dragonpilot - 基於 openpilot 的開源駕駛輔助系統
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#ifndef ONNXMODEL_H
#define ONNXMODEL_H
#include <stdlib.h>
#include "runmodel.h"
class ONNXModel : public RunModel {
public:
ONNXModel(const char *path, float *output, size_t output_size, int runtime);
~ONNXModel();
void addRecurrent(float *state, int state_size);
void addDesire(float *state, int state_size);
void addTrafficConvention(float *state, int state_size);
void execute(float *net_input_buf, int buf_size);
private:
int proc_pid;
float *output;
size_t output_size;
float *rnn_input_buf = NULL;
int rnn_state_size;
float *desire_input_buf = NULL;
int desire_state_size;
float *traffic_convention_input_buf = NULL;
int traffic_convention_size;
// pipe to communicate to keras subprocess
void pread(float *buf, int size);
void pwrite(float *buf, int size);
int pipein[2];
int pipeout[2];
};
#endif