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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// clang++ -O2 repro.cc && ./a.out
#include <sched.h>
#include <sys/types.h>
#include <unistd.h>
#include <cstdint>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <ctime>
static inline double millis_since_boot() {
struct timespec t;
clock_gettime(CLOCK_BOOTTIME, &t);
return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
}
#define MODEL_WIDTH 320
#define MODEL_HEIGHT 640
// null function still breaks it
#define input_lambda(x) x
// this is copied from models/dmonitoring.cc, and is the code that triggers the issue
void inner(uint8_t *resized_buf, float *net_input_buf) {
int resized_width = MODEL_WIDTH;
int resized_height = MODEL_HEIGHT;
// one shot conversion, O(n) anyway
// yuvframe2tensor, normalize
for (int r = 0; r < MODEL_HEIGHT/2; r++) {
for (int c = 0; c < MODEL_WIDTH/2; c++) {
// Y_ul
net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]);
// Y_ur
net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]);
// Y_dl
net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]);
// Y_dr
net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]);
// U
net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]);
// V
net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]);
}
}
}
float trial() {
int resized_width = MODEL_WIDTH;
int resized_height = MODEL_HEIGHT;
int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v
// allocate the buffers
uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2);
float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float));
printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float));
// test for bad buffers
static int CNT = 20;
float avg = 0.0;
for (int i = 0; i < CNT; i++) {
double s4 = millis_since_boot();
inner(resized_buf, net_input_buf);
double s5 = millis_since_boot();
avg += s5-s4;
}
avg /= CNT;
// once it's bad, it's reliably bad
if (avg > 10) {
printf("HIT %f\n", avg);
printf("BAD\n");
for (int i = 0; i < 200; i++) {
double s4 = millis_since_boot();
inner(resized_buf, net_input_buf);
double s5 = millis_since_boot();
printf("%.2f ", s5-s4);
}
printf("\n");
exit(0);
}
// don't free so we get a different buffer each time
//free(resized_buf);
//free(net_input_buf);
return avg;
}
int main() {
while (true) {
float ret = trial();
printf("got %f\n", ret);
}
}