openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#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);
}
}