add model execution time

commaai · Nov 19, 2020 · e592c4a · e592c4a
1 parent 40bfca0
commit e592c4a
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Showing 4 changed files with 22 additions and 11 deletions.
diff --git a/cereal b/cereal
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
@@ -193,15 +193,16 @@ int main(int argc, char **argv) {
             model_eval_frame(&model, q, yuv_ion.buf_cl, buf_info.width, buf_info.height,
                              model_transform, NULL, vec_desire);
         mt2 = millis_since_boot();
+        float model_execution_time = (mt2 - mt1) / 1000.0;
 
         // tracked dropped frames
         uint32_t vipc_dropped_frames = extra.frame_id - last_vipc_frame_id - 1;
         frames_dropped = (1. - frame_filter_k) * frames_dropped + frame_filter_k * (float)std::min(vipc_dropped_frames, 10U);
         float frame_drop_ratio = frames_dropped / (1 + frames_dropped);
 
-        model_publish(pm, extra.frame_id, frame_id,  vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof);
-        model_publish_v2(pm, extra.frame_id, frame_id,  vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof);
-        posenet_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof);
+        model_publish(pm, extra.frame_id, frame_id,  vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time);
+        model_publish_v2(pm, extra.frame_id, frame_id,  vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time);
+        posenet_publish(pm, extra.frame_id, frame_id, vipc_dropped_frames, frame_drop_ratio, model_buf, extra.timestamp_eof, model_execution_time);
 
         LOGD("model process: %.2fms, from last %.2fms, vipc_frame_id %zu, frame_id, %zu, frame_drop %.3f", mt2-mt1, mt1-last, extra.frame_id, frame_id, frame_drop_ratio);
         last = mt1;

diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
@@ -307,7 +307,8 @@ void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const float * data,
 
 void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
                      uint32_t vipc_dropped_frames, float frame_drop,
-                     const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
+                     const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
+                     float model_execution_time) {
   // make msg
   MessageBuilder msg;
   auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModelV2();
@@ -316,6 +317,7 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
   framed.setFrameAge(frame_age);
   framed.setFrameDropPerc(frame_drop * 100);
   framed.setTimestampEof(timestamp_eof);
+  framed.setModelExecutionTime(model_execution_time);
 
   // plan 
   int plan_mhp_max_idx = 0;
@@ -385,15 +387,18 @@ void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
 }
 
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                   uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
-  uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
+                   uint32_t vipc_dropped_frames, float frame_drop,
+                   const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
+                   float model_execution_time) {
 
+  uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
   MessageBuilder msg;
   auto framed = msg.initEvent(frame_drop < MAX_FRAME_DROP).initModel();
   framed.setFrameId(vipc_frame_id);
   framed.setFrameAge(frame_age);
   framed.setFrameDropPerc(frame_drop * 100);
   framed.setTimestampEof(timestamp_eof);
+  framed.setModelExecutionTime(model_execution_time);
 
   // Find the distribution that corresponds to the most probable plan
   int plan_mhp_max_idx = 0;
@@ -461,7 +466,9 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
 }
 
 void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                     uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &net_outputs, uint64_t timestamp_eof) {
+                     uint32_t vipc_dropped_frames, float frame_drop,
+                     const ModelDataRaw &net_outputs, uint64_t timestamp_eof,
+                     float model_execution_time) {
   float trans_arr[3];
   float trans_std_arr[3];
   float rot_arr[3];

diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
@@ -78,9 +78,12 @@ void model_free(ModelState* s);
 void poly_fit(float *in_pts, float *in_stds, float *out);
 
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                   uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
+                   uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data,
+                   uint64_t timestamp_eof, float model_execution_time);
 void model_publish_v2(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                   uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
+                   uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data,
+                   uint64_t timestamp_eof, float model_execution_time);
 void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t frame_id,
-                     uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data, uint64_t timestamp_eof);
+                     uint32_t vipc_dropped_frames, float frame_drop, const ModelDataRaw &data,
+                     uint64_t timestamp_eof, float model_execution_time);
 #endif