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model_publish: use kj::ArrayPtr<const float> raw_pred (#19917)

albatross
Dean Lee 2021-02-02 11:08:17 +08:00 committed by GitHub
parent c22d6e315d
commit 0b7b7241c8
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 10 additions and 10 deletions
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4
selfdrive/modeld/modeld.cc
View File

@ -185,8 +185,8 @@ int main(int argc, char **argv) {
if (run_count < 10) frames_dropped = 0; // let frame drops warm up
float frame_drop_ratio = frames_dropped / (1 + frames_dropped);
const float *raw_pred_ptr = send_raw_pred ? &model.output[0] : nullptr;
model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, model_buf, raw_pred_ptr, extra.timestamp_eof, model_execution_time);
model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time,
kj::ArrayPtr<const float>(model.output.data(), model.output.size()));
posenet_publish(pm, extra.frame_id, vipc_dropped_frames, model_buf, extra.timestamp_eof);
LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_ratio);

10
selfdrive/modeld/models/driving.cc
View File

@ -53,10 +53,10 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
s->input_frames = std::make_unique<float[]>(MODEL_FRAME_SIZE * 2);
constexpr int output_size = OUTPUT_SIZE + TEMPORAL_SIZE;
s->output = std::make_unique<float[]>(output_size);
s->output.resize(output_size);
#if defined(QCOM) || defined(QCOM2)
s->m = std::make_unique<ThneedModel>("../../models/supercombo.thneed", &s->output[0], output_size, USE_GPU_RUNTIME);
s->m = std::make_unique<ThneedModel>("../../models/supercombo.thneed", s->output[0], output_size, USE_GPU_RUNTIME);
#else
s->m = std::make_unique<DefaultRunModel>("../../models/supercombo.dlc", &s->output[0], output_size, USE_GPU_RUNTIME);
#endif
@ -262,8 +262,8 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelDataRaw &net_ou
}
void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, float frame_drop,
const ModelDataRaw &net_outputs, const float *raw_pred, uint64_t timestamp_eof,
float model_execution_time) {
const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
float model_execution_time, kj::ArrayPtr<const float> raw_pred) {
const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
MessageBuilder msg;
auto framed = msg.initEvent().initModelV2();
@ -273,7 +273,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, flo
framed.setTimestampEof(timestamp_eof);
framed.setModelExecutionTime(model_execution_time);
if (send_raw_pred) {
framed.setRawPred(kj::arrayPtr((const uint8_t *)raw_pred, (OUTPUT_SIZE + TEMPORAL_SIZE) * sizeof(float)));
framed.setRawPred(raw_pred.asBytes());
}
fill_model(framed, net_outputs);
pm.send("modelV2", msg);

6
selfdrive/modeld/models/driving.h
View File

@ -34,7 +34,7 @@ struct ModelDataRaw {
typedef struct ModelState {
ModelFrame frame;
std::unique_ptr<float[]> output;
std::vector<float> output;
std::unique_ptr<float[]> input_frames;
std::unique_ptr<RunModel> m;
cl_command_queue q;
@ -53,7 +53,7 @@ ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int heigh
void model_free(ModelState* s);
void poly_fit(float *in_pts, float *in_stds, float *out);
void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, float frame_drop,
const ModelDataRaw &net_outputs, const float *raw_pred, uint64_t timestamp_eof,
float model_execution_time);
const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
float model_execution_time, kj::ArrayPtr<const float> raw_pred);
void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
const ModelDataRaw &net_outputs, uint64_t timestamp_eof);