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- #include "selfdrive/modeld/thneed/thneed.h"
- #include <cassert>
- #include "common/clutil.h"
- #include "common/timing.h"
- Thneed::Thneed(bool do_clinit, cl_context _context) {
- context = _context;
- if (do_clinit) clinit();
- char *thneed_debug_env = getenv("THNEED_DEBUG");
- debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0;
- }
- void Thneed::execute(float **finputs, float *foutput, bool slow) {
- uint64_t tb, te;
- if (debug >= 1) tb = nanos_since_boot();
- // ****** copy inputs
- copy_inputs(finputs);
- // ****** run commands
- clexec();
- // ****** copy outputs
- copy_output(foutput);
- if (debug >= 1) {
- te = nanos_since_boot();
- printf("model exec in %lu us\n", (te-tb)/1000);
- }
- }
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