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42 lines
987 B
42 lines
987 B
#include "selfdrive/modeld/runners/thneedmodel.h"
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#include <cassert>
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ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime) {
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thneed = new Thneed(true);
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thneed->record = 0;
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thneed->load(path);
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thneed->clexec();
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thneed->find_inputs_outputs();
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recorded = false;
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output = loutput;
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}
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void ThneedModel::addRecurrent(float *state, int state_size) {
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recurrent = state;
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}
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void ThneedModel::addTrafficConvention(float *state, int state_size) {
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trafficConvention = state;
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}
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void ThneedModel::addDesire(float *state, int state_size) {
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desire = state;
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}
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void ThneedModel::execute(float *net_input_buf, int buf_size) {
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float *inputs[4] = {recurrent, trafficConvention, desire, net_input_buf};
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if (!recorded) {
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thneed->record = THNEED_RECORD;
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thneed->copy_inputs(inputs);
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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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thneed->execute(inputs, output);
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}
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}
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