only check frame age for model validity
parent
d2784f0ff0
commit
587bdf5937
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@ -217,8 +217,8 @@ int main(int argc, char **argv) {
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model_transform, NULL, vec_desire);
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mt2 = millis_since_boot();
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model_publish(pm, extra.frame_id, frame_id, sm.allAliveAndValid(), model_buf, extra.timestamp_eof);
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posenet_publish(pm, extra.frame_id, frame_id, sm.allAliveAndValid(), model_buf, extra.timestamp_eof);
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model_publish(pm, extra.frame_id, frame_id, model_buf, extra.timestamp_eof);
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posenet_publish(pm, extra.frame_id, frame_id, model_buf, extra.timestamp_eof);
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LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu", mt2-mt1, mt1-last, extra.frame_id, frame_id);
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last = mt1;
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@ -245,7 +245,7 @@ void fill_longi(cereal::ModelData::LongitudinalData::Builder longi, const float
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longi.setAccelerations(accel);
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}
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void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, bool sm_alive_valid,
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void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
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const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
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// make msg
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capnp::MallocMessageBuilder msg;
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@ -293,12 +293,12 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, boo
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auto meta = framed.initMeta();
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fill_meta(meta, net_outputs.meta);
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event.setValid((frame_age < MAX_FRAME_AGE) && sm_alive_valid);
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event.setValid(frame_age < MAX_FRAME_AGE);
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pm.send("model", msg);
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}
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void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, bool sm_alive_valid,
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void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
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const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
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capnp::MallocMessageBuilder msg;
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cereal::Event::Builder event = msg.initRoot<cereal::Event>();
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@ -73,8 +73,8 @@ ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
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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, bool sm_alive_valid,
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void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
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const ModelDataRaw &data, uint64_t timestamp_eof);
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void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id, bool sm_alive_valid,
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void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
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const ModelDataRaw &data, uint64_t timestamp_eof);
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#endif
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