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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,12 +1,13 @@ | ||
| Import('env', 'arch', 'messaging', 'common', 'visionipc') | ||
| Import('env', 'arch', 'is_tbp', 'messaging', 'common', 'visionipc') | ||
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| src = ['loggerd.cc', 'logger.cc'] | ||
| libs = ['zmq', 'czmq', 'capnp', 'kj', 'z', | ||
| 'avformat', 'avcodec', 'swscale', 'avutil', | ||
| 'yuv', 'bz2', common, 'json', messaging, visionipc] | ||
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| if arch == "aarch64": | ||
| src += ['encoder.c', 'raw_logger.cc'] | ||
| libs += ['OmxVenc', 'OmxCore', 'cutils'] | ||
| if not is_tbp: | ||
| src += ['encoder.c', 'raw_logger.cc'] | ||
| libs += ['OmxVenc', 'OmxCore', 'cutils'] | ||
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| env.Program(src, LIBS=libs) |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| #include "tfmodel.h" | ||
| #include <stdio.h> | ||
| #include <string> | ||
| #include <string.h> | ||
| #include <signal.h> | ||
| #include <unistd.h> | ||
| #include <stdlib.h> | ||
| #include <stdexcept> | ||
| #include "common/util.h" | ||
| #include "common/utilpp.h" | ||
| #include "common/swaglog.h" | ||
| #include <cassert> | ||
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| TFModel::TFModel(const char *path, float *_output, size_t _output_size, int runtime) { | ||
| output = _output; | ||
| output_size = _output_size; | ||
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| char tmp[1024]; | ||
| strncpy(tmp, path, sizeof(tmp)); | ||
| strstr(tmp, ".dlc")[0] = '\0'; | ||
| strcat(tmp, ".keras"); | ||
| LOGD("loading model %s", tmp); | ||
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| assert(pipe(pipein) == 0); | ||
| assert(pipe(pipeout) == 0); | ||
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| std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe")); | ||
| std::string keras_runner = exe_dir + "/runners/keras_runner.py"; | ||
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| proc_pid = fork(); | ||
| if (proc_pid == 0) { | ||
| LOGD("spawning keras process %s", keras_runner.c_str()); | ||
| char *argv[] = {(char*)keras_runner.c_str(), tmp, NULL}; | ||
| dup2(pipein[0], 0); | ||
| dup2(pipeout[1], 1); | ||
| close(pipein[0]); | ||
| close(pipein[1]); | ||
| close(pipeout[0]); | ||
| close(pipeout[1]); | ||
| execvp(keras_runner.c_str(), argv); | ||
| } | ||
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| // parent | ||
| close(pipein[0]); | ||
| close(pipeout[1]); | ||
| } | ||
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| TFModel::~TFModel() { | ||
| close(pipein[1]); | ||
| close(pipeout[0]); | ||
| kill(proc_pid, SIGTERM); | ||
| } | ||
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| void TFModel::pwrite(float *buf, int size) { | ||
| char *cbuf = (char *)buf; | ||
| int tw = size*sizeof(float); | ||
| while (tw > 0) { | ||
| int err = write(pipein[1], cbuf, tw); | ||
| //printf("host write %d\n", err); | ||
| assert(err >= 0); | ||
| cbuf += err; | ||
| tw -= err; | ||
| } | ||
| //printf("host write done\n"); | ||
| } | ||
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| void TFModel::pread(float *buf, int size) { | ||
| char *cbuf = (char *)buf; | ||
| int tr = size*sizeof(float); | ||
| while (tr > 0) { | ||
| int err = read(pipeout[0], cbuf, tr); | ||
| //printf("host read %d/%d\n", err, tr); | ||
| assert(err >= 0); | ||
| cbuf += err; | ||
| tr -= err; | ||
| } | ||
| //printf("host read done\n"); | ||
| } | ||
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| void TFModel::addRecurrent(float *state, int state_size) { | ||
| rnn_input_buf = state; | ||
| rnn_state_size = state_size; | ||
| } | ||
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| void TFModel::addDesire(float *state, int state_size) { | ||
| desire_input_buf = state; | ||
| desire_state_size = state_size; | ||
| } | ||
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| void TFModel::execute(float *net_input_buf, int buf_size) { | ||
| // order must be this | ||
| pwrite(net_input_buf, buf_size); | ||
| pwrite(desire_input_buf, desire_state_size); | ||
| pwrite(rnn_input_buf, rnn_state_size); | ||
| pread(output, output_size); | ||
| } | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,35 @@ | ||
| #ifndef TFMODEL_H | ||
| #define TFMODEL_H | ||
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| #include <stdlib.h> | ||
| #include "runmodel.h" | ||
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| struct TFState; | ||
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| class TFModel : public RunModel { | ||
| public: | ||
| TFModel(const char *path, float *output, size_t output_size, int runtime); | ||
| ~TFModel(); | ||
| void addRecurrent(float *state, int state_size); | ||
| void addDesire(float *state, int state_size); | ||
| void execute(float *net_input_buf, int buf_size); | ||
| private: | ||
| int proc_pid; | ||
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| float *output; | ||
| size_t output_size; | ||
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| float *rnn_input_buf = NULL; | ||
| int rnn_state_size; | ||
| float *desire_input_buf = NULL; | ||
| int desire_state_size; | ||
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| // pipe to communicate to keras subprocess | ||
| void pread(float *buf, int size); | ||
| void pwrite(float *buf, int size); | ||
| int pipein[2]; | ||
| int pipeout[2]; | ||
| }; | ||
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| #endif | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,3 +1,4 @@ | ||
| #!/usr/bin/env python3.7 | ||
| import os | ||
| import json | ||
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