remove check on frame drop in modeld (#2638)
parent
631059d931
commit
feaecbd615
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@ -311,7 +311,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
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float model_execution_time) {
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// make msg
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MessageBuilder msg;
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auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModelV2();
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auto framed = msg.initEvent().initModelV2();
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uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
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framed.setFrameId(vipc_frame_id);
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framed.setFrameAge(frame_age);
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@ -319,7 +319,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
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framed.setTimestampEof(timestamp_eof);
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framed.setModelExecutionTime(model_execution_time);
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// plan
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// plan
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int plan_mhp_max_idx = 0;
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for (int i=1; i<PLAN_MHP_N; i++) {
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if (net_outputs.plan[(i + 1)*(PLAN_MHP_GROUP_SIZE) - 1] >
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@ -393,7 +393,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
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uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
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MessageBuilder msg;
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auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModel();
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auto framed = msg.initEvent().initModel();
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framed.setFrameId(vipc_frame_id);
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framed.setFrameAge(frame_age);
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framed.setFrameDropPerc(frame_drop * 100);
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@ -429,7 +429,7 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
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auto lpath = framed.initPath();
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fill_path(lpath, &net_outputs.plan[plan_mhp_max_idx*(PLAN_MHP_GROUP_SIZE)], valid_len, valid_len_idx);
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auto left_lane = framed.initLeftLane();
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int ll_idx = 1;
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fill_lane_line(left_lane, net_outputs.lane_lines, ll_idx, valid_len, valid_len_idx,
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@ -39,7 +39,6 @@
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#define POSE_SIZE 12
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#define MODEL_FREQ 20
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#define MAX_FRAME_DROP 0.05
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struct ModelDataRaw {
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float *plan;
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