You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
51 lines
1.4 KiB
51 lines
1.4 KiB
#pragma once
|
|
|
|
#include <cstdlib>
|
|
|
|
#include "selfdrive/modeld/runners/runmodel.h"
|
|
|
|
class ONNXModel : public RunModel {
|
|
public:
|
|
ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false, cl_context context = NULL);
|
|
~ONNXModel();
|
|
void addRecurrent(float *state, int state_size);
|
|
void addDesire(float *state, int state_size);
|
|
void addNavFeatures(float *state, int state_size);
|
|
void addDrivingStyle(float *state, int state_size);
|
|
void addTrafficConvention(float *state, int state_size);
|
|
void addCalib(float *state, int state_size);
|
|
void addImage(float *image_buf, int buf_size);
|
|
void addExtra(float *image_buf, int buf_size);
|
|
void execute();
|
|
private:
|
|
int proc_pid;
|
|
|
|
float *output;
|
|
size_t output_size;
|
|
|
|
float *rnn_input_buf = NULL;
|
|
int rnn_state_size;
|
|
float *desire_input_buf = NULL;
|
|
int desire_state_size;
|
|
float *nav_features_input_buf = NULL;
|
|
int nav_features_size;
|
|
float *driving_style_input_buf = NULL;
|
|
int driving_style_size;
|
|
float *traffic_convention_input_buf = NULL;
|
|
int traffic_convention_size;
|
|
float *calib_input_buf = NULL;
|
|
int calib_size;
|
|
float *image_input_buf = NULL;
|
|
int image_buf_size;
|
|
bool use_tf8;
|
|
float *extra_input_buf = NULL;
|
|
int extra_buf_size;
|
|
bool use_extra;
|
|
|
|
// pipe to communicate to keras subprocess
|
|
void pread(float *buf, int size);
|
|
void pwrite(float *buf, int size);
|
|
int pipein[2];
|
|
int pipeout[2];
|
|
};
|
|
|
|
|