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86 lines
2.5 KiB
86 lines
2.5 KiB
#pragma once
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#pragma clang diagnostic ignored "-Wdeprecated-declarations"
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#include <DlContainer/IDlContainer.hpp>
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#include <DlSystem/DlError.hpp>
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#include <DlSystem/ITensor.hpp>
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#include <DlSystem/ITensorFactory.hpp>
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#include <DlSystem/IUserBuffer.hpp>
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#include <DlSystem/IUserBufferFactory.hpp>
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#include <SNPE/SNPE.hpp>
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#include <SNPE/SNPEBuilder.hpp>
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#include <SNPE/SNPEFactory.hpp>
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#include "runmodel.h"
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#define USE_CPU_RUNTIME 0
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#define USE_GPU_RUNTIME 1
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#define USE_DSP_RUNTIME 2
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#ifdef USE_THNEED
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#include "selfdrive/modeld/thneed/thneed.h"
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#endif
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class SNPEModel : public RunModel {
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public:
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SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false, cl_context context = NULL);
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void addRecurrent(float *state, int state_size);
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void addTrafficConvention(float *state, int state_size);
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void addCalib(float *state, int state_size);
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void addDesire(float *state, int state_size);
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void addDrivingStyle(float *state, int state_size);
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void addNavFeatures(float *state, int state_size);
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void addImage(float *image_buf, int buf_size);
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void addExtra(float *image_buf, int buf_size);
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void execute();
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#ifdef USE_THNEED
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std::unique_ptr<Thneed> thneed;
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bool thneed_recorded = false;
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#endif
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private:
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std::string model_data;
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#ifdef QCOM2
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zdl::DlSystem::Runtime_t Runtime;
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#endif
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// snpe model stuff
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std::unique_ptr<zdl::SNPE::SNPE> snpe;
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// snpe input stuff
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zdl::DlSystem::UserBufferMap inputMap;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> inputBuffer;
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float *input;
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size_t input_size;
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bool use_tf8;
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// snpe output stuff
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zdl::DlSystem::UserBufferMap outputMap;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> outputBuffer;
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float *output;
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size_t output_size;
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// extra input stuff
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std::unique_ptr<zdl::DlSystem::IUserBuffer> extraBuffer;
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float *extra;
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size_t extra_size;
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bool use_extra;
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// recurrent and desire
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std::unique_ptr<zdl::DlSystem::IUserBuffer> addExtra(float *state, int state_size, int idx);
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float *recurrent;
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size_t recurrent_size;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> recurrentBuffer;
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float *trafficConvention;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> trafficConventionBuffer;
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float *desire;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> desireBuffer;
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float *navFeatures;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> navFeaturesBuffer;
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float *drivingStyle;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> drivingStyleBuffer;
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float *calib;
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std::unique_ptr<zdl::DlSystem::IUserBuffer> calibBuffer;
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};
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