPE runtime.
- */
-class ZDL_EXPORT IDlContainer
-{
-public:
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::string &filename) noexcept;
-
-   /**
-    * Initializes a container from a container archive file.
-    *
-    * @param[in] filename Container archive file path.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const zdl::DlSystem::String &filename) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const std::vector<uint8_t> &buffer) noexcept;
-
-   /**
-    * Initializes a container from a byte buffer.
-    *
-    * @param[in] buffer Byte buffer holding the contents of an archive
-    *                   file.
-    *
-    * @param[in] size Size of the byte buffer.
-    *
-    * @return A pointer to the initialized container
-    */
-   static std::unique_ptr<IDlContainer>
-   open(const uint8_t* buffer, const size_t size) noexcept;
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-   /**
-    * Get the record catalog for a container.
-    *
-    * @param[out] catalog Buffer that will hold the record names on
-    *                    return.
-    */
-   virtual void getCatalog(std::set<std::string> &catalog) const = 0;
-
-    /**
-     * Get the record catalog for a container.
-     *
-     * @param[out] catalog Buffer that will hold the record names on
-     *                    return.
-     */
-   virtual void getCatalog(std::set<zdl::DlSystem::String> &catalog) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const std::string &name, DlcRecord &record) const = 0;
-
-   /**
-    * Get a record from a container by name.
-    *
-    * @param[in] name Name of the record to fetch.
-    * @param[out] record The passed in record will be populated with the
-    *                   record data on return. Note that the caller
-    *                   will own the data in the record and is
-    *                   responsible for freeing it if needed.
-    */
-   virtual void getRecord(const zdl::DlSystem::String &name, DlcRecord &record) const = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save(const std::string &filename) = 0;
-
-   /**
-    * Save the container to an archive on disk. This function will save the
-    * container if the filename is different from the file that it was opened
-    * from, or if at least one record was modified since the container was
-    * opened.
-    *
-    * It will truncate any existing file at the target path.
-    *
-    * @param filename Container archive file path.
-    *
-    * @return indication of success/failure
-    */
-   virtual bool save (const zdl::DlSystem::String &filename) = 0;
-
-   virtual ~IDlContainer() {}
-};
-
-} // ns DlContainer
-} // ns zdl
-
-
-#endif

third_party/snpe/include/DlSystem/DlEnums.hpp

@@ -1,234 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ENUMS_HPP_
-#define _DL_ENUMS_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Enumeration of supported target runtimes.
- */
-enum class Runtime_t
-{
-   /// Run the processing on Snapdragon CPU.
-   /// Data: float 32bit
-   /// Math: float 32bit
-   CPU_FLOAT32  = 0,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 32bit
-   GPU_FLOAT32_16_HYBRID = 1,
-
-   /// Run the processing on the Hexagon DSP.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   DSP_FIXED8_TF = 2,
-
-   /// Run the processing on the Adreno GPU.
-   /// Data: float 16bit
-   /// Math: float 16bit
-   GPU_FLOAT16 = 3,
-
-   /// Run the processing on Snapdragon AIX+HVX.
-   /// Data: 8bit fixed point Tensorflow style format
-   /// Math: 8bit fixed point Tensorflow style format
-   AIP_FIXED8_TF = 5,
-   AIP_FIXED_TF = AIP_FIXED8_TF,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// CPU = CPU_FLOAT32
-   CPU = CPU_FLOAT32,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// GPU = GPU_FLOAT32_16_HYBRID
-   GPU = GPU_FLOAT32_16_HYBRID,
-
-   /// Default legacy enum to retain backward compatibility.
-   /// DSP = DSP_FIXED8_TF
-   DSP = DSP_FIXED8_TF,
-
-   /// Special value indicating the property is unset.
-   UNSET = -1
-};
-
-/**
- * Enumeration of runtime available check options.
- */
-enum class RuntimeCheckOption_t
-{
-   /// Perform standard runtime available check
-   DEFAULT = 0,
-   /// Perform standard runtime available check
-   NORMAL_CHECK = 0,
-   /// Perform basic runtime available check, may be runtime specific
-   BASIC_CHECK = 1,
-   /// Perform unsignedPD runtime available check
-   UNSIGNEDPD_CHECK = 2,
-};
-
-/**
- * Enumeration of various performance profiles that can be requested.
- */
-enum class PerformanceProfile_t
-{
-    /// Run in a standard mode.
-    /// This mode will be deprecated in the future and replaced with BALANCED.
-    DEFAULT = 0,
-    /// Run in a balanced mode.
-    BALANCED = 0,
-
-    /// Run in high performance mode
-    HIGH_PERFORMANCE = 1,
-
-    /// Run in a power sensitive mode, at the expense of performance.
-    POWER_SAVER = 2,
-
-    /// Use system settings.  SNPE makes no calls to any performance related APIs.
-    SYSTEM_SETTINGS = 3,
-
-    /// Run in sustained high performance mode
-    SUSTAINED_HIGH_PERFORMANCE = 4,
-
-    /// Run in burst mode
-    BURST = 5,
-
-    /// Run in lower clock than POWER_SAVER, at the expense of performance.
-    LOW_POWER_SAVER = 6,
-
-    /// Run in higher clock and provides better performance than POWER_SAVER.
-    HIGH_POWER_SAVER = 7,
-
-    /// Run in lower balanced mode
-    LOW_BALANCED = 8,
-};
-
-/**
- * Enumeration of various profilngLevels that can be requested.
- */
-enum class ProfilingLevel_t
-{
-    /// No profiling.
-    /// Collects no runtime stats in the DiagLog
-    OFF = 0,
-
-    /// Basic profiling
-    /// Collects some runtime stats in the DiagLog
-    BASIC = 1,
-
-    /// Detailed profiling
-    /// Collects more runtime stats in the DiagLog, including per-layer statistics
-    /// Performance may be impacted
-    DETAILED = 2,
-
-    /// Moderate profiling
-    /// Collects more runtime stats in the DiagLog, no per-layer statistics
-    MODERATE = 3
-};
-
-/**
- * Enumeration of various execution priority hints.
- */
-enum class ExecutionPriorityHint_t
-{
-    /// Normal priority
-    NORMAL = 0,
-
-    /// Higher than normal priority
-    HIGH = 1,
-
-    /// Lower priority
-    LOW = 2
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++*/
-
-/**
- * Enumeration that lists the supported image encoding formats.
- */
-enum class ImageEncoding_t
-{
-   /// For unknown image type. Also used as a default value for ImageEncoding_t.
-   UNKNOWN = 0,
-
-   /// The RGB format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green, and one for Blue. The byte ordering is
-   /// endian independent and is always in RGB byte order.
-   RGB = 1,
-
-   /// The ARGB32 format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering depends on the
-   /// underlying CPU. For little endian CPUs, the byte order is BGRA.
-   /// For big endian CPUs, the byte order is ARGB.
-   ARGB32 = 2,
-
-   /// The RGBA format consists of 4 bytes per pixel: one byte for
-   /// Red, one for Green, one for Blue, and one for the alpha channel.
-   /// The alpha channel is ignored. The byte ordering is endian independent
-   /// and is always in RGBA byte order.
-   RGBA = 3,
-
-   /// The GRAYSCALE format is for 8-bit grayscale.
-   GRAYSCALE = 4,
-
-   /// NV21 is the Android version of YUV. The Chrominance is down
-   /// sampled and has a subsampling ratio of 4:2:0. Note that this
-   /// image format has 3 channels, but the U and V channels
-   /// are subsampled. For every four Y pixels there is one U and one V pixel. @newpage
-   NV21 = 5,
-
-   /// The BGR format consists of 3 bytes per pixel: one byte for
-   /// Red, one for Green and one for Blue. The byte ordering is
-   /// endian independent and is always BGR byte order.
-   BGR = 6
-};
-
-/**
- * Enumeration that lists the supported LogLevels that can be set by users.
- */
-enum class LogLevel_t
-{
-    /// Enumeration variable to be used by user to set logging level to FATAL.
-    LOG_FATAL = 0,
-
-    /// Enumeration variable to be used by user to set logging level to ERROR.
-    LOG_ERROR = 1,
-
-    /// Enumeration variable to be used by user to set logging level to WARN.
-    LOG_WARN = 2,
-
-    /// Enumeration variable to be used by user to set logging level to INFO.
-    LOG_INFO = 3,
-
-    /// Enumeration variable to be used by user to set logging level to VERBOSE.
-    LOG_VERBOSE = 4
-};
-
-typedef enum : int
-{
-   UNSPECIFIED = 0,
-   FLOATING_POINT_32 = 1,
-   FLOATING_POINT_16 = 2,
-   FIXED_POINT_8 =  3,
-   FIXED_POINT_16 = 4
-} IOBufferDataType_t;
-
-}} // namespaces end
-
-
-#endif

third_party/snpe/include/DlSystem/DlError.hpp

@@ -1,259 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_ERROR_HPP_
-#define _DL_ERROR_HPP_
-
-#include <stdint.h>
-#include <limits> // numeric_limits
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-// clang and arm gcc different in how ZDL_EXPORT is used with enum class
-#if !defined (__clang__)
-enum class ErrorCode : uint32_t ZDL_EXPORT {
-#else
-enum class ZDL_EXPORT ErrorCode : uint32_t {
-#endif // ARM64V8A
-   NONE = 0,
-
-   // System config errors
-   SNPE_CONFIG_MISSING_PARAM                             = 100,
-   SNPE_CONFIG_INVALID_PARAM                             = 101,
-   SNPE_CONFIG_MISSING_FILE                              = 102,
-   SNPE_CONFIG_NNCONFIG_NOT_SET                          = 103,
-   SNPE_CONFIG_NNCONFIG_INVALID                          = 104,
-   SNPE_CONFIG_WRONG_INPUT_NAME                          = 105,
-   SNPE_CONFIG_INCORRECT_INPUT_DIMENSIONS                = 106,
-   SNPE_CONFIG_DIMENSIONS_MODIFICATION_NOT_SUPPORTED     = 107,
-   SNPE_CONFIG_BOTH_OUTPUT_LAYER_TENSOR_NAMES_SET        = 108,
-
-   SNPE_CONFIG_NNCONFIG_ONLY_TENSOR_SUPPORTED            = 120,
-   SNPE_CONFIG_NNCONFIG_ONLY_USER_BUFFER_SUPPORTED       = 121,
-
-   // DlSystem errors
-   SNPE_DLSYSTEM_MISSING_BUFFER                          = 200,
-   SNPE_DLSYSTEM_TENSOR_CAST_FAILED                      = 201,
-   SNPE_DLSYSTEM_FIXED_POINT_PARAM_INVALID               = 202,
-   SNPE_DLSYSTEM_SIZE_MISMATCH                           = 203,
-   SNPE_DLSYSTEM_NAME_NOT_FOUND                          = 204,
-   SNPE_DLSYSTEM_VALUE_MISMATCH                          = 205,
-   SNPE_DLSYSTEM_INSERT_FAILED                           = 206,
-   SNPE_DLSYSTEM_TENSOR_FILE_READ_FAILED                 = 207,
-   SNPE_DLSYSTEM_DIAGLOG_FAILURE                         = 208,
-   SNPE_DLSYSTEM_LAYER_NOT_SET                           = 209,
-   SNPE_DLSYSTEM_WRONG_NUMBER_INPUT_BUFFERS              = 210,
-   SNPE_DLSYSTEM_RUNTIME_TENSOR_SHAPE_MISMATCH           = 211,
-   SNPE_DLSYSTEM_TENSOR_MISSING                          = 212,
-   SNPE_DLSYSTEM_TENSOR_ITERATION_UNSUPPORTED            = 213,
-   SNPE_DLSYSTEM_BUFFER_MANAGER_MISSING                  = 214,
-   SNPE_DLSYSTEM_RUNTIME_BUFFER_SOURCE_UNSUPPORTED       = 215,
-   SNPE_DLSYSTEM_BUFFER_CAST_FAILED                      = 216,
-   SNPE_DLSYSTEM_WRONG_TRANSITION_TYPE                   = 217,
-   SNPE_DLSYSTEM_LAYER_ALREADY_REGISTERED                = 218,
-   SNPE_DLSYSTEM_TENSOR_DIM_INVALID                      = 219,
-
-   SNPE_DLSYSTEM_BUFFERENCODING_UNKNOWN                  = 240,
-   SNPE_DLSYSTEM_BUFFER_INVALID_PARAM                    = 241,
-
-   // DlContainer errors
-   SNPE_DLCONTAINER_MODEL_PARSING_FAILED                 = 300,
-   SNPE_DLCONTAINER_UNKNOWN_LAYER_CODE                   = 301,
-   SNPE_DLCONTAINER_MISSING_LAYER_PARAM                  = 302,
-   SNPE_DLCONTAINER_LAYER_PARAM_NOT_SUPPORTED            = 303,
-   SNPE_DLCONTAINER_LAYER_PARAM_INVALID                  = 304,
-   SNPE_DLCONTAINER_TENSOR_DATA_MISSING                  = 305,
-   SNPE_DLCONTAINER_MODEL_LOAD_FAILED                    = 306,
-   SNPE_DLCONTAINER_MISSING_RECORDS                      = 307,
-   SNPE_DLCONTAINER_INVALID_RECORD                       = 308,
-   SNPE_DLCONTAINER_WRITE_FAILURE                        = 309,
-   SNPE_DLCONTAINER_READ_FAILURE                         = 310,
-   SNPE_DLCONTAINER_BAD_CONTAINER                        = 311,
-   SNPE_DLCONTAINER_BAD_DNN_FORMAT_VERSION               = 312,
-   SNPE_DLCONTAINER_UNKNOWN_AXIS_ANNOTATION              = 313,
-   SNPE_DLCONTAINER_UNKNOWN_SHUFFLE_TYPE                 = 314,
-   SNPE_DLCONTAINER_TEMP_FILE_FAILURE                    = 315,
-
-   // Network errors
-   SNPE_NETWORK_EMPTY_NETWORK                            = 400,
-   SNPE_NETWORK_CREATION_FAILED                          = 401,
-   SNPE_NETWORK_PARTITION_FAILED                         = 402,
-   SNPE_NETWORK_NO_OUTPUT_DEFINED                        = 403,
-   SNPE_NETWORK_MISMATCH_BETWEEN_NAMES_AND_DIMS          = 404,
-   SNPE_NETWORK_MISSING_INPUT_NAMES                      = 405,
-   SNPE_NETWORK_MISSING_OUTPUT_NAMES                     = 406,
-   SNPE_NETWORK_EXECUTION_FAILED                         = 407,
-
-   // Host runtime errors
-   SNPE_HOST_RUNTIME_TARGET_UNAVAILABLE                  = 500,
-
-   // CPU runtime errors
-   SNPE_CPU_LAYER_NOT_SUPPORTED                          = 600,
-   SNPE_CPU_LAYER_PARAM_NOT_SUPPORTED                    = 601,
-   SNPE_CPU_LAYER_PARAM_INVALID                          = 602,
-   SNPE_CPU_LAYER_PARAM_COMBINATION_INVALID              = 603,
-   SNPE_CPU_BUFFER_NOT_FOUND                             = 604,
-   SNPE_CPU_NETWORK_NOT_SUPPORTED                        = 605,
-   SNPE_CPU_UDO_OPERATION_FAILED                         = 606,
-
-   // CPU fixed-point runtime errors
-   SNPE_CPU_FXP_LAYER_NOT_SUPPORTED                      = 700,
-   SNPE_CPU_FXP_LAYER_PARAM_NOT_SUPPORTED                = 701,
-   SNPE_CPU_FXP_LAYER_PARAM_INVALID                      = 702,
-
-   // GPU runtime errors
-   SNPE_GPU_LAYER_NOT_SUPPORTED                          = 800,
-   SNPE_GPU_LAYER_PARAM_NOT_SUPPORTED                    = 801,
-   SNPE_GPU_LAYER_PARAM_INVALID                          = 802,
-   SNPE_GPU_LAYER_PARAM_COMBINATION_INVALID              = 803,
-   SNPE_GPU_KERNEL_COMPILATION_FAILED                    = 804,
-   SNPE_GPU_CONTEXT_NOT_SET                              = 805,
-   SNPE_GPU_KERNEL_NOT_SET                               = 806,
-   SNPE_GPU_KERNEL_PARAM_INVALID                         = 807,
-   SNPE_GPU_OPENCL_CHECK_FAILED                          = 808,
-   SNPE_GPU_OPENCL_FUNCTION_ERROR                        = 809,
-   SNPE_GPU_BUFFER_NOT_FOUND                             = 810,
-   SNPE_GPU_TENSOR_DIM_INVALID                           = 811,
-   SNPE_GPU_MEMORY_FLAGS_INVALID                         = 812,
-   SNPE_GPU_UNEXPECTED_NUMBER_OF_IO                      = 813,
-   SNPE_GPU_LAYER_PROXY_ERROR                            = 814,
-   SNPE_GPU_BUFFER_IN_USE                                = 815,
-   SNPE_GPU_BUFFER_MODIFICATION_ERROR                    = 816,
-   SNPE_GPU_DATA_ARRANGEMENT_INVALID                     = 817,
-   SNPE_GPU_UDO_OPERATION_FAILED                         = 818,
-   // DSP runtime errors
-   SNPE_DSP_LAYER_NOT_SUPPORTED                          = 900,
-   SNPE_DSP_LAYER_PARAM_NOT_SUPPORTED                    = 901,
-   SNPE_DSP_LAYER_PARAM_INVALID                          = 902,
-   SNPE_DSP_LAYER_PARAM_COMBINATION_INVALID              = 903,
-   SNPE_DSP_STUB_NOT_PRESENT                             = 904,
-   SNPE_DSP_LAYER_NAME_TRUNCATED                         = 905,
-   SNPE_DSP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 906,
-   SNPE_DSP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 907,
-   SNPE_DSP_RUNTIME_COMMUNICATION_ERROR                  = 908,
-   SNPE_DSP_RUNTIME_INVALID_PARAM_ERROR                  = 909,
-   SNPE_DSP_RUNTIME_SYSTEM_ERROR                         = 910,
-   SNPE_DSP_RUNTIME_CRASHED_ERROR                        = 911,
-   SNPE_DSP_BUFFER_SIZE_ERROR                            = 912,
-   SNPE_DSP_UDO_EXECUTE_ERROR                            = 913,
-   SNPE_DSP_UDO_LIB_NOT_REGISTERED_ERROR                 = 914,
-   SNPE_DSP_UDO_INVALID_QUANTIZATION_TYPE_ERROR          = 915,
-   SNPE_DSP_RUNTIME_INVALID_RPC_DRIVER                   = 916,
-   SNPE_DSP_RUNTIME_RPC_PERMISSION_ERROR                 = 917,
-   SNPE_DSP_RUNTIME_DSP_FILE_OPEN_ERROR                  = 918,
-
-   // Model validataion errors
-   SNPE_MODEL_VALIDATION_LAYER_NOT_SUPPORTED             = 1000,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_NOT_SUPPORTED       = 1001,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_INVALID             = 1002,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_MISSING             = 1003,
-   SNPE_MODEL_VALIDATION_LAYER_PARAM_COMBINATION_INVALID = 1004,
-   SNPE_MODEL_VALIDATION_LAYER_ORDERING_INVALID          = 1005,
-   SNPE_MODEL_VALIDATION_INVALID_CONSTRAINT              = 1006,
-   SNPE_MODEL_VALIDATION_MISSING_BUFFER                  = 1007,
-   SNPE_MODEL_VALIDATION_BUFFER_REUSE_NOT_SUPPORTED      = 1008,
-   SNPE_MODEL_VALIDATION_LAYER_COULD_NOT_BE_ASSIGNED     = 1009,
-   SNPE_MODEL_VALIDATION_UDO_LAYER_FAILED                = 1010,
-
-   // UDL errors
-   SNPE_UDL_LAYER_EMPTY_UDL_NETWORK                      = 1100,
-   SNPE_UDL_LAYER_PARAM_INVALID                          = 1101,
-   SNPE_UDL_LAYER_INSTANCE_MISSING                       = 1102,
-   SNPE_UDL_LAYER_SETUP_FAILED                           = 1103,
-   SNPE_UDL_EXECUTE_FAILED                               = 1104,
-   SNPE_UDL_BUNDLE_INVALID                               = 1105,
-   SNPE_UDO_REGISTRATION_FAILED                          = 1106,
-   SNPE_UDO_GET_PACKAGE_FAILED                           = 1107,
-   SNPE_UDO_GET_IMPLEMENTATION_FAILED                    = 1108,
-
-   // Dependent library errors
-   SNPE_STD_LIBRARY_ERROR                                = 1200,
-
-   // Unknown exception (catch (...)), Has no component attached to this
-   SNPE_UNKNOWN_EXCEPTION                                = 1210,
-
-   // Storage Errors
-   SNPE_STORAGE_INVALID_KERNEL_REPO                      = 1300,
-
-   // AIP runtime errors
-   SNPE_AIP_LAYER_NOT_SUPPORTED                          = 1400,
-   SNPE_AIP_LAYER_PARAM_NOT_SUPPORTED                    = 1401,
-   SNPE_AIP_LAYER_PARAM_INVALID                          = 1402,
-   SNPE_AIP_LAYER_PARAM_COMBINATION_INVALID              = 1403,
-   SNPE_AIP_STUB_NOT_PRESENT                             = 1404,
-   SNPE_AIP_LAYER_NAME_TRUNCATED                         = 1405,
-   SNPE_AIP_LAYER_INPUT_BUFFER_NAME_TRUNCATED            = 1406,
-   SNPE_AIP_LAYER_OUTPUT_BUFFER_NAME_TRUNCATED           = 1407,
-   SNPE_AIP_RUNTIME_COMMUNICATION_ERROR                  = 1408,
-   SNPE_AIP_RUNTIME_INVALID_PARAM_ERROR                  = 1409,
-   SNPE_AIP_RUNTIME_SYSTEM_ERROR                         = 1410,
-   SNPE_AIP_RUNTIME_TENSOR_MISSING                       = 1411,
-   SNPE_AIP_RUNTIME_TENSOR_SHAPE_MISMATCH                = 1412,
-   SNPE_AIP_RUNTIME_BAD_AIX_RECORD                       = 1413,
-
-   // DlCaching errors
-   SNPE_DLCACHING_INVALID_METADATA                       = 1500,
-   SNPE_DLCACHING_INVALID_INITBLOB                       = 1501,
-
-   // Infrastructure Errors
-   SNPE_INFRA_CLUSTERMGR_INSTANCE_INVALID                = 1600,
-   SNPE_INFRA_CLUSTERMGR_EXECUTE_SYNC_FAILED             = 1601,
-
-   // Memory Errors
-   SNPE_MEMORY_CORRUPTION_ERROR                          = 1700
-
-};
-
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Returns the error code of the last error encountered.
- *
- * @return The error code.
- *
- * @note The returned error code is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT ErrorCode getLastErrorCode();
-
-/**
- * Returns the error string of the last error encountered.
- *
- * @return The error string.
- *
- * @note The returned error string is significant only when the return
- *       value of the call indicated an error.
- */
-ZDL_EXPORT const char* getLastErrorString();
-
-/**
- * Returns the info string of the last error encountered.
- */
-ZDL_EXPORT const char* getLastInfoString();
-
-/**
- * Returns the uint32_t representation of the error code enum.
- *
- * @param[in] code The error code to be converted.
- *
- * @return uint32_t representation of the error code.
- */
-ZDL_EXPORT uint32_t enumToUInt32(zdl::DlSystem::ErrorCode code);
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-} // DlSystem
-} // zdl
-
-#endif // _DL_ERROR_HPP_
-

third_party/snpe/include/DlSystem/DlOptional.hpp

@@ -1,225 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2016, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _DL_SYSTEM_OPTIONAL_HPP_
-#define _DL_SYSTEM_OPTIONAL_HPP_
-
-#include <cstdio>
-#include <utility>
-#include <stdexcept>
-
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-template <typename T>
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class to manage a value that may or may not exist. The boolean value
- * of the Optional class is true if the object contains a value and false
- * if it does not contain a value.
- *
- * The class must be evaluated and confirmed as true (containing a value)
- * before being dereferenced.
- */
-class ZDL_EXPORT Optional final {
-public:
-   enum class LIFECYCLE {
-      NONE = 0,
-      REFERENCE_OWNED = 1,
-      POINTER_OWNED = 2,
-      POINTER_NOT_OWNED = 3
-   };
-
-   struct ReferenceCount {
-      size_t count = 0;
-
-      void increment() { count++; }
-
-      size_t decrement() {
-         if (count > 0) {
-            count--;
-         }
-         return count;
-      }
-   };
-
-   using U = typename std::remove_pointer<T>::type;
-
-   /**
-    * The default constructor is set to not have any value, and is
-    * therefore evaluated as false.
-    */
-   // Do not explicit it so we can return {}
-   Optional() {
-      m_Type = LIFECYCLE::NONE;
-   }
-
-   /**
-    * Construct an Optional class using an object.
-    * @param[in] Reference to an object v
-    * @param[out] Optional instance of object v
-    */
-   template <typename Q = T>
-   Optional (const T& v, typename std::enable_if<!std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(LIFECYCLE::REFERENCE_OWNED) {
-      try {
-         m_StoragePtr = new T(v);
-      } catch (...) {
-         m_StoragePtr = nullptr;
-         m_Type = LIFECYCLE::NONE;
-      }
-   }
-
-   template <typename Q = T>
-   Optional(U* v, LIFECYCLE type, typename std::enable_if<std::is_pointer<Q>::value>::type* = 0)
-           : m_Type(type) {
-      switch (m_Type) {
-         case LIFECYCLE::POINTER_OWNED:
-            m_StoragePtr = v;
-            m_Count = new ReferenceCount();
-            m_Count->increment();
-            break;
-         case LIFECYCLE::POINTER_NOT_OWNED:
-            m_StoragePtr = v;
-            break;
-         case LIFECYCLE::REFERENCE_OWNED:
-            throw std::bad_exception();
-         case LIFECYCLE::NONE:
-            break;
-      }
-   }
-
-   Optional(const Optional &other) : m_Type(other.m_Type), m_Count(other.m_Count) {
-      if (isReference()) {
-         m_StoragePtr = new U(*other.m_StoragePtr);
-      } else if (isPointer()) {
-         m_StoragePtr = other.m_StoragePtr;
-         if (isOwned()) {
-            m_Count->increment();
-         }
-      }
-   }
-
-   Optional& operator=(const Optional& other) noexcept {
-      Optional tmp(other);
-      swap(std::move(tmp));
-      return *this;
-   }
-
-   Optional(Optional&& other) noexcept {
-      swap(std::move(other));
-   }
-
-   Optional& operator=(Optional&& other) noexcept {
-      swap(std::move(other));
-      return *this;
-   }
-
-   ~Optional() {
-      if (isOwned()) {
-         if (isReference() || (isPointer() && m_Count->decrement() == 0)) {
-            delete m_StoragePtr;
-            delete m_Count;
-         }
-      }
-   }
-
-   /**
-    * Boolean value of Optional class is only true when there exists a value.
-    */
-   operator bool() const noexcept { return isValid(); }
-
-   bool operator!() const noexcept { return !isValid(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() { return this->GetReference(); }
-
-   /**
-    * Get reference of Optional object
-    * @warning User must validate Optional has value before.
-    */
-   const T& operator*() const { return this->GetReference(); }
-
-   operator T&() { return this->GetReference(); }
-
-   T operator->() {
-      T self = this->GetReference();
-      return self;
-   }
-private:
-   void swap(Optional&& other) {
-      m_Type = other.m_Type;
-      m_StoragePtr = other.m_StoragePtr;
-      m_Count = other.m_Count;
-
-      other.m_Type = LIFECYCLE::NONE;
-      other.m_StoragePtr = nullptr;
-      other.m_Count = nullptr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isReference()) std::terminate();
-      return *static_cast<const Q*>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, const Q&>::type GetReference() const noexcept {
-      if (!isPointer()) std::terminate();
-      return static_cast<const Q&>(m_StoragePtr);
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isReference()) std::terminate();
-      return *m_StoragePtr;
-   }
-
-   template <typename Q = T>
-   typename std::enable_if<std::is_same<U*, Q>::value, Q&>::type GetReference() noexcept {
-      if (!isPointer()) std::terminate();
-      return m_StoragePtr;
-   }
-
-   bool isPointer() const {
-      return m_Type == LIFECYCLE::POINTER_OWNED || m_Type == LIFECYCLE::POINTER_NOT_OWNED;
-   }
-
-   bool isOwned() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED || m_Type == LIFECYCLE::POINTER_OWNED;
-   }
-
-   bool isReference() const {
-      return m_Type == LIFECYCLE::REFERENCE_OWNED;
-   }
-
-   bool isValid() const {
-      return m_Type != LIFECYCLE::NONE;
-   }
-
-   U* m_StoragePtr = nullptr;
-   LIFECYCLE m_Type;
-   ReferenceCount *m_Count = nullptr;
-};
-
-} // ns DlSystem
-} // ns zdl
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // _DL_SYSTEM_OPTIONAL_HPP_

third_party/snpe/include/DlSystem/DlVersion.hpp

@@ -1,78 +0,0 @@
-//==============================================================================
-//
-//  Copyright (c) 2014-2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-
-#ifndef _DL_VERSION_HPP_
-#define _DL_VERSION_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include <stdint.h>
-#include <string>
-#include "DlSystem/String.hpp"
-
-
-namespace zdl {
-namespace DlSystem
-{
-   class Version_t;
-}}
-
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A class that contains the different portions of a version number.
- */
-class ZDL_EXPORT Version_t
-{
-public:
-   /// Holds the major version number. Changes in this value indicate
-   /// major changes that break backward compatibility.
-   int32_t         Major;
-
-   /// Holds the minor version number. Changes in this value indicate
-   /// minor changes made to library that are backwards compatible
-   /// (such as additions to the interface).
-   int32_t         Minor;
-
-   /// Holds the teeny version number. Changes in this value indicate
-   /// changes such as bug fixes and patches made to the library that
-   /// do not affect the interface.
-   int32_t         Teeny;
-
-   /// This string holds information about the build version.
-   ///
-   std::string     Build;
-
-   static zdl::DlSystem::Version_t fromString(const std::string &stringValue);
-
-   static zdl::DlSystem::Version_t fromString(const zdl::DlSystem::String &stringValue);
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const std::string toString() const;
-
-   /**
-    * @brief Returns a string in the form Major.Minor.Teeny.Build
-    *
-    * @return A formatted string holding the version information.
-    */
-   const zdl::DlSystem::String asString() const;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis */
-
-#endif

third_party/snpe/include/DlSystem/IBufferAttributes.hpp

@@ -1,86 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2019 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IBUFFER_ATTRIBUTES_HPP
-#define _IBUFFER_ATTRIBUTES_HPP
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-    namespace DlSystem {
-        class UserBufferEncoding;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * @brief IBufferAttributes returns a buffer's dimension and alignment
- *        requirements, along with info on its encoding type
- */
-class ZDL_EXPORT IBufferAttributes {
-public:
-
-    /**
-      * @brief Gets the buffer's element size, in bytes
-      *
-      * This can be used to compute the memory size required
-      * to back this buffer.
-      *
-      * @return Element size, in bytes
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Gets the element's encoding type
-      *
-      * @return encoding type
-     */
-    virtual zdl::DlSystem::UserBufferEncoding::ElementType_t getEncodingType() const noexcept = 0;
-
-    /**
-      * @brief Gets the number of elements in each dimension
-      *
-      * @return Dimension size, in terms of number of elements
-     */
-    virtual const TensorShape getDims() const noexcept = 0;
-
-    /**
-      * @brief Gets the alignment requirement of each dimension
-      *
-      * Alignment per each dimension is expressed as an multiple, for
-      * example, if one particular dimension can accept multiples of 8,
-      * the alignment will be 8.
-      *
-      * @return Alignment in each dimension, in terms of multiple of
-      *         number of elements
-     */
-    virtual const TensorShape getAlignments() const noexcept = 0;
-
-    /**
-      * @brief Gets the buffer encoding returned from the network responsible
-      * for generating this buffer. Depending on the encoding type, this will
-      * be an instance of an encoding type specific derived class.
-      *
-      * @return Derived user buffer encoding object.
-     */
-    virtual zdl::DlSystem::UserBufferEncoding* getEncoding() const noexcept = 0;
-
-    virtual ~IBufferAttributes() {}
-};
-
-
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif

third_party/snpe/include/DlSystem/IOBufferDataTypeMap.hpp

@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2021-2022 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-
-#ifndef DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-#define DL_SYSTEM_IOBUFFER_DATATYPE_MAP_HPP
-
-#include <cstddef>
-#include <memory>
-#include "DlSystem/DlEnums.hpp"
-
-namespace DlSystem
-{
-   // Forward declaration of IOBufferDataTypeMapImpl implementation.
-   class IOBufferDataTypeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * The IoBufferDataTypeMap class definition
- */
-class ZDL_EXPORT IOBufferDataTypeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new Buffer Data type map
-    *
-    */
-   IOBufferDataTypeMap();
-
-   /**
-    * @brief Adds a name and the corresponding buffer data type
-    *        to the map
-    *
-    * @param[name] name The name of the buffer
-    * @param[bufferDataType] buffer Data Type of the buffer
-    *
-    * @note If a buffer with the same name already exists, no new
-    *       buffer is added.
-    */
-   void add(const char* name, zdl::DlSystem::IOBufferDataType_t bufferDataType);
-
-   /**
-    * @brief Removes a buffer name from the map
-    *
-    * @param[name] name The name of the buffer
-    *
-    */
-   void remove(const char* name);
-
-   /**
-    * @brief Returns the type of the named buffer
-    *
-    * @param[name] name The name of the buffer
-    *
-    * @return The type of the buffer, or UNSPECIFIED if the buffer does not exist
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType(const char* name);
-
-   /**
-    * @brief Returns the type of the first buffer
-    *
-    * @return The type of the first buffer, or UNSPECIFIED if the map is empty.
-    *
-    */
-   zdl::DlSystem::IOBufferDataType_t getBufferDataType();
-
-   /**
-    * @brief Returns the size of the buffer type map.
-    *
-    * @return The size of the map
-    *
-    */
-   size_t size();
-
-   /**
-    * @brief Checks the existence of the named buffer in the map
-    *
-    * @return True if the named buffer exists, false otherwise.
-    *
-    */
-   bool find(const char* name);
-
-   /**
-    * @brief Resets the map
-    *
-    */
-   void clear();
-
-   /**
-    * @brief Checks whether the map is empty
-    *
-    * @return True if the map is empty, false otherwise.
-    *
-    */
-   bool empty();
-
-   /**
-    * @brief Destroys the map
-    *
-    */
-   ~IOBufferDataTypeMap();
-
-private:
-   std::shared_ptr<::DlSystem::IOBufferDataTypeMapImpl> m_IOBufferDataTypeMapImpl;
-};
-}
-
-}
-#endif

third_party/snpe/include/DlSystem/ITensor.hpp

@@ -1,146 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_HPP_
-#define _ITENSOR_HPP_
-
-#include "ITensorItr.hpp"
-#include "ITensorItrImpl.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <memory>
-#include <ostream>
-#include <cmath>
-
-namespace zdl {
-namespace DlSystem
-{
-   class ITensor;
-}}
-
-namespace zdl { namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Represents a tensor which holds n-dimensional data. It is important to
- * understand how the tensor data is represented in memory 
- * relative to the tensor dimensions. Tensors store data in 
- * memory in row-major order (i.e. the last tensor dimension is 
- * the fastest varying one). For example, if you have a two 
- * dimensional tensor with 3 rows and 2 columns (i.e. the tensor 
- * dimensions are 3,2 as returned in tensor dimension vectors)
- * with the following data in terms rows and columns: 
- *  
- * | 1 2 | <br/>
- * | 3 4 | <br/>
- * | 5 6 | <br/>
- *  
- * This data would be stored in memory as 1,2,3,4,5,6. 
- */
-class ZDL_EXPORT ITensor 
-{
-public:
-
-   typedef zdl::DlSystem::ITensorItr<false> iterator;
-   typedef zdl::DlSystem::ITensorItr<true> const_iterator;
-
-   virtual ~ITensor() {}
-
-   /**
-    * Returns a tensor iterator pointing to the beginning 
-    * of the data in the tensor.
-    * 
-    * @return A tensor iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual iterator begin() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the beginning of the data in the tensor.
-    * 
-    * @return A tensor const iterator that points to the first data
-    *         element in the tensor.
-    */
-   virtual const_iterator cbegin() const = 0;
-
-   /**
-    * Returns a tensor iterator pointing to the end of the
-    * data in the tensor. This tensor should not be
-    * dereferenced.
-    * 
-    * @return A tensor iterator that points to the end of the data 
-    *         (one past the last element) in the tensor.
-    */
-   virtual iterator end() = 0;
-
-   /**
-    * Returns the const version of a tensor iterator 
-    * pointing to the end of the data in the tensor. This
-    * tensor should not be dereferenced.
-    * 
-    * @return A tensor const iterator that points to the end of the
-    *         data (one past the last element) in the tensor.
-    */
-   virtual const_iterator cend() const = 0;
-
-   /**
-    * @brief Gets the shape of this tensor.
-    *  
-    * The last element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest 
-    * varying dimension, etc. 
-    * 
-    * @return A shape class holding the tensor dimensions.
-    */
-   virtual TensorShape getShape() const = 0;
-
-   /**
-    * Returns the element size of the data in the tensor 
-    * (discounting strides). This is how big a buffer would
-    * need to be to hold the tensor data contiguously in
-    * memory.
-    *  
-    * @return The size of the tensor (in elements).
-    */
-   virtual size_t getSize() const = 0;
-
-   /**
-    * @brief Serializes the tensor to an output stream.
-    * 
-    * @param[in] output The output stream to which to write the tensor 
-    *  
-    * @throw std::runtime_error If the stream is ever in a bad 
-    *        state before the tensor is fully serialized.
-    */
-   virtual void serialize(std::ostream &output) const = 0;
-
-   friend iterator;
-   friend const_iterator;
-
-   virtual bool isQuantized() {return false;}
-   virtual float GetDelta() {return NAN;};
-   virtual float GetOffset() {return NAN;};
-
-protected:
-
-   /**
-    * Returns the tensor iterator implementation.
-    * 
-    * @return A pointer to the tensor iterator implementation.
-    */
-   virtual std::unique_ptr<::DlSystem::ITensorItrImpl> getItrImpl() const = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif

third_party/snpe/include/DlSystem/ITensorFactory.hpp

@@ -1,92 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_FACTORY_HPP
-#define _ITENSOR_FACTORY_HPP
-
-#include "ITensor.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <istream>
-
-namespace zdl {
-    namespace DlSystem
-    {
-        class ITensor;
-        class TensorShape;
-    }
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * Factory interface class to create ITensor objects.
- */
-class ZDL_EXPORT ITensorFactory
-{
-public:
-   virtual ~ITensorFactory() = default;
-
-   /**
-    * Creates a new ITensor with uninitialized data. 
-    *  
-    * The strides for the tensor will match the tensor dimensions 
-    * (i.e., the tensor data is contiguous in memory).
-    *  
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape) noexcept = 0;
-
-   /**
-    * Creates a new ITensor by loading it from a file.
-    *  
-    * @param[in] input The input stream from which to read the tensor 
-    *                  data.
-    *  
-    * @return A pointer to the created tensor or nullptr if creating failed.
-    *
-    */
-   virtual std::unique_ptr<ITensor> createTensor(std::istream &input) noexcept = 0;
-
-   /**
-    * Create a new ITensor with specific data.
-    * (i.e. the tensor data is contiguous in memory). This tensor is
-    * primarily used to create a tensor where tensor size can't be
-    * computed directly from dimension. One such example is
-    * NV21-formatted image, or any YUV formatted image
-    *
-    * @param[in] shape The dimensions for the tensor in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] data The actual data with which the Tensor object is filled.
-    *
-    * @param[in] dataSize The size of data
-    *
-    * @return A pointer to the created tensor
-    */
-   virtual std::unique_ptr<ITensor>
-      createTensor(const TensorShape &shape, const unsigned char *data, size_t dataSize) noexcept = 0;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif

third_party/snpe/include/DlSystem/ITensorItr.hpp

@@ -1,182 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_HPP_
-#define _ITENSOR_ITR_HPP_
-
-#include "ZdlExportDefine.hpp"
-#include "ITensorItrImpl.hpp"
-
-#include <memory>
-#include <iterator>
-#include <iostream>
-
-namespace zdl {
-namespace DlSystem
-{
-   template<bool IS_CONST> class ITensorItr;
-   class ITensor;
-   void ZDL_EXPORT fill(ITensorItr<false> first, ITensorItr<false> end, float val);
-   template<class InItr, class OutItr> OutItr ZDL_EXPORT copy(InItr first, InItr last, OutItr result)
-   {
-      return std::copy(first, last, result);
-   }
-}}
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-namespace zdl { namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * A bidirectional iterator (with limited random access 
- * capabilities) for the zdl::DlSystem::ITensor class.
- *  
- * This is a standard bidrectional iterator and is compatible
- * with standard algorithm functions that operate on bidirectional 
- * access iterators (e.g., std::copy, std::fill, etc.). It uses a
- * template parameter to create const and non-const iterators 
- * from the same code. Iterators are easiest to declare via the 
- * typedefs iterator and const_iterator in the ITensor class 
- * (e.g., zdl::DlSystem::ITensor::iterator). 
- *  
- * Note that if the tensor the iterator is traversing was 
- * created with nondefault (i.e., nontrivial) strides, the 
- * iterator will obey the strides when traversing the tensor 
- * data. 
- *  
- * Also note that nontrivial strides dramatically affect the
- * performance of the iterator (on the order of 20x slower). 
- */ 
-template<bool IS_CONST=true>
-class ZDL_EXPORT ITensorItr : public std::iterator<std::bidirectional_iterator_tag, float>
-{
-public:
-
-   typedef typename std::conditional<IS_CONST, const float&, float&>::type VALUE_REF;
-
-   ITensorItr() = delete;
-   virtual ~ITensorItr() {}
-
-   ITensorItr(std::unique_ptr<::DlSystem::ITensorItrImpl> impl, 
-              bool isTrivial = false, 
-              float* data = nullptr)
-      : m_Impl(impl->clone())
-      , m_IsTrivial(isTrivial)
-      , m_Data(data)
-      , m_DataStart(data) {}
-
-   ITensorItr(const ITensorItr<IS_CONST>& itr)
-      : m_Impl(itr.m_Impl->clone()),
-        m_IsTrivial(itr.m_IsTrivial),
-        m_Data(itr.m_Data),
-        m_DataStart(itr.m_DataStart) {}
-
-   zdl::DlSystem::ITensorItr<IS_CONST>& operator=(const ITensorItr<IS_CONST>& other)
-   {
-      if (this == &other) return *this;
-      m_Impl = std::move(other.m_Impl->clone());
-      m_IsTrivial = other.m_IsTrivial;
-      m_Data = other.m_Data;
-      m_DataStart = other.m_DataStart;
-      return *this;
-   }
-
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator++()
-   {
-      if (m_IsTrivial) m_Data++; else m_Impl->increment();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator++(int)
-   {
-      ITensorItr tmp(*this);
-      operator++();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator--()
-   {
-      if (m_IsTrivial) m_Data--; else m_Impl->decrement();
-      return *this;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST> operator--(int)
-   {
-      ITensorItr tmp(*this);
-      operator--();
-      return tmp;
-   }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator+=(int rhs)
-   {
-      if (m_IsTrivial) m_Data += rhs; else m_Impl->increment(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator+(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs += rhs; return lhs; }
-   inline zdl::DlSystem::ITensorItr<IS_CONST>& operator-=(int rhs)
-   {
-      if (m_IsTrivial) m_Data -= rhs; else m_Impl->decrement(rhs);
-      return *this;
-   }
-   inline friend zdl::DlSystem::ITensorItr<IS_CONST> operator-(zdl::DlSystem::ITensorItr<IS_CONST> lhs, int rhs)
-      { lhs -= rhs; return lhs; }
-
-   inline size_t operator-(const zdl::DlSystem::ITensorItr<IS_CONST>& rhs)
-   {
-      if (m_IsTrivial) return (m_Data - m_DataStart) - (rhs.m_Data - rhs.m_DataStart);
-      return m_Impl->getPosition() - rhs.m_Impl->getPosition();
-   }
-
-   inline friend bool operator<(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-   {
-      if (lhs.m_IsTrivial) return lhs.m_Data < rhs.m_Data;
-      return lhs.m_Impl->dataPointer() < rhs.m_Impl->dataPointer();
-   }
-   inline friend bool operator>(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return rhs < lhs; }
-   inline friend bool operator<=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs > rhs); }
-   inline friend bool operator>=(const ITensorItr<IS_CONST>& lhs, const ITensorItr<IS_CONST>& rhs)
-      { return !(lhs < rhs); }
-
-   inline bool operator==(const ITensorItr<IS_CONST>& rhs) const
-   {
-      if (m_IsTrivial) return m_Data == rhs.m_Data;
-      return m_Impl->dataPointer() == rhs.m_Impl->dataPointer();
-   }
-   inline bool operator!=(const ITensorItr<IS_CONST>& rhs) const
-      { return !operator==(rhs); }
-
-   inline VALUE_REF operator[](size_t idx)
-   {
-      if (m_IsTrivial) return *(m_DataStart + idx);
-      return m_Impl->getReferenceAt(idx);
-   }
-   inline VALUE_REF operator*()
-      { if (m_IsTrivial) return *m_Data; else return m_Impl->getReference(); }
-   inline VALUE_REF operator->()
-      { return *(*this); }
-   inline float* dataPointer() const
-      { if (m_IsTrivial) return m_Data; else return m_Impl->dataPointer(); }
-
-
-protected:
-   std::unique_ptr<::DlSystem::ITensorItrImpl> m_Impl;
-   bool m_IsTrivial = false;
-   float* m_Data = nullptr;
-   float* m_DataStart = nullptr;
-};
-
-}}
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif

third_party/snpe/include/DlSystem/ITensorItrImpl.hpp

@@ -1,42 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2015-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _ITENSOR_ITR_IMPL_HPP_
-#define _ITENSOR_ITR_IMPL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-#include <memory>
-#include <iterator>
-
-namespace DlSystem
-{
-   class ITensorItrImpl;
-}
-
-class ZDL_EXPORT DlSystem::ITensorItrImpl
-{
-public:
-   ITensorItrImpl() {}
-   virtual ~ITensorItrImpl() {}
-
-   virtual float getValue() const = 0;
-   virtual float& getReference() = 0;
-   virtual float& getReferenceAt(size_t idx) = 0;
-   virtual float* dataPointer() const = 0;
-   virtual void increment(int incVal = 1) = 0;
-   virtual void decrement(int decVal = 1) = 0;
-   virtual size_t getPosition() = 0;
-   virtual std::unique_ptr<DlSystem::ITensorItrImpl> clone() = 0;
-
-private:
-   ITensorItrImpl& operator=(const ITensorItrImpl& other) = delete;
-   ITensorItrImpl(const ITensorItrImpl& other) = delete;
-};
-
-#endif

third_party/snpe/include/DlSystem/IUDL.hpp

@@ -1,105 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016-2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_IUDL_HPP_
-#define _DL_SYSTEM_IUDL_HPP_
-
-#include "ZdlExportDefine.hpp"
-
-namespace zdl {
-namespace DlSystem {
-
-/**
- * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
- *
- * @brief .
- *
- * Base class user concrete UDL implementation.
- *
- * All functions are marked as:
- *
- * - virtual
- * - noexcept
- *
- * User should make sure no exceptions are propagated outside of
- * their module. Errors can be communicated via return values.
- */
-class ZDL_EXPORT IUDL {
-public:
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief .
-    *
-    * Destructor
-    */
-   virtual ~IUDL() = default;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Sets up the user's environment.
-    * This is called by the SNPE framework to allow the user the
-    * opportunity to setup anything which is needed for running
-    * user defined layers.
-    *
-    * @param cookie User provided opaque data returned by the SNPE
-    *               runtime
-    *
-    * @param insz How many elements in input size array
-    * @param indim Pointer to a buffer that holds input dimension
-    *               array
-    * @param indimsz Input dimension size  array of the buffer
-    *                 'indim'. Corresponds to indim
-    *
-    * @param outsz How many elements in output size array
-    * @param outdim Pointer to a buffer that holds output
-    *              dimension array
-    * @param outdimsz Output dimension size of the buffer 'oudim'.
-    *                  Corresponds to indim
-    *
-    * @return true on success, false otherwise
-    */
-   virtual bool setup(void *cookie,
-                      size_t insz, const size_t **indim, const size_t *indimsz,
-                      size_t outsz, const size_t **outdim, const size_t *outdimsz)  = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Close the instance. Invoked by the SNPE
-    * framework to allow the user the opportunity to release any resources
-    * allocated during setup.
-    *
-    * @param cookie - User provided opaque data returned by the SNPE runtime
-    */
-   virtual void close(void *cookie) noexcept = 0;
-
-   /**
-    * NOTE: DEPRECATED, MAY BE REMOVED IN THE FUTURE.
-    *
-    * @brief Execute the user defined layer
-    *
-    * @param cookie User provided opaque data returned by the SNPE 
-    *               runtime
-    *
-    * @param input Const pointer to a float buffer that contains
-    *               the input
-    *
-    * @param output Float pointer to a buffer that would hold
-    *                 the user defined layer's output. This buffer
-    *                 is allocated and owned by SNPE runtime.
-    */
-   virtual bool execute(void *cookie, const float **input, float **output)  = 0;
-};
-
-} // ns DlSystem
-
-} // ns zdl
-
-#endif // _DL_SYSTEM_IUDL_HPP_

third_party/snpe/include/DlSystem/IUserBuffer.hpp

@@ -1,358 +0,0 @@
-//==============================================================================
-//
-// Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-// All Rights Reserved.
-// Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//==============================================================================
-
-#ifndef _IUSER_BUFFER_HPP
-#define _IUSER_BUFFER_HPP
-
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include <math.h>
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A base class buffer encoding type
-  */
-class ZDL_EXPORT UserBufferEncoding {
-public:
-
-    /**
-      * @brief .
-      *
-      * An enum class of all supported element types in a IUserBuffer
-      */
-    enum class ElementType_t
-    {
-        /// Unknown element type.
-        UNKNOWN         = 0,
-
-        /// Each element is presented by float.
-        FLOAT           = 1,
-
-        /// Each element is presented by an unsigned int.
-        UNSIGNED8BIT    = 2,
-
-        /// Each element is presented by an 8-bit quantized value.
-        TF8             = 10,
-
-        /// Each element is presented by an 16-bit quantized value.
-        TF16            = 11
-    };
-
-    /**
-      * @brief Retrieves the size of the element, in bytes.
-      *
-      * @return Size of the element, in bytes.
-     */
-    virtual size_t getElementSize() const noexcept = 0;
-
-    /**
-      * @brief Retrieves the element type
-      *
-      * @return Element type
-     */
-    ElementType_t getElementType() const noexcept {return m_ElementType;};
-
-    virtual ~UserBufferEncoding() {}
-
-protected:
-    UserBufferEncoding(ElementType_t  elementType) : m_ElementType(elementType) {};
-private:
-    const ElementType_t  m_ElementType;
-};
-
-/**
-  * @brief .
-  *
-  * A base class buffer source type
-  *
-  * @note User buffer from CPU support all kinds of runtimes;
-  *       User buffer from GLBUFFER support only GPU runtime.
-  */
-class ZDL_EXPORT UserBufferSource {
-public:
-   enum class SourceType_t
-   {
-      /// Unknown buffer source type.
-      UNKNOWN = 0,
-
-      /// The network inputs are from CPU buffer.
-      CPU = 1,
-
-      /// The network inputs are from OpenGL buffer.
-      GLBUFFER = 2
-   };
-
-   /**
-     * @brief Retrieves the source type
-     *
-     * @return Source type
-    */
-   SourceType_t getSourceType() const noexcept {return m_SourceType;};
-
-protected:
-   UserBufferSource(SourceType_t sourceType): m_SourceType(sourceType) {};
-private:
-   const SourceType_t m_SourceType;
-};
-
-/**
-  * @brief .
-  *
-  * An source type where input data is delivered from OpenGL buffer
-  */
-class ZDL_EXPORT UserBufferSourceGLBuffer : public UserBufferSource{
-public:
-   UserBufferSourceGLBuffer() : UserBufferSource(SourceType_t::GLBUFFER) {};
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by an unsigned int
-  */
-class ZDL_EXPORT UserBufferEncodingUnsigned8Bit : public UserBufferEncoding {
-public:
-    UserBufferEncodingUnsigned8Bit() : UserBufferEncoding(ElementType_t::UNSIGNED8BIT) {};
-    size_t getElementSize() const noexcept override;
-
-protected:
-    UserBufferEncodingUnsigned8Bit(ElementType_t  elementType) : UserBufferEncoding(elementType) {};
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by a float
-  */
-class ZDL_EXPORT UserBufferEncodingFloat : public UserBufferEncoding {
-public:
-    UserBufferEncodingFloat() : UserBufferEncoding(ElementType_t::FLOAT) {};
-    size_t getElementSize() const noexcept override;
-
-};
-
-/**
-  * @brief .
-  *
-  * An encoding type where each element is represented by tf8, which is an
-  * 8-bit quantizd value, which has an exact representation of 0.0
-  */
-class ZDL_EXPORT UserBufferEncodingTfN : public UserBufferEncoding {
-public:
-   UserBufferEncodingTfN() = delete;
-   UserBufferEncodingTfN(uint64_t stepFor0, float stepSize, uint8_t bWidth=8):
-                                           UserBufferEncoding(getTypeFromWidth(bWidth)),
-                                           bitWidth(bWidth),
-                                           m_StepExactly0(stepFor0),
-                                           m_QuantizedStepSize(stepSize){};
-
-   UserBufferEncodingTfN(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncoding(ubEncoding.getElementType()){
-            const zdl::DlSystem::UserBufferEncodingTfN* ubEncodingTfN
-                            = dynamic_cast <const zdl::DlSystem::UserBufferEncodingTfN*> (&ubEncoding);
-            if (ubEncodingTfN) {
-                m_StepExactly0 = ubEncodingTfN->getStepExactly0();
-                m_QuantizedStepSize = ubEncodingTfN->getQuantizedStepSize();
-                bitWidth = ubEncodingTfN->bitWidth;
-            }
-   }
-
-   size_t getElementSize() const noexcept override;
-   /**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-   void setStepExactly0(uint64_t stepExactly0) {
-      m_StepExactly0 = stepExactly0;
-   }
-
-   /**
-     * @brief Sets the float value that each step represents
-     *
-     * @param[in] quantizedStepSize The float value of each step size
-     *
-    */
-   void setQuantizedStepSize(const float quantizedStepSize) {
-      m_QuantizedStepSize = quantizedStepSize;
-   }
-
-   /**
-     * @brief Retrieves the step that represents 0.0
-     *
-     * @return Step value
-    */
-   uint64_t getStepExactly0() const {
-      return m_StepExactly0;
-   }
-
-   /**
-    * Calculates the minimum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Minimum representable floating point value
-    */
-   float getMin() const {
-      return static_cast<float>(m_QuantizedStepSize * (0 - (double)m_StepExactly0));
-   }
-
-   /**
-    * Calculates the maximum floating point value that
-    * can be represented with this encoding.
-    *
-    * @return Maximum representable floating point value
-    */
-   float getMax() const{
-       return static_cast<float>(m_QuantizedStepSize * (pow(2,bitWidth)-1 - (double)m_StepExactly0));
-   };
-
-   /**
-     * @brief Retrieves the step size
-     *
-     * @return Step size
-    */
-   float getQuantizedStepSize() const {
-      return m_QuantizedStepSize;
-   }
-
-   ElementType_t getTypeFromWidth(uint8_t width);
-
-   uint8_t bitWidth;
-protected:
-   uint64_t m_StepExactly0;
-   float m_QuantizedStepSize;
-};
-
-
-class ZDL_EXPORT UserBufferEncodingTf8 : public UserBufferEncodingTfN {
-public:
-    UserBufferEncodingTf8() = delete;
-    UserBufferEncodingTf8(unsigned char stepFor0, float stepSize) :
-            UserBufferEncodingTfN(stepFor0, stepSize) {};
-
-    UserBufferEncodingTf8(const zdl::DlSystem::UserBufferEncoding &ubEncoding) : UserBufferEncodingTfN(ubEncoding){}
-
-/**
-      * @brief Sets the step value that represents 0
-      *
-      * @param[in] stepExactly0 The step value that represents 0
-      *
-     */
-
-    void setStepExactly0(const unsigned char stepExactly0) {
-        UserBufferEncodingTfN::m_StepExactly0 = stepExactly0;
-    }
-
-/**
-      * @brief Retrieves the step that represents 0.0
-      *
-      * @return Step value
-     */
-
-    unsigned char getStepExactly0() const {
-        return UserBufferEncodingTfN::m_StepExactly0;
-    }
-
-};
-
-
-/**
- * @brief UserBuffer contains a pointer and info on how to walk it and interpret its content.
- */
-class ZDL_EXPORT IUserBuffer {
-public:
-    virtual ~IUserBuffer() = default;
-    
-    /**
-      * @brief Retrieves the total number of bytes between elements in each dimension if
-      * the buffer were to be interpreted as a multi-dimensional array.
-      *
-      * @return Number of bytes between elements in each dimension.
-      * e.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would
-      * return strides of [24, 8, 4].
-     */
-    virtual const TensorShape& getStrides() const = 0;
-
-    /**
-      * @brief Retrieves the size of the buffer, in bytes.
-      *
-      * @return Size of the underlying buffer, in bytes.
-     */
-    virtual size_t getSize() const = 0;
-
-    /**
-      * @brief Retrieves the size of the inference data in the buffer, in bytes.
-      *
-      * The inference results from a dynamic-sized model may not be exactly the same size
-      * as the UserBuffer provided to SNPE. This function can be used to get the amount
-      * of output inference data, which may be less or greater than the size of the UserBuffer.
-      *
-      * If the inference results fit in the UserBuffer, getOutputSize() would be less than
-      * or equal to getSize(). But if the inference results were more than the capacity of
-      * the provided UserBuffer, the results would be truncated to fit the UserBuffer. But,
-      * getOutputSize() would be greater than getSize(), which indicates a bigger buffer
-      * needs to be provided to SNPE to hold all of the inference results.
-      *
-      * @return Size required for the buffer to hold all inference results, which can be less
-      * or more than the size of the buffer, in bytes.
-    */
-    virtual size_t getOutputSize() const = 0;
-
-    /**
-      * @brief Changes the underlying memory that backs the UserBuffer.
-      *
-      * This can be used to avoid creating multiple UserBuffer objects
-      * when the only thing that differs is the memory location.
-      *
-      * @param[in] buffer Pointer to the memory location
-      *
-      * @return Whether the set succeeds.
-     */
-    virtual bool setBufferAddress(void *buffer) noexcept = 0;
-
-    /**
-      * @brief Gets a const reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is filled by SNPE with
-      * data types such as TF8, where the caller needs to know the quantization
-      * parameters in order to interpret the data properly
-      *
-      * @return A read-only encoding object
-     */
-    virtual const UserBufferEncoding& getEncoding() const noexcept = 0;
-
-    /**
-      * @brief Gets a reference to the data encoding object of
-      *        the underlying buffer
-      *
-      * This is necessary when the UserBuffer is re-used, and the encoding
-      * parameters can change.  For example, each input can be quantized with
-      * different step sizes.
-      *
-      * @return Data encoding meta-data
-     */
-    virtual UserBufferEncoding& getEncoding() noexcept = 0;
-
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-#endif

third_party/snpe/include/DlSystem/IUserBufferFactory.hpp

@@ -1,81 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _IUSERBUFFER_FACTORY_HPP
-#define _IUSERBUFFER_FACTORY_HPP
-
-#include "IUserBuffer.hpp"
-#include "TensorShape.hpp"
-#include "ZdlExportDefine.hpp"
-#include "DlEnums.hpp"
-namespace zdl {
-    namespace DlSystem {
-        class IUserBuffer;
-
-        class TensorShape;
-    }
-}
-
-namespace zdl {
-namespace DlSystem {
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-* Factory interface class to create IUserBuffer objects.
-*/
-class ZDL_EXPORT IUserBufferFactory {
-public:
-    virtual ~IUserBufferFactory() = default;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding) noexcept = 0;
-
-    /**
-     * @brief Creates a UserBuffer
-     *
-     * @param[in] buffer Pointer to the buffer that the caller supplies
-     *
-     * @param[in] bufSize Buffer size, in bytes
-     *
-     * @param[in] strides Total number of bytes between elements in each dimension.
-     *          E.g. A tightly packed tensor of floats with dimensions [4, 3, 2] would have strides of [24, 8, 4].
-     *
-     * @param[in] userBufferEncoding Reference to an UserBufferEncoding object
-     *
-     * @param[in] userBufferSource Reference to an UserBufferSource object
-     *
-     * @note Caller has to ensure that memory pointed to by buffer stays accessible
-     *       for the lifetime of the object created
-     */
-    virtual std::unique_ptr<IUserBuffer>
-    createUserBuffer(void *buffer, size_t bufSize, const zdl::DlSystem::TensorShape &strides, zdl::DlSystem::UserBufferEncoding* userBufferEncoding, zdl::DlSystem::UserBufferSource* userBufferSource) noexcept = 0;
-};
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}
-}
-
-
-#endif

third_party/snpe/include/DlSystem/PlatformConfig.hpp

@@ -1,230 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2018,2021 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-#define _DL_SYSTEM_PLATFORM_CONFIG_HPP_
-
-#include "DlSystem/ZdlExportDefine.hpp"
-#include <string>
-
-namespace zdl{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-
-/**
-  * @brief .
-  *
-  * A structure OpenGL configuration
-  *
-  * @note When certain OpenGL context and display are provided to UserGLConfig for using
-  *       GPU buffer as input directly, the user MUST ensure the particular OpenGL
-  *       context and display remain vaild throughout the execution of neural network models.
-  */
-struct ZDL_EXPORT UserGLConfig
-{
-   /// Holds user EGL context.
-   ///
-   void* userGLContext = nullptr;
-
-   /// Holds user EGL display.
-   void* userGLDisplay = nullptr;
-};
-
-/**
-  * @brief .
-  *
-  * A structure Gpu configuration
-  */
-struct ZDL_EXPORT UserGpuConfig{
-   /// Holds user OpenGL configuration.
-   ///
-   UserGLConfig userGLConfig;
-};
-
-/**
-  * @brief .
-  *
-  * A class user platform configuration
-  */
-class ZDL_EXPORT PlatformConfig
-{
-public:
-
-   /**
-     * @brief .
-     *
-     * An enum class of all supported platform types
-     */
-   enum class PlatformType_t
-   {
-      /// Unknown platform type.
-      UNKNOWN = 0,
-
-      /// Snapdragon CPU.
-      CPU = 1,
-
-      /// Adreno GPU.
-      GPU = 2,
-
-      /// Hexagon DSP.
-      DSP = 3
-   };
-
-   /**
-     * @brief .
-     *
-     * A union class user platform configuration information
-     */
-   union PlatformConfigInfo
-   {
-      /// Holds user GPU Configuration.
-      ///
-      UserGpuConfig userGpuConfig;
-
-      PlatformConfigInfo(){};
-   };
-
-   PlatformConfig() : m_PlatformType(PlatformType_t::UNKNOWN),
-                      m_PlatformOptions("") {};
-
-   /**
-     * @brief Retrieves the platform type
-     *
-     * @return Platform type
-     */
-   PlatformType_t getPlatformType() const {return m_PlatformType;};
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isValid() const {return (PlatformType_t::UNKNOWN != m_PlatformType);};
-
-   /**
-     * @brief Retrieves the Gpu configuration
-     *
-     * @param[out] userGpuConfig The passed in userGpuConfig populated with the Gpu configuration on return.
-     *
-     * @return True if Gpu configuration was retrieved; false otherwise.
-     */
-   bool getUserGpuConfig(UserGpuConfig& userGpuConfig) const
-   {
-      if(m_PlatformType == PlatformType_t::GPU)
-      {
-         userGpuConfig = m_PlatformConfigInfo.userGpuConfig;
-         return true;
-      }
-      else
-      {
-         return false;
-      }
-   }
-
-   /**
-     * @brief Sets the Gpu configuration
-     *
-     * @param[in] userGpuConfig Gpu Configuration
-     *
-     * @return True if Gpu configuration was successfully set; false otherwise.
-     */
-   bool setUserGpuConfig(UserGpuConfig& userGpuConfig)
-   {
-      if((userGpuConfig.userGLConfig.userGLContext != nullptr) && (userGpuConfig.userGLConfig.userGLDisplay != nullptr))
-      {
-         switch (m_PlatformType)
-         {
-         case PlatformType_t::GPU:
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         case PlatformType_t::UNKNOWN:
-            m_PlatformType = PlatformType_t::GPU;
-            m_PlatformConfigInfo.userGpuConfig = userGpuConfig;
-            return true;
-         default:
-            return false;
-         }
-      }
-      else
-         return false;
-   }
-
-   /**
-     * @brief Sets the platform options
-     *
-     * @param[in] options Options as a string in the form of "keyword:options"
-     *
-     * @return True if options are pass validation; otherwise false.  If false, the options are not updated.
-     */
-   bool setPlatformOptions(std::string options) {
-      std::string oldOptions = m_PlatformOptions;
-      m_PlatformOptions = options;
-      if (isOptionsValid()) {
-         return true;
-      } else {
-         m_PlatformOptions = oldOptions;
-         return false;
-      }
-   }
-
-   /**
-     * @brief Indicates whther the plaform configuration is valid.
-     *
-     * @return True if the platform configuration is valid; false otherwise.
-     */
-   bool isOptionsValid() const;
-
-   /**
-     * @brief Gets the platform options
-     *
-     * @return Options as a string
-     */
-   std::string getPlatformOptions() const { return m_PlatformOptions; }
-
-    /**
-      * @brief Sets the platform options
-      *
-      * @param[in] optionName Name of platform options"
-      * @param[in] value Value of specified optionName
-      *
-      * @return If true, add "optionName:value" to platform options if optionName don't exist, otherwise update the
-      *         value of specified optionName.
-      *         If false, the platform options will not be changed.
-      */
-   bool setPlatformOptionValue(const std::string& optionName, const std::string& value);
-
-    /**
-       * @brief Removes the platform options
-       *
-       * @param[in] optionName Name of platform options"
-       * @param[in] value Value of specified optionName
-       *
-       * @return If true, removed "optionName:value" to platform options if optionName don't exist, do nothing.
-       *         If false, the platform options will not be changed.
-       */
-    bool removePlatformOptionValue(const std::string& optionName, const std::string& value);
-
-   static void SetIsUserGLBuffer(bool isUserGLBuffer);
-   static bool GetIsUserGLBuffer();
-
-private:
-   PlatformType_t m_PlatformType;
-   PlatformConfigInfo m_PlatformConfigInfo;
-   std::string m_PlatformOptions;
-   static bool m_IsUserGLBuffer;
-};
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-}} //namespace end
-
-#endif

third_party/snpe/include/DlSystem/RuntimeList.hpp

@@ -1,154 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2019 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/DlEnums.hpp"
-#include "DlSystem/StringList.hpp"
-#include <cstddef>
-#include <memory>
-
-#ifndef DL_SYSTEM_RUNTIME_LIST_HPP
-#define DL_SYSTEM_RUNTIME_LIST_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of Runtime List implementation.
-   class RuntimeListImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing list of runtimes
-  */
-class ZDL_EXPORT RuntimeList final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new runtime list
-    *
-    */
-   RuntimeList();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   RuntimeList(const RuntimeList& other);
-
-   /**
-   * @brief .
-   *
-   * constructor with single Runtime_t object
-   * @param[in] Runtime_t object
-   */
-   RuntimeList(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   RuntimeList& operator=(const RuntimeList& other);
-
-   /**
-    * @brief .
-    *
-    * subscript operator.
-    */
-   Runtime_t& operator[](size_t index);
-
-   /**
-    * @brief Adds runtime to the end of the runtime list
-    *        order of precedence is former followed by latter entry
-    *
-    * @param[in] runtime to add
-    *
-    * Ruturns false If the runtime already exists
-    */
-   bool add(const zdl::DlSystem::Runtime_t& runtime);
-
-   /**
-    * @brief Removes the runtime from the list
-    *
-    * @param[in] runtime to be removed
-    *
-    * @note If the runtime is not found, nothing is done.
-    */
-   void remove(const zdl::DlSystem::Runtime_t runtime) noexcept;
-
-   /**
-    * @brief Returns the number of runtimes in the list
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief Returns true if the list is empty
-    */
-   bool empty() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all runtime from the list
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns a StringList of names from the runtime list in
-    * order of precedence
-    */
-   zdl::DlSystem::StringList getRuntimeListNames() const;
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime string
-    * Returns a Runtime enum corresponding to the in param string
-    *
-    */
-   static zdl::DlSystem::Runtime_t stringToRuntime(const char* runtimeStr);
-
-   /**
-    * @brief .
-    *
-    * @param[in] runtime
-    * Returns a string corresponding to the in param runtime enum
-    *
-    */
-   static const char* runtimeToString(const zdl::DlSystem::Runtime_t runtime);
-
-   ~RuntimeList();
-
-private:
-   void deepCopy(const RuntimeList &other);
-   std::unique_ptr<::DlSystem::RuntimeListImpl> m_RuntimeListImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_RUNTIME_LIST_HPP
-

third_party/snpe/include/DlSystem/String.hpp

@@ -1,104 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017, 2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-
-#ifndef PLATFORM_STANDARD_STRING_HPP
-#define PLATFORM_STANDARD_STRING_HPP
-
-#include <cstdio>
-#include <string>
-#include <ostream>
-#include "DlSystem/ZdlExportDefine.hpp"
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for wrapping char * as a really stripped down std::string replacement.
- */
-class ZDL_EXPORT String final
-{
-public:
-   String() = delete;
-
-   /**
-    * Construct a string from std::string reference.
-    * @param str Reference to a std::string
-    */
-   explicit String(const std::string& str);
-
-   /**
-    * Construct a string from char* reference.
-    * @param a char*
-    */
-   explicit String(const char* str);
-
-   /**
-    * move constructor.
-    */
-   String(String&& other) noexcept;
-
-   /**
-    * copy constructor.
-    */
-   String(const String& other) = delete;
-
-   /**
-    * assignment operator.
-    */
-   String& operator=(const String&) = delete;
-
-   /**
-    * move assignment operator.
-    */
-   String& operator=(String&&) = delete;
-
-   /**
-    * class comparators
-    */
-   bool operator<(const String& rhs) const noexcept;
-   bool operator>(const String& rhs) const noexcept;
-   bool operator<=(const String& rhs) const noexcept;
-   bool operator>=(const String& rhs) const noexcept;
-   bool operator==(const String& rhs) const noexcept;
-   bool operator!=(const String& rhs) const noexcept;
-
-   /**
-    * class comparators against std::string
-    */
-   bool operator<(const std::string& rhs) const noexcept;
-   bool operator>(const std::string& rhs) const noexcept;
-   bool operator<=(const std::string& rhs) const noexcept;
-   bool operator>=(const std::string& rhs) const noexcept;
-   bool operator==(const std::string& rhs) const noexcept;
-   bool operator!=(const std::string& rhs) const noexcept;
-
-   const char* c_str() const noexcept;
-
-   ~String();
-private:
-
-   char* m_string;
-};
-
-/**
- * overloaded << operator
- */
-ZDL_EXPORT std::ostream& operator<<(std::ostream& os, const String& str) noexcept;
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // PLATFORM_STANDARD_STRING_HPP

third_party/snpe/include/DlSystem/StringList.hpp

@@ -1,107 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <cstdio>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_STRINGLIST_HPP
-#define DL_SYSTEM_STRINGLIST_HPP
-
-namespace zdl
-{
-namespace DlSystem
-{
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Class for holding an order list of null-terminated ASCII strings.
- */
-class ZDL_EXPORT StringList final
-{
-public:
-   StringList() {}
-
-   /**
-    * Construct a string list with some pre-allocated memory.
-    * @warning Contents of the list will be uninitialized
-    * @param[in] length Number of elements for which to pre-allocate space.
-    */
-   explicit StringList(size_t length);
-
-   /**
-    * Append a string to the list.
-    * @param[in] str Null-terminated ASCII string to append to the list.
-    */
-   void append(const char* str);
-
-   /**
-    * Returns the string at the indicated position,
-    *  or an empty string if the positions is greater than the size
-    *  of the list.
-    * @param[in] idx Position in the list of the desired string
-    */
-   const char* at(size_t idx) const noexcept;
-
-   /**
-    * Pointer to the first string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** begin() const noexcept;
-
-   /**
-    * Pointer to one after the last string in the list.
-    *  Can be used to iterate through the list.
-    */
-   const char** end() const noexcept;
-
-   /**
-    * Return the number of valid string pointers held by this list.
-    */
-   size_t size() const noexcept;
-
-
-   /**
-    * assignment operator. 
-    */
-   StringList& operator=(const StringList&) noexcept;
-
-   /**
-    * copy constructor.
-    * @param[in] other object to copy.
-    */
-   StringList(const StringList& other);
-
-   /**
-    * move constructor.
-    * @param[in] other object to move.    
-    */
-   StringList(StringList&& other) noexcept;
-
-   ~StringList();
-private:
-   void copy(const StringList& other);
-
-   void resize(size_t length);
-
-   void clear();
-
-   static const char* s_Empty;
-   const char** m_Strings = nullptr;
-   const char** m_End = nullptr;
-   size_t       m_Size = 0;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_STRINGLIST_HPP
-

third_party/snpe/include/DlSystem/TensorMap.hpp

@@ -1,120 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "ITensor.hpp"
-#include "StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_MAP_HPP
-#define DL_SYSTEM_TENSOR_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor map implementation.
-   class TensorMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of tensor.
-  */
-class ZDL_EXPORT TensorMap final
-{
-public:
-
-  /**
-   * @brief .
-   *
-   * Creates a new empty tensor map
-   */
-   TensorMap();
-
-  /**
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */
-   TensorMap(const TensorMap& other);
-
-  /**
-    * assignment operator. 
-    */
-   TensorMap& operator=(const TensorMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, the
-    *       tensor is replaced with the existing tensor.
-    */
-   void add(const char *name, zdl::DlSystem::ITensor *tensor);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *  
-    * @param[in] name The name of the tensor to get. 
-    *  
-    * @return nullptr if no tensor with the specified name is 
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::ITensor* getTensor(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensors
-    */
-   zdl::DlSystem::StringList getTensorNames() const;
-
-   ~TensorMap();
-private:
-   void swap(const TensorMap &other);
-   std::unique_ptr<::DlSystem::TensorMapImpl> m_TensorMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_MAP_HPP
-

third_party/snpe/include/DlSystem/TensorShape.hpp

@@ -1,203 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2016 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include <vector>
-#include "ZdlExportDefine.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape implementation.
-   class TensorShapeImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
- * @brief .
- *
- * Convenient typedef to represent dimension
- */
-using Dimension = size_t;
-
-/**
-  * @brief .
-  *
-  * A class representing the shape of tensor. It is used at the
-  * time of creation of tensor.
-  */
-class ZDL_EXPORT TensorShape final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in
-    * initializer list fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    */
-   TensorShape(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Creates a new shape with a list of dims specified in array
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-    * @param[in] size Size of the array.
-    *
-    */
-   TensorShape(const Dimension *dims, size_t size);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with a vector of dims specified in
-    * vector fashion.
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    */   
-   TensorShape(std::vector<Dimension> dims);
-
-   /**
-   * @brief .
-   *   
-   * copy constructor.
-   * @param[in] other object to copy. 
-   */   
-   TensorShape(const TensorShape& other);
-
-   /**
-    * @brief .
-    *  
-    * assignment operator. 
-    */   
-   TensorShape& operator=(const TensorShape& other);
-
-    /**
-    * @brief .
-    *
-    * Creates a new shape with no dims. It can be extended later
-    * by invoking concatenate.
-    */
-   TensorShape();
-
-  /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * initializer list fashion to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    *
-   */
-   void concatenate(std::initializer_list<Dimension> dims);
-
-   /**
-    * @brief .
-    *
-    * Concatenates additional dimensions specified in 
-    * the array to the existing dimensions. 
-    *
-    * @param[in] dims The dimensions are specified in which the last
-    * element of the vector represents the fastest varying
-    * dimension and the zeroth element represents the slowest
-    * varying, etc.
-    * 
-    * @param[in] size Size of the array.
-    *
-   */
-   void concatenate(const Dimension *dims, size_t size);
-
-  /**
-    * @brief .
-    *
-    * Concatenates an additional dimension to the existing
-    * dimensions.
-    *
-    * @param[in] dim The dimensions are specified in which the last element
-    * of the vector represents the fastest varying dimension and the
-    * zeroth element represents the slowest varying, etc.
-    *
-   */
-   void concatenate(const Dimension &dim);
-
-  /**
-    * @brief .
-    *
-    * Retrieves a single dimension, based on its index.
-    *
-    * @return The value of dimension
-    *
-    * @throws std::out_of_range if the index is >= the number of
-    * dimensions (or rank).
-    */
-   Dimension& operator[](size_t index);
-   Dimension& operator[](size_t index) const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves the rank i.e. number of dimensions.
-    *
-    * @return The rank
-    */
-   size_t rank() const;
-
-  /**
-    * @brief .
-    *
-    * Retrieves a pointer to the first dimension of shape
-    *
-    * @return nullptr if no dimension exists; otherwise, points to
-    * the first dimension. 
-    *
-    */
-   const Dimension* getDimensions() const;
-
-   ~TensorShape();
-
-private:
-   void swap(const TensorShape &other);
-   std::unique_ptr<::DlSystem::TensorShapeImpl> m_TensorShapeImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_HPP
-

third_party/snpe/include/DlSystem/TensorShapeMap.hpp

@@ -1,127 +0,0 @@
-//=============================================================================
-//
-//  Copyright (c) 2017-2020 Qualcomm Technologies, Inc.
-//  All Rights Reserved.
-//  Confidential and Proprietary - Qualcomm Technologies, Inc.
-//
-//=============================================================================
-#include <initializer_list>
-#include <cstdio>
-#include <memory>
-#include "ZdlExportDefine.hpp"
-#include "DlSystem/TensorShape.hpp"
-#include "DlSystem/StringList.hpp"
-
-#ifndef DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-#define DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-
-namespace DlSystem
-{
-   // Forward declaration of tensor shape map implementation.
-   class TensorShapeMapImpl;
-}
-
-namespace zdl
-{
-namespace DlSystem
-{
-
-/** @addtogroup c_plus_plus_apis C++
-@{ */
-
-/**
-  * @brief .
-  *
-  * A class representing the map of names and tensorshapes.
-  */
-class ZDL_EXPORT TensorShapeMap final
-{
-public:
-
-    /**
-    * @brief .
-    *
-    * Creates a new tensor shape map
-    *
-    */
-   TensorShapeMap();
-
-   /**
-   * @brief .
-   *
-   * copy constructor.
-   * @param[in] other object to copy.
-   */
-   TensorShapeMap(const TensorShapeMap& other);
-
-   /**
-    * @brief .
-    *
-    * assignment operator.
-    */
-   TensorShapeMap& operator=(const TensorShapeMap& other);
-
-   /**
-    * @brief Adds a name and the corresponding tensor pointer
-    *        to the map
-    *
-    * @param[in] name The name of the tensor
-    * @param[out] tensor The pointer to the tensor
-    *
-    * @note If a tensor with the same name already exists, no new
-    *       tensor is added.
-    */
-   void add(const char *name, const zdl::DlSystem::TensorShape& tensorShape);
-
-   /**
-    * @brief Removes a mapping of tensor and its name by its name
-    *
-    * @param[in] name The name of tensor to be removed
-    *
-    * @note If no tensor with the specified name is found, nothing
-    *       is done.
-    */
-   void remove(const char *name) noexcept;
-
-   /**
-    * @brief Returns the number of tensors in the map
-    */
-   size_t size() const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Removes all tensors from the map
-    */
-   void clear() noexcept;
-
-   /**
-    * @brief Returns the tensor given its name.
-    *
-    * @param[in] name The name of the tensor to get.
-    *
-    * @return nullptr if no tensor with the specified name is
-    *         found; otherwise, a valid pointer to the tensor.
-    */
-   zdl::DlSystem::TensorShape getTensorShape(const char *name) const noexcept;
-
-   /**
-    * @brief .
-    *
-    * Returns the names of all tensor shapes
-    */
-   zdl::DlSystem::StringList getTensorShapeNames() const;
-
-   ~TensorShapeMap();
-private:
-   void swap(const TensorShapeMap &other);
-   std::unique_ptr<::DlSystem::TensorShapeMapImpl> m_TensorShapeMapImpl;
-};
-
-} // DlSystem namespace
-} // zdl namespace
-
-/** @} */ /* end_addtogroup c_plus_plus_apis C++ */
-
-#endif // DL_SYSTEM_TENSOR_SHAPE_MAP_HPP
-