From 1a2975570219aa48586dba329a05f902add8c5a2 Mon Sep 17 00:00:00 2001
From: Dean Lee <deanlee3@gmail.com>
Date: Thu, 28 Jan 2021 06:30:12 +0800
Subject: [PATCH] dmonitoring_publish: use kj::ArrayPtr<const float> raw_pred
 as paramater instead of float (#19916)

old-commit-hash: 8bb3c41cfd8c71d9dd2368da0a980d8f635e2a75
---
 selfdrive/modeld/dmonitoringmodeld.cc  | 3 +--
 selfdrive/modeld/models/dmonitoring.cc | 4 ++--
 selfdrive/modeld/models/dmonitoring.h  | 2 +-
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
index 6879f40fdc..48b16980bb 100644
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@@ -52,8 +52,7 @@ int main(int argc, char **argv) {
       double t2 = millis_since_boot();
 
       // send dm packet
-      const float* raw_pred_ptr = send_raw_pred ? (const float *)dmonitoringmodel.output : nullptr;
-      dmonitoring_publish(pm, extra.frame_id, res, raw_pred_ptr, (t2-t1)/1000.0);
+      dmonitoring_publish(pm, extra.frame_id, res, (t2-t1)/1000.0, dmonitoringmodel.output);
 
       LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
       last = t1;
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index 8e9fc578cd..d08c2298f1 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -177,7 +177,7 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
   return ret;
 }
 
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, const float* raw_pred, float execution_time){
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred){
   // make msg
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverState();
@@ -196,7 +196,7 @@ void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResu
   framed.setRightBlinkProb(res.right_blink_prob);
   framed.setSgProb(res.sg_prob);
   if (send_raw_pred) {
-    framed.setRawPred(kj::arrayPtr((const uint8_t*)raw_pred, OUTPUT_SIZE*sizeof(float)));
+    framed.setRawPred(raw_pred.asBytes());
   }
 
   pm.send("driverState", msg);
diff --git a/selfdrive/modeld/models/dmonitoring.h b/selfdrive/modeld/models/dmonitoring.h
index 7df3355bbc..82bcec9359 100644
--- a/selfdrive/modeld/models/dmonitoring.h
+++ b/selfdrive/modeld/models/dmonitoring.h
@@ -34,6 +34,6 @@ typedef struct DMonitoringModelState {
 
 void dmonitoring_init(DMonitoringModelState* s);
 DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_buf, int width, int height);
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, const float* raw_pred, float execution_time);
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time, kj::ArrayPtr<const float> raw_pred);
 void dmonitoring_free(DMonitoringModelState* s);