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56 lines
1.4 KiB
56 lines
1.4 KiB
#include "selfdrive/modeld/runners/thneedmodel.h"
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#include "common/swaglog.h"
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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.c_str());
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thneed->clexec();
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recorded = false;
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output = _output;
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}
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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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}
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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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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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}
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void ThneedModel::execute() {
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if (!recorded) {
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thneed->record = true;
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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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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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