Refactor model runners (#28598)
* Started work on model runner refactor
* Fixed some compile errors
* everything compiles
* Fixed bug in SNPEModel
* updateInput -> setInputBuffer
* I understand nothing
* whoops lol
* use std::string instead of char*
* Move common logic into RunModel
* formatting fix
old-commit-hash: c9f00678af
beeps
Mitchell Goff
2 years ago
committed by
GitHub
parent
fdc8876745
commit
95051090a1
10 changed files with 190 additions and 414 deletions
@ -1,18 +1,45 @@ |
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#pragma once |
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#include <string> |
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#include <vector> |
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#include <memory> |
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#include <cassert> |
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#include "common/clutil.h" |
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#include "common/swaglog.h" |
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struct ModelInput { |
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const std::string name; |
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float *buffer; |
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int size; |
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ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {} |
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virtual void setBuffer(float *_buffer, int _size) { |
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assert(size == _size || size == 0); |
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buffer = _buffer; |
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size = _size; |
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} |
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}; |
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class RunModel { |
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public: |
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std::vector<std::unique_ptr<ModelInput>> inputs; |
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virtual ~RunModel() {} |
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virtual void addRecurrent(float *state, int state_size) {} |
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virtual void addDesire(float *state, int state_size) {} |
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virtual void addNavFeatures(float *state, int state_size) {} |
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virtual void addDrivingStyle(float *state, int state_size) {} |
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virtual void addTrafficConvention(float *state, int state_size) {} |
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virtual void addCalib(float *state, int state_size) {} |
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virtual void addImage(float *image_buf, int buf_size) {} |
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virtual void addExtra(float *image_buf, int buf_size) {} |
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virtual void execute() {} |
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virtual void* getInputBuf() { return nullptr; } |
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virtual void* getExtraBuf() { return nullptr; } |
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}; |
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virtual void* getCLBuffer(const std::string name) { return nullptr; } |
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virtual void addInput(const std::string name, float *buffer, int size) { |
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inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size))); |
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} |
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virtual void setInputBuffer(const std::string name, float *buffer, int size) { |
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for (auto &input : inputs) { |
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if (name == input->name) { |
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input->setBuffer(buffer, size); |
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return; |
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} |
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} |
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LOGE("Tried to update input `%s` but no input with this name exists", name.c_str()); |
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assert(false); |
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} |
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}; |
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@ -1,78 +1,56 @@ |
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#include "selfdrive/modeld/runners/thneedmodel.h" |
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#include <cassert> |
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#include "common/swaglog.h" |
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ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8, cl_context context) { |
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ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) { |
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thneed = new Thneed(true, context); |
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thneed->load(path); |
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thneed->load(path.c_str()); |
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thneed->clexec(); |
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recorded = false; |
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output = loutput; |
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use_extra = luse_extra; |
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output = _output; |
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} |
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void ThneedModel::addRecurrent(float *state, int state_size) { |
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recurrent = state; |
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void* ThneedModel::getCLBuffer(const std::string name) { |
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int index = -1; |
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for (int i = 0; i < inputs.size(); i++) { |
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if (name == inputs[i]->name) { |
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index = i; |
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break; |
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} |
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void ThneedModel::addTrafficConvention(float *state, int state_size) { |
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trafficConvention = state; |
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} |
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void ThneedModel::addDesire(float *state, int state_size) { |
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desire = state; |
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} |
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void ThneedModel::addDrivingStyle(float *state, int state_size) { |
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drivingStyle = state; |
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} |
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void ThneedModel::addNavFeatures(float *state, int state_size) { |
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navFeatures = state; |
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} |
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void ThneedModel::addImage(float *image_input_buf, int buf_size) { |
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input = image_input_buf; |
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if (index == -1) { |
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LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str()); |
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assert(false); |
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} |
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void ThneedModel::addExtra(float *extra_input_buf, int buf_size) { |
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extra = extra_input_buf; |
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} |
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void* ThneedModel::getInputBuf() { |
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if (use_extra && thneed->input_clmem.size() > 5) return &(thneed->input_clmem[5]); |
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else if (!use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]); |
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else return nullptr; |
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if (thneed->input_clmem.size() >= inputs.size()) { |
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return &thneed->input_clmem[inputs.size() - index - 1]; |
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} else { |
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return nullptr; |
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} |
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void* ThneedModel::getExtraBuf() { |
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if (thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]); |
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else return nullptr; |
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} |
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void ThneedModel::execute() { |
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if (!recorded) { |
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thneed->record = true; |
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if (use_extra) { |
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float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input}; |
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thneed->copy_inputs(inputs); |
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} else { |
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float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input}; |
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thneed->copy_inputs(inputs); |
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float *input_buffers[inputs.size()]; |
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for (int i = 0; i < inputs.size(); i++) { |
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input_buffers[inputs.size() - i - 1] = inputs[i]->buffer; |
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} |
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thneed->copy_inputs(input_buffers); |
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thneed->clexec(); |
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thneed->copy_output(output); |
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thneed->stop(); |
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recorded = true; |
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} else { |
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if (use_extra) { |
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float *inputs[6] = {recurrent, navFeatures, trafficConvention, desire, extra, input}; |
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thneed->execute(inputs, output); |
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} else { |
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float *inputs[5] = {recurrent, navFeatures, trafficConvention, desire, input}; |
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thneed->execute(inputs, output); |
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float *input_buffers[inputs.size()]; |
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for (int i = 0; i < inputs.size(); i++) { |
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input_buffers[inputs.size() - i - 1] = inputs[i]->buffer; |
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} |
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thneed->execute(input_buffers, output); |
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} |
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} |
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