You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
33 lines
718 B
33 lines
718 B
3 years ago
|
#include "selfdrive/modeld/thneed/thneed.h"
|
||
|
|
|
||
|
|
#include <cassert>
|
||
|
|
|
||
|
|
#include "common/clutil.h"
|
||
|
|
#include "common/timing.h"
|
||
|
|
|
||
|
|
Thneed::Thneed(bool do_clinit, cl_context _context) {
|
||
|
|
context = _context;
|
||
|
|
if (do_clinit) clinit();
|
||
|
|
char *thneed_debug_env = getenv("THNEED_DEBUG");
|
||
|
|
debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
void Thneed::execute(float **finputs, float *foutput, bool slow) {
|
||
|
|
uint64_t tb, te;
|
||
|
|
if (debug >= 1) tb = nanos_since_boot();
|
||
|
|
|
||
|
|
// ****** copy inputs
|
||
|
|
copy_inputs(finputs);
|
||
|
|
|
||
|
|
// ****** run commands
|
||
|
|
clexec();
|
||
|
|
|
||
|
|
// ****** copy outputs
|
||
|
|
copy_output(foutput);
|
||
|
|
|
||
|
|
if (debug >= 1) {
|
||
|
|
te = nanos_since_boot();
|
||
|
|
printf("model exec in %lu us\n", (te-tb)/1000);
|
||
|
|
}
|
||
|
|
}
|