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62 lines
1.5 KiB
62 lines
1.5 KiB
#include <sys/resource.h>
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#include <limits.h>
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#include <cstdio>
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#include <cstdlib>
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#include "cereal/visionipc/visionipc_client.h"
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#include "common/swaglog.h"
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#include "common/util.h"
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#include "selfdrive/modeld/models/nav.h"
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ExitHandler do_exit;
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void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
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SubMaster sm({"navInstruction"});
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PubMaster pm({"navModel"});
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double last_ts = 0;
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uint32_t last_frame_id = 0;
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VisionIpcBufExtra extra = {};
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while (!do_exit) {
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VisionBuf *buf = vipc_client.recv(&extra);
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if (buf == nullptr) continue;
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sm.update(0);
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double t1 = millis_since_boot();
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NavModelResult *model_res = navmodel_eval_frame(&model, buf);
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double t2 = millis_since_boot();
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// send navmodel packet
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navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid());
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//printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts);
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last_ts = t1;
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last_frame_id = extra.frame_id;
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}
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}
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int main(int argc, char **argv) {
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setpriority(PRIO_PROCESS, 0, -15);
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// init the models
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NavModelState model;
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navmodel_init(&model);
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LOGW("models loaded, navmodeld starting");
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VisionIpcClient vipc_client = VisionIpcClient("navd", VISION_STREAM_MAP, true);
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while (!do_exit && !vipc_client.connect(false)) {
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util::sleep_for(100);
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}
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// run the models
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if (vipc_client.connected) {
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LOGW("connected with buffer size: %d", vipc_client.buffers[0].len);
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run_model(model, vipc_client);
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}
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navmodel_free(&model);
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return 0;
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}
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