ONNXModel: use the actual model file name (#22084)

* use the actual file name

* use macro

* fix typo

* continue

* Apply suggestions from code review

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 7db04ab0c5

selfdrive/modeld/models/dmonitoring.cc

@@ -15,12 +15,15 @@
 
 void dmonitoring_init(DMonitoringModelState* s) {
   s->is_rhd = Params().getBool("IsRHD");
-
-  const char *model_path = Hardware::PC() ? "../../models/dmonitoring_model.dlc" : "../../models/dmonitoring_model_q.dlc";
-  s->m = new DefaultRunModel(model_path, &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
   for (int x = 0; x < std::size(s->tensor); ++x) {
     s->tensor[x] = (x - 128.f) * 0.0078125f;
   }
+
+#ifdef USE_ONNX_MODEL
+  s->m = new ONNXModel("../../models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
+#else
+  s->m = new SNPEModel("../../models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME);
+#endif
 }
 
 template <class T>

selfdrive/modeld/models/driving.cc

@@ -63,10 +63,12 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
   constexpr int output_size = OUTPUT_SIZE + TEMPORAL_SIZE;
   s->output.resize(output_size);
 
-#if (defined(QCOM) || defined(QCOM2)) && defined(USE_THNEED)
+#ifdef USE_THNEED
   s->m = std::make_unique<ThneedModel>("../../models/supercombo.thneed", &s->output[0], output_size, USE_GPU_RUNTIME);
+#elif USE_ONNX_MODEL
+  s->m = std::make_unique<ONNXModel>("../../models/supercombo.onnx", &s->output[0], output_size, USE_GPU_RUNTIME);
 #else
-  s->m = std::make_unique<DefaultRunModel>("../../models/supercombo.dlc", &s->output[0], output_size, USE_GPU_RUNTIME);
+  s->m = std::make_unique<SNPEModel>("../../models/supercombo.dlc", &s->output[0], output_size, USE_GPU_RUNTIME);
 #endif
 
 #ifdef TEMPORAL

selfdrive/modeld/runners/onnxmodel.cc

@@ -15,15 +15,11 @@
 #include "selfdrive/common/util.h"
 
 ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime) {
+  LOGD("loading model %s", path);
+
   output = _output;
   output_size = _output_size;
 
-  char tmp[1024];
-  strncpy(tmp, path, sizeof(tmp));
-  strstr(tmp, ".dlc")[0] = '\0';
-  strcat(tmp, ".onnx");
-  LOGD("loading model %s", tmp);
-
   int err = pipe(pipein);
   assert(err == 0);
   err = pipe(pipeout);
@@ -35,7 +31,7 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int
   proc_pid = fork();
   if (proc_pid == 0) {
     LOGD("spawning onnx process %s", onnx_runner.c_str());
-    char *argv[] = {(char*)onnx_runner.c_str(), tmp, NULL};
+    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path, nullptr};
     dup2(pipein[0], 0);
     dup2(pipeout[1], 1);
     close(pipein[0]);

selfdrive/modeld/runners/run.h

@@ -3,14 +3,8 @@
 #include "runmodel.h"
 #include "snpemodel.h"
 
-#if defined(QCOM) || defined(QCOM2)
+#if defined(USE_THNEED)
 #include "thneedmodel.h"
-#define DefaultRunModel SNPEModel
-#else
-#ifdef USE_ONNX_MODEL
+#elif defined(USE_ONNX_MODEL)
 #include "onnxmodel.h"
-#define DefaultRunModel ONNXModel
-#else
-#define DefaultRunModel SNPEModel
-#endif
 #endif