retropilot
/
openpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

log DSP execution time (#2723) 

* log dsp execution time

* don't need that
albatross
Adeeb Shihadeh 2020-12-08 17:28:47 -08:00 committed by GitHub
parent d25cc6f624
commit b3fd759fe8
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 6 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
cereal

@ -1 +1 @@
Subproject commit 15c431a3d64f6b413f500bd2a0b145ed2a0149b5
Subproject commit 6da2062b1c521e4d5ae4384055984cf423df1f4b

4
selfdrive/modeld/models/dmonitoring.cc
View File

@ -160,7 +160,9 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
//fwrite(net_input_buf, MODEL_HEIGHT*MODEL_WIDTH*3/2, sizeof(float), dump_yuv_file2);
//fclose(dump_yuv_file2);
double t1 = millis_since_boot();
s->m->execute(net_input_buf, yuv_buf_len);
double t2 = millis_since_boot();
DMonitoringResult ret = {0};
memcpy(&ret.face_orientation, &s->output[0], sizeof ret.face_orientation);
@ -178,6 +180,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
ret.face_orientation_meta[2] = softplus(ret.face_orientation_meta[2]);
ret.face_position_meta[0] = softplus(ret.face_position_meta[0]);
ret.face_position_meta[1] = softplus(ret.face_position_meta[1]);
ret.dsp_execution_time = (t2 - t1) / 1000.;
return ret;
}
@ -187,6 +190,7 @@ void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResu
auto framed = msg.initEvent().initDriverState();
framed.setFrameId(frame_id);
framed.setModelExecutionTime(execution_time);
framed.setDspExecutionTime(res.dsp_execution_time);
framed.setFaceOrientation(res.face_orientation);
framed.setFaceOrientationStd(res.face_orientation_meta);

9
selfdrive/modeld/models/dmonitoring.h
View File

@ -5,10 +5,6 @@
#include "runners/run.h"
#include "messaging.hpp"
#ifdef __cplusplus
extern "C" {
#endif
#define OUTPUT_SIZE 34
typedef struct DMonitoringResult {
@ -22,6 +18,7 @@ typedef struct DMonitoringResult {
float left_blink_prob;
float right_blink_prob;
float sg_prob;
float dsp_execution_time;
} DMonitoringResult;
typedef struct DMonitoringModelState {
@ -40,7 +37,3 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, const float* raw_pred, float execution_time);
void dmonitoring_free(DMonitoringModelState* s);
#ifdef __cplusplus
}
#endif