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- #include "selfdrive/modeld/thneed/thneed.h"
- #include <cassert>
- #include <cstring>
- #include <map>
- #include "common/clutil.h"
- #include "common/timing.h"
- map<pair<cl_kernel, int>, string> g_args;
- map<pair<cl_kernel, int>, int> g_args_size;
- map<cl_program, string> g_program_source;
- void Thneed::stop() {
- //printf("Thneed::stop: recorded %lu commands\n", cmds.size());
- record = false;
- }
- void Thneed::clinit() {
- device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
- if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
- //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
- cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0};
- command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
- printf("Thneed::clinit done\n");
- }
- cl_int Thneed::clexec() {
- if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size());
- for (auto &k : kq) {
- if (record) ckq.push_back(k);
- cl_int ret = k->exec();
- assert(ret == CL_SUCCESS);
- }
- return clFinish(command_queue);
- }
- void Thneed::copy_inputs(float **finputs, bool internal) {
- for (int idx = 0; idx < inputs.size(); ++idx) {
- if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]);
- if (internal) {
- // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
- if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]);
- } else {
- if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL));
- }
- }
- }
- void Thneed::copy_output(float *foutput) {
- if (output != NULL) {
- size_t sz;
- clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
- if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput);
- CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL));
- } else {
- printf("CAUTION: model output is NULL, does it have no outputs?\n");
- }
- }
- // *********** CLQueuedKernel ***********
- CLQueuedKernel::CLQueuedKernel(Thneed *lthneed,
- cl_kernel _kernel,
- cl_uint _work_dim,
- const size_t *_global_work_size,
- const size_t *_local_work_size) {
- thneed = lthneed;
- kernel = _kernel;
- work_dim = _work_dim;
- assert(work_dim <= 3);
- for (int i = 0; i < work_dim; i++) {
- global_work_size[i] = _global_work_size[i];
- local_work_size[i] = _local_work_size[i];
- }
- char _name[0x100];
- clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL);
- name = string(_name);
- clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL);
- // get args
- for (int i = 0; i < num_args; i++) {
- char arg_name[0x100] = {0};
- clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
- arg_names.push_back(string(arg_name));
- clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
- arg_types.push_back(string(arg_name));
- args.push_back(g_args[make_pair(kernel, i)]);
- args_size.push_back(g_args_size[make_pair(kernel, i)]);
- }
- // get program
- clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL);
- }
- int CLQueuedKernel::get_arg_num(const char *search_arg_name) {
- for (int i = 0; i < num_args; i++) {
- if (arg_names[i] == search_arg_name) return i;
- }
- printf("failed to find %s in %s\n", search_arg_name, name.c_str());
- assert(false);
- }
- cl_int CLQueuedKernel::exec() {
- if (kernel == NULL) {
- kernel = clCreateKernel(program, name.c_str(), NULL);
- arg_names.clear();
- arg_types.clear();
- for (int j = 0; j < num_args; j++) {
- char arg_name[0x100] = {0};
- clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL);
- arg_names.push_back(string(arg_name));
- clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL);
- arg_types.push_back(string(arg_name));
- cl_int ret;
- if (args[j].size() != 0) {
- assert(args[j].size() == args_size[j]);
- ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data());
- } else {
- ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL);
- }
- assert(ret == CL_SUCCESS);
- }
- }
- if (thneed->debug >= 1) {
- debug_print(thneed->debug >= 2);
- }
- return clEnqueueNDRangeKernel(thneed->command_queue,
- kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL);
- }
- void CLQueuedKernel::debug_print(bool verbose) {
- printf("%p %56s -- ", kernel, name.c_str());
- for (int i = 0; i < work_dim; i++) {
- printf("%4zu ", global_work_size[i]);
- }
- printf(" -- ");
- for (int i = 0; i < work_dim; i++) {
- printf("%4zu ", local_work_size[i]);
- }
- printf("\n");
- if (verbose) {
- for (int i = 0; i < num_args; i++) {
- string arg = args[i];
- printf(" %s %s", arg_types[i].c_str(), arg_names[i].c_str());
- void *arg_value = (void*)arg.data();
- int arg_size = arg.size();
- if (arg_size == 0) {
- printf(" (size) %d", args_size[i]);
- } else if (arg_size == 1) {
- printf(" = %d", *((char*)arg_value));
- } else if (arg_size == 2) {
- printf(" = %d", *((short*)arg_value));
- } else if (arg_size == 4) {
- if (arg_types[i] == "float") {
- printf(" = %f", *((float*)arg_value));
- } else {
- printf(" = %d", *((int*)arg_value));
- }
- } else if (arg_size == 8) {
- cl_mem val = (cl_mem)(*((uintptr_t*)arg_value));
- printf(" = %p", val);
- if (val != NULL) {
- cl_mem_object_type obj_type;
- clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL);
- if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) {
- cl_image_format format;
- size_t width, height, depth, array_size, row_pitch, slice_pitch;
- cl_mem buf;
- clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL);
- assert(format.image_channel_order == CL_RGBA);
- assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT);
- clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL);
- clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL);
- clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL);
- clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL);
- clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL);
- clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL);
- assert(depth == 0);
- assert(array_size == 0);
- assert(slice_pitch == 0);
- clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL);
- size_t sz = 0;
- if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
- printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz);
- } else {
- size_t sz;
- clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL);
- printf(" buffer %zu", sz);
- }
- }
- }
- printf("\n");
- }
- }
- }
- cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) {
- g_args_size[make_pair(kernel, arg_index)] = arg_size;
- if (arg_value != NULL) {
- g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size);
- } else {
- g_args[make_pair(kernel, arg_index)] = string("");
- }
- cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value);
- return ret;
- }
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