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74 lines
2.4 KiB
74 lines
2.4 KiB
2 years ago
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#pragma once
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#include "cereal/messaging/messaging.h"
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#include "cereal/visionipc/visionipc_client.h"
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#include "common/util.h"
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#include "common/modeldata.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 NAV_INPUT_SIZE = 256*256;
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constexpr int NAV_FEATURE_LEN = 64;
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constexpr int NAV_DESIRE_LEN = 32;
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constexpr int NAV_PLAN_MHP_N = 5;
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struct NavModelOutputXY {
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float x;
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float y;
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};
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static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2);
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struct NavModelOutputPlan {
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std::array<NavModelOutputXY, TRAJECTORY_SIZE> mean;
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std::array<NavModelOutputXY, TRAJECTORY_SIZE> std;
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float prob;
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};
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static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2 + sizeof(float));
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struct NavModelOutputPlans {
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std::array<NavModelOutputPlan, NAV_PLAN_MHP_N> predictions;
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constexpr const NavModelOutputPlan &get_best_prediction() const {
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int max_idx = 0;
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for (int i = 1; i < predictions.size(); i++) {
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if (predictions[i].prob > predictions[max_idx].prob) {
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max_idx = i;
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}
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}
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return predictions[max_idx];
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}
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};
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static_assert(sizeof(NavModelOutputPlans) == sizeof(NavModelOutputPlan)*NAV_PLAN_MHP_N);
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struct NavModelOutputDesirePrediction {
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std::array<float, NAV_DESIRE_LEN> values;
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};
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static_assert(sizeof(NavModelOutputDesirePrediction) == sizeof(float)*NAV_DESIRE_LEN);
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struct NavModelOutputFeatures {
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std::array<float, NAV_FEATURE_LEN> values;
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};
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static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN);
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struct NavModelResult {
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const NavModelOutputPlans plans;
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const NavModelOutputDesirePrediction desire_pred;
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const NavModelOutputFeatures features;
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float dsp_execution_time;
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};
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static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlans) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
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constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float);
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constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1;
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struct NavModelState {
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RunModel *m;
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uint8_t net_input_buf[NAV_INPUT_SIZE];
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float output[NAV_OUTPUT_SIZE];
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};
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void navmodel_init(NavModelState* s);
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NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf);
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void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &model_res, float execution_time);
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void navmodel_free(NavModelState* s);
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