camerad: refactor RGBToYUVState into a class (#20310)

* struct RGBToYUVState to class Rgb2Yuv

* clFinish

* blank line

* rebase master

* use event

selfdrive/camerad/cameras/camera_common.cc

@@ -84,7 +84,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
     CL_CHECK(clReleaseProgram(prg_debayer));
   }
 
-  rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, rgb_width, rgb_height, rgb_stride);
+  rgb2yuv = std::make_unique<Rgb2Yuv>(context, device_id, rgb_width, rgb_height, rgb_stride);
 
 #ifdef __APPLE__
   q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
@@ -99,7 +99,6 @@ CameraBuf::~CameraBuf() {
     camera_bufs[i].free();
   }
 
-  if (rgb_to_yuv_state.rgb_to_yuv_krnl) rgb_to_yuv_destroy(&rgb_to_yuv_state);
   if (krnl_debayer) CL_CHECK(clReleaseKernel(krnl_debayer));
   if (q) CL_CHECK(clReleaseCommandQueue(q));
 }
@@ -114,7 +113,6 @@ bool CameraBuf::acquire() {
   }
 
   cur_frame_data = camera_bufs_metadata[cur_buf_idx];
-
   cur_rgb_buf = vipc_server->get_buffer(rgb_type);
 
   cl_event debayer_event;
@@ -151,7 +149,7 @@ bool CameraBuf::acquire() {
   CL_CHECK(clReleaseEvent(debayer_event));
 
   cur_yuv_buf = vipc_server->get_buffer(yuv_type);
-  rgb_to_yuv_queue(&rgb_to_yuv_state, q, cur_rgb_buf->buf_cl, cur_yuv_buf->buf_cl);
+  rgb2yuv->queue(q, cur_rgb_buf->buf_cl, cur_yuv_buf->buf_cl);
 
   VisionIpcBufExtra extra = {
                         cur_frame_data.frame_id,

selfdrive/camerad/cameras/camera_common.h

@@ -94,7 +94,7 @@ private:
   CameraState *camera_state;
   cl_kernel krnl_debayer;
 
-  RGBToYUVState rgb_to_yuv_state;
+  std::unique_ptr<Rgb2Yuv> rgb2yuv;
 
   VisionStreamType rgb_type, yuv_type;
 

selfdrive/camerad/transforms/rgb_to_yuv.cc

@@ -1,17 +1,8 @@
-#include <string.h>
+#include "rgb_to_yuv.h"
 #include <assert.h>
 
-#include "clutil.h"
-
-#include "rgb_to_yuv.h"
-
-void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
-  memset(s, 0, sizeof(*s));
-  printf("width %d, height %d, rgb_stride %d\n", width, height, rgb_stride);
-  assert(width % 2 == 0);
-  assert(height % 2 == 0);
-  s->width = width;
-  s->height = height;
+Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
+  assert(width % 2 == 0 && height % 2 == 0);
   char args[1024];
   snprintf(args, sizeof(args),
            "-cl-fast-relaxed-math -cl-denorms-are-zero "
@@ -19,27 +10,25 @@ void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, i
            "-DCL_DEBUG "
 #endif
            "-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
-           width, height, width/ 2, height / 2, rgb_stride, width * height);
+           width, height, width / 2, height / 2, rgb_stride, width * height);
+
   cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
-
-  s->rgb_to_yuv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
-  // done with this
+  krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
   CL_CHECK(clReleaseProgram(prg));
+
+  work_size[0] = (width + (width % 4 == 0 ? 0 : (4 - width % 4))) / 4;
+  work_size[1] = (height + (height % 4 == 0 ? 0 : (4 - height % 4))) / 4;
 }
 
-void rgb_to_yuv_destroy(RGBToYUVState* s) {
-  CL_CHECK(clReleaseKernel(s->rgb_to_yuv_krnl));
+Rgb2Yuv::~Rgb2Yuv() {
+  CL_CHECK(clReleaseKernel(krnl));
 }
 
-void rgb_to_yuv_queue(RGBToYUVState* s, cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
-  CL_CHECK(clSetKernelArg(s->rgb_to_yuv_krnl, 0, sizeof(cl_mem), &rgb_cl));
-  CL_CHECK(clSetKernelArg(s->rgb_to_yuv_krnl, 1, sizeof(cl_mem), &yuv_cl));
-  const size_t work_size[2] = {
-    (size_t)(s->width + (s->width % 4 == 0 ? 0 : (4 - s->width % 4))) / 4,
-    (size_t)(s->height + (s->height % 4 == 0 ? 0 : (4 - s->height % 4))) / 4
-  };
+void Rgb2Yuv::queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
+  CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), &rgb_cl));
+  CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), &yuv_cl));
   cl_event event;
-  CL_CHECK(clEnqueueNDRangeKernel(q, s->rgb_to_yuv_krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event));
+  CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event));
   CL_CHECK(clWaitForEvents(1, &event));
   CL_CHECK(clReleaseEvent(event));
 }

selfdrive/camerad/transforms/rgb_to_yuv.h

@@ -1,21 +1,14 @@
 #pragma once
 
-#include <inttypes.h>
-#include <stdbool.h>
+#include "common/clutil.h"
 
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
+class Rgb2Yuv {
+public:
+  Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride);
+  ~Rgb2Yuv();
+  void queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl);
+private:
+  size_t work_size[2];
+  cl_kernel krnl;
+};
 
-typedef struct {
-  int width, height;
-  cl_kernel rgb_to_yuv_krnl;
-} RGBToYUVState;
-
-void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride);
-
-void rgb_to_yuv_destroy(RGBToYUVState* s);
-
-void rgb_to_yuv_queue(RGBToYUVState* s, cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl);