74 lines
1.9 KiB
C++
74 lines
1.9 KiB
C++
#include "selfdrive/modeld/runners/thneedmodel.h"
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#include <cassert>
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ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra) {
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thneed = new Thneed(true);
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thneed->record = 0;
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thneed->load(path);
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thneed->clexec();
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thneed->find_inputs_outputs();
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recorded = false;
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output = loutput;
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use_extra = luse_extra;
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}
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void ThneedModel::addRecurrent(float *state, int state_size) {
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recurrent = state;
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}
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void ThneedModel::addTrafficConvention(float *state, int state_size) {
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trafficConvention = state;
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}
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void ThneedModel::addDesire(float *state, int state_size) {
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desire = state;
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}
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void ThneedModel::addImage(float *image_input_buf, int buf_size) {
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input = image_input_buf;
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}
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void ThneedModel::addExtra(float *extra_input_buf, int buf_size) {
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extra = extra_input_buf;
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}
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void* ThneedModel::getInputBuf() {
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if (use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
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else if (!use_extra && thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
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else return nullptr;
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}
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void* ThneedModel::getExtraBuf() {
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if (thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
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else return nullptr;
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}
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void ThneedModel::execute() {
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if (!recorded) {
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thneed->record = true;
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if (use_extra) {
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float *inputs[5] = {recurrent, trafficConvention, desire, extra, input};
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thneed->copy_inputs(inputs);
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} else {
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float *inputs[4] = {recurrent, trafficConvention, desire, input};
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thneed->copy_inputs(inputs);
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}
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thneed->clexec();
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thneed->copy_output(output);
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thneed->stop();
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recorded = true;
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} else {
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if (use_extra) {
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float *inputs[5] = {recurrent, trafficConvention, desire, extra, input};
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thneed->execute(inputs, output);
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} else {
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float *inputs[4] = {recurrent, trafficConvention, desire, input};
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thneed->execute(inputs, output);
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}
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}
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}
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