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65 lines
1.8 KiB
65 lines
1.8 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/dmonitoring.h"
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ExitHandler do_exit;
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void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
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PubMaster pm({"driverStateV2"});
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SubMaster sm({"liveCalibration"});
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float calib[CALIB_LEN] = {0};
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double last = 0;
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while (!do_exit) {
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VisionIpcBufExtra extra = {};
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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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if (sm.updated("liveCalibration")) {
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auto calib_msg = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
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for (int i = 0; i < CALIB_LEN; i++) {
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calib[i] = calib_msg[i];
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}
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}
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double t1 = millis_since_boot();
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DMonitoringModelResult model_res = dmonitoring_eval_frame(&model, buf->addr, buf->width, buf->height, buf->stride, buf->uv_offset, calib);
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double t2 = millis_since_boot();
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// send dm packet
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dmonitoring_publish(pm, extra.frame_id, model_res, (t2 - t1) / 1000.0, model.output);
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//printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
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last = t1;
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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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DMonitoringModelState model;
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dmonitoring_init(&model);
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VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, 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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dmonitoring_free(&model);
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return 0;
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}
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