IQ.Pilot Release Commit @ 0798119

iqpilot/selfdrive/iqmodeld/native/iqmodel.pxd

@@ -0,0 +1,29 @@
+# -*- coding: utf-8 -*-
+# distutils: language = c++
+# Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
+
+from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
+
+cdef extern from "common/mat.h":
+  cdef struct mat3:
+    float v[9]
+
+cdef extern from "common/clutil.h":
+  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
+  cl_device_id cl_get_device_id(unsigned long)
+  cl_context cl_create_context(cl_device_id)
+  void cl_release_context(cl_context)
+
+cdef extern from "iqpilot/selfdrive/iqmodeld/native/iqmodel.h":
+  cppclass NativeFrameBridge "FrameCropperBase":
+    int buf_size
+    unsigned char * copy_to_host(cl_mem*, int);
+    cl_mem * project_to_cl(cl_mem, int, int, int, int, mat3)
+
+  cppclass RoadFrameBridge "RoadHistoryAssembler":
+    int buf_size
+    RoadFrameBridge(cl_device_id, cl_context, unsigned char)
+
+  cppclass CabinFrameBridge "CabinFrameSampler":
+    int buf_size
+    CabinFrameBridge(cl_device_id, cl_context)