59 lines
1.7 KiB
C++
59 lines
1.7 KiB
C++
#pragma once
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// gate this here
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#define TEMPORAL
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#define DESIRE
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#define TRAFFIC_CONVENTION
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#include <memory>
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#include "cereal/messaging/messaging.h"
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#include "selfdrive/common/mat.h"
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#include "selfdrive/common/modeldata.h"
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#include "selfdrive/common/util.h"
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#include "selfdrive/modeld/models/commonmodel.h"
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#include "selfdrive/modeld/runners/run.h"
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constexpr int DESIRE_LEN = 8;
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constexpr int TRAFFIC_CONVENTION_LEN = 2;
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constexpr int MODEL_FREQ = 20;
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struct ModelDataRaw {
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float *plan;
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float *lane_lines;
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float *lane_lines_prob;
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float *road_edges;
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float *lead;
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float *lead_prob;
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float *desire_state;
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float *meta;
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float *desire_pred;
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float *pose;
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};
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typedef struct ModelState {
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ModelFrame frame;
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std::vector<float> output;
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std::unique_ptr<float[]> input_frames;
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std::unique_ptr<RunModel> m;
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cl_command_queue q;
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#ifdef DESIRE
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float prev_desire[DESIRE_LEN] = {};
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float pulse_desire[DESIRE_LEN] = {};
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#endif
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#ifdef TRAFFIC_CONVENTION
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float traffic_convention[TRAFFIC_CONVENTION_LEN] = {};
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#endif
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} ModelState;
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void model_init(ModelState* s, cl_device_id device_id, cl_context context);
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ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height,
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const mat3 &transform, float *desire_in);
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void model_free(ModelState* s);
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void poly_fit(float *in_pts, float *in_stds, float *out);
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void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, float frame_drop,
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const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
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float model_execution_time, kj::ArrayPtr<const float> raw_pred);
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void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
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const ModelDataRaw &net_outputs, uint64_t timestamp_eof);
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