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44 lines
1.1 KiB
44 lines
1.1 KiB
#pragma once
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#include <cstdlib>
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#include "selfdrive/modeld/runners/runmodel.h"
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class ONNXModel : public RunModel {
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public:
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ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false);
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~ONNXModel();
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void addRecurrent(float *state, int state_size);
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void addDesire(float *state, int state_size);
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void addTrafficConvention(float *state, int state_size);
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void addCalib(float *state, int state_size);
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void addImage(float *image_buf, int buf_size);
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void addExtra(float *image_buf, int buf_size);
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void execute();
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private:
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int proc_pid;
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float *output;
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size_t output_size;
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float *rnn_input_buf = NULL;
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int rnn_state_size;
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float *desire_input_buf = NULL;
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int desire_state_size;
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float *traffic_convention_input_buf = NULL;
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int traffic_convention_size;
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float *calib_input_buf = NULL;
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int calib_size;
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float *image_input_buf = NULL;
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int image_buf_size;
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float *extra_input_buf = NULL;
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int extra_buf_size;
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bool use_extra;
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// pipe to communicate to keras subprocess
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void pread(float *buf, int size);
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void pwrite(float *buf, int size);
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int pipein[2];
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int pipeout[2];
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};
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