openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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const kernelsReady = (async () => {
// can't get browser to use updated versions except with cache-busting query string
const exports = await import(`./net_clang.js?version=${Date.now()}`);
Object.assign(self, exports);
})();
async function init(event) {
await kernelsReady;
self.model = await self.transformer();
self.addEventListener("message", loadStateDict);
self.removeEventListener("message", init);
self.postMessage("success");
}
function loadStateDict(event) {
if (event.data === "done") {
self.addEventListener("message", inference);
self.removeEventListener("message", loadStateDict);
}
else {
if (event.data.length > 1) {
// the bytes from files are set contiguously in WASM memory
const malloc_size = event.data.reduce((sum, file) => sum + file.bytes.length, 0);
const malloc_ptr = self.model.wasm._malloc(malloc_size);
let cursor = 0;
for (const file of event.data) {
self.model.wasm.HEAPU8.set(file.bytes, malloc_ptr + cursor);
for (const part of file.parts) {
if (part.target_start_pos === 0) {
// tell WASM code where the tensor is in memory
self.model.wasm._set_buf(self.transformer_name_to_id[part.key], malloc_ptr + cursor);
}
cursor += part.size;
}
file.bytes = null;
}
}
else {
// the bytes from files are not guaranteed to be set contiguously in WASM memory
const file = event.data[0];
const malloc_ptr = self.model.wasm._malloc(file.size);
self.model.wasm.HEAPU8.set(file.bytes, malloc_ptr);
for (const part of file.parts) {
if (part.target_start_pos === 0) {
self.model.wasm._set_buf(self.transformer_name_to_id[part.key], malloc_ptr + part.file_start_pos);
}
}
file.bytes = null;
}
}
self.postMessage("success");
}
function inference(event) {
const [tok, start_pos] = event.data;
const int32tok = new Int32Array([tok]);
const model_out = self.model.run(new Uint8Array(int32tok.buffer), start_pos);
const int32nextTok = new Int32Array(model_out[0].buffer);
self.postMessage(int32nextTok[0]);
}
self.addEventListener("message", init);