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modeld: make valid variable thread safe #23228

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Dec 15, 2021
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modeld: make valid variable thread safe #23228

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5 changes: 3 additions & 2 deletions selfdrive/modeld/modeld.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {

transform_lock.lock();
mat3 model_transform = cur_transform;
bool valid = live_calib_seen;
transform_lock.unlock();

// TODO: path planner timeout?
Expand Down Expand Up @@ -117,8 +118,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client) {
float frame_drop_ratio = frames_dropped / (1 + frames_dropped);

model_publish(pm, extra.frame_id, frame_id, frame_drop_ratio, *model_output, extra.timestamp_eof, model_execution_time,
kj::ArrayPtr<const float>(model.output.data(), model.output.size()), live_calib_seen);
posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, live_calib_seen);
kj::ArrayPtr<const float>(model.output.data(), model.output.size()), valid);
posenet_publish(pm, extra.frame_id, vipc_dropped_frames, *model_output, extra.timestamp_eof, valid);

//printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio);
last = mt1;
Expand Down