log DM model execution time (#2589)

old-commit-hash: 580589b250

cereal

@@ -1 +1 @@
-Subproject commit 3da12dc835d2707518d828290cf2c7bc36b10428
+Subproject commit 3d09a7508f9497d77c401d96f8086494a188d786

selfdrive/modeld/dmonitoringmodeld.cc

@@ -65,7 +65,7 @@ int main(int argc, char **argv) {
       double t2 = millis_since_boot();
 
       // send dm packet
-      dmonitoring_publish(pm, extra.frame_id, res);
+      dmonitoring_publish(pm, extra.frame_id, res, t2-t1);
 
       LOGD("dmonitoring process: %.2fms, from last %.2fms", t2-t1, t1-last);
       last = t1;

selfdrive/modeld/models/dmonitoring.cc

@@ -165,11 +165,12 @@ DMonitoringResult dmonitoring_eval_frame(DMonitoringModelState* s, void* stream_
   return ret;
 }
 
-void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res){
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time){
   // make msg
   MessageBuilder msg;
   auto framed = msg.initEvent().initDriverState();
   framed.setFrameId(frame_id);
+  framed.setModelExecutionTime(execution_time);
 
   kj::ArrayPtr<const float> face_orientation(&res.face_orientation[0], ARRAYSIZE(res.face_orientation));
   kj::ArrayPtr<const float> face_orientation_std(&res.face_orientation_meta[0], ARRAYSIZE(res.face_orientation_meta));

selfdrive/modeld/models/dmonitoring.h

@@ -36,7 +36,7 @@ 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);
+void dmonitoring_publish(PubMaster &pm, uint32_t frame_id, const DMonitoringResult &res, float execution_time);
 void dmonitoring_free(DMonitoringModelState* s);
 
 #ifdef __cplusplus