Make model packets invalid when frames are too old (#1759)

* make model packets invalid when frames are too old

* add frame numbers to cloudlog
old-commit-hash: 88f9266378

selfdrive/modeld/modeld.cc

@@ -82,7 +82,7 @@ int main(int argc, char **argv) {
 
   // messaging
   PubMaster pm({"model", "cameraOdometry"});
-  SubMaster sm({"pathPlan"});
+  SubMaster sm({"pathPlan", "frame"});
 
 #ifdef QCOM
   cl_device_type device_type = CL_DEVICE_TYPE_DEFAULT;
@@ -202,6 +202,7 @@ int main(int argc, char **argv) {
         }
 
         mat3 model_transform = matmul3(yuv_transform, transform);
+        uint32_t frame_id = sm["frame"].getFrame().getFrameId();
 
         mt1 = millis_since_boot();
 
@@ -213,10 +214,10 @@ int main(int argc, char **argv) {
                              model_transform, NULL, vec_desire);
         mt2 = millis_since_boot();
 
-        model_publish(pm, extra.frame_id, model_buf, extra.timestamp_eof);
-        posenet_publish(pm, extra.frame_id, model_buf, extra.timestamp_eof);
+        model_publish(pm, extra.frame_id, frame_id, model_buf, extra.timestamp_eof);
+        posenet_publish(pm, extra.frame_id, frame_id, model_buf, extra.timestamp_eof);
 
-        LOGD("model process: %.2fms, from last %.2fms", mt2-mt1, mt1-last);
+        LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu", mt2-mt1, mt1-last, extra.frame_id, frame_id);
         last = mt1;
       }
 

selfdrive/modeld/models/driving.cc

@@ -245,7 +245,7 @@ void fill_longi(cereal::ModelData::LongitudinalData::Builder longi, const float
   longi.setAccelerations(accel);
 }
 
-void model_publish(PubMaster &pm, uint32_t frame_id,
+void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
                    const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
   // make msg
   capnp::MallocMessageBuilder msg;
@@ -253,7 +253,7 @@ void model_publish(PubMaster &pm, uint32_t frame_id,
   event.setLogMonoTime(nanos_since_boot());
 
   auto framed = event.initModel();
-  framed.setFrameId(frame_id);
+  framed.setFrameId(vipc_frame_id);
   framed.setTimestampEof(timestamp_eof);
 
   auto lpath = framed.initPath();
@@ -290,11 +290,12 @@ void model_publish(PubMaster &pm, uint32_t frame_id,
 
   auto meta = framed.initMeta();
   fill_meta(meta, net_outputs.meta);
+  event.setValid(frame_id - vipc_frame_id < MAX_FRAME_AGE);
 
   pm.send("model", msg);
 }
 
-void posenet_publish(PubMaster &pm, uint32_t frame_id,
+void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
                    const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
   capnp::MallocMessageBuilder msg;
   cereal::Event::Builder event = msg.initRoot<cereal::Event>();
@@ -324,7 +325,8 @@ void posenet_publish(PubMaster &pm, uint32_t frame_id,
   posenetd.setRotStd(rot_std_vs);
 
   posenetd.setTimestampEof(timestamp_eof);
-  posenetd.setFrameId(frame_id);
+  posenetd.setFrameId(vipc_frame_id);
+  event.setValid(frame_id - vipc_frame_id < MAX_FRAME_AGE);
 
   pm.send("cameraOdometry", msg);
 }

selfdrive/modeld/models/driving.h

@@ -35,6 +35,8 @@
 #define TIME_DISTANCE 100
 #define POSE_SIZE 12
 
+#define MAX_FRAME_AGE 5
+
 struct ModelDataRaw {
     float *path;
     float *left_lane;
@@ -71,8 +73,8 @@ ModelDataRaw model_eval_frame(ModelState* s, cl_command_queue q,
 void model_free(ModelState* s);
 void poly_fit(float *in_pts, float *in_stds, float *out);
 
-void model_publish(PubMaster &pm, uint32_t frame_id,
+void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
                    const ModelDataRaw &data, uint64_t timestamp_eof);
-void posenet_publish(PubMaster &pm, uint32_t frame_id,
+void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
                    const ModelDataRaw &data, uint64_t timestamp_eof);
 #endif