sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

fix frame drop percentage (#2578)

Browse Source 
* correct, I think

* add model execution time

* remove unused

* token is a file

* this is gonna change

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 7378bc4284
commatwo_master
HaraldSchafer 5 years ago committed by GitHub
parent 597759d16c
commit 7c8ea30532
5 changed files with 30 additions and 14 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 11
      selfdrive/modeld/modeld.cc
  2. 14
      selfdrive/modeld/models/driving.cc
  3. 9
      selfdrive/modeld/models/driving.h
  4. 8
      selfdrive/test/openpilotci.py
  5. 2
      selfdrive/test/process_replay/camera_replay.py

11
selfdrive/modeld/modeld.cc
Unescape View File

@ -193,17 +193,18 @@ int main(int argc, char **argv) {
model_eval_frame(&model, q, yuv_ion.buf_cl, buf_info.width, buf_info.height,
model_transform, NULL, vec_desire);
mt2 = millis_since_boot();
float model_execution_time = (mt2 - mt1) / 1000.0;
// tracked dropped frames
uint32_t vipc_dropped_frames = extra.frame_id - last_vipc_frame_id - 1;
frames_dropped = (1. - frame_filter_k) * frames_dropped + frame_filter_k * (float)std::min(vipc_dropped_frames, 10U);
float frame_drop_perc = frames_dropped / MODEL_FREQ;
float frame_drop_ratio = frames_dropped / (1 + frames_dropped);
model_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_perc, model_buf, extra.timestamp_eof);
model_publish_v2(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_perc, model_buf, extra.timestamp_eof);
posenet_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_perc, model_buf, extra.timestamp_eof);
model_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time);
model_publish_v2(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time);
posenet_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof);
LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu, frame_drop %.3f", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_perc);
LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu, frame_drop %.3f", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_ratio);
last = mt1;
last_vipc_frame_id = extra.frame_id;
}

14
selfdrive/modeld/models/driving.cc
Unescape View File

@ -307,7 +307,8 @@ void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const float * data,
void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
uint32_t vipc_dropped_frames, float frame_drop,
const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
float model_execution_time) {
// make msg
MessageBuilder msg;
auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModelV2();
@ -316,6 +317,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
framed.setFrameAge(frame_age);
framed.setFrameDropPerc(frame_drop * 100);
framed.setTimestampEof(timestamp_eof);
framed.setModelExecutionTime(model_execution_time);
// plan
int plan_mhp_max_idx = 0;
@ -385,15 +387,18 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
}
void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
uint32_t vipc_dropped_frames, float frame_drop,
const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
float model_execution_time) {
uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
MessageBuilder msg;
auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModel();
framed.setFrameId(vipc_frame_id);
framed.setFrameAge(frame_age);
framed.setFrameDropPerc(frame_drop * 100);
framed.setTimestampEof(timestamp_eof);
framed.setModelExecutionTime(model_execution_time);
// Find the distribution that corresponds to the most probable plan
int plan_mhp_max_idx = 0;
@ -461,7 +466,8 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
}
void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
uint32_t vipc_dropped_frames, float frame_drop,
const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
float trans_arr[3];
float trans_std_arr[3];
float rot_arr[3];

9
selfdrive/modeld/models/driving.h
Unescape View File

@ -78,9 +78,12 @@ void model_free(ModelState* s);
void poly_fit(float *in_pts, float *in_stds, float *out);
void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data,
uint64_t timestamp_eof, float model_execution_time);
void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data,
uint64_t timestamp_eof, float model_execution_time);
void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data,
uint64_t timestamp_eof);
#endif

8
selfdrive/test/openpilotci.py
Unescape View File

@ -5,13 +5,19 @@ import subprocess
BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
TOKEN_PATH = "/data/azure_token"
def get_url(route_name, segment_num, log_type="rlog"):
ext = "hevc" if log_type in ["fcamera", "dcamera"] else "bz2"
return BASE_URL + "%s/%s/%s.%s" % (route_name.replace("|", "/"), segment_num, log_type, ext)
def upload_file(path, name):
from azure.storage.blob import BlockBlobService
sas_token = os.getenv("TOKEN", None)
sas_token = None
if os.path.isfile(TOKEN_PATH):
sas_token = open(TOKEN_PATH).read().strip
if sas_token is None:
sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \
--expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")

2
selfdrive/test/process_replay/camera_replay.py
Unescape View File

@ -90,7 +90,7 @@ if __name__ == "__main__":
log_fn = "%s_%s_%s.bz2" % (TEST_ROUTE, "model", ref_commit)
cmp_log = LogReader(BASE_URL + log_fn)
results: Any = {TEST_ROUTE: {}}
results[TEST_ROUTE]["modeld"] = compare_logs(cmp_log, log_msgs, ignore_fields=['logMonoTime', 'valid', 'model.frameDropPerc'])
results[TEST_ROUTE]["modeld"] = compare_logs(cmp_log, log_msgs, ignore_fields=['logMonoTime', 'valid', 'model.frameDropPerc', 'model.modelExecutionTime'])
diff1, diff2, failed = format_diff(results, ref_commit)
print(diff1)

Write Preview
Loading…
Cancel
Save