134 lines
2.9 KiB
C++
134 lines
2.9 KiB
C++
#pragma once
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#ifndef __user
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#define __user __attribute__(())
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#endif
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#include <CL/cl.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <memory>
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#include <string>
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#include <vector>
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#include "selfdrive/modeld/thneed/include/msm_kgsl.h"
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#define THNEED_RECORD 1
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#define THNEED_DEBUG 2
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#define THNEED_VERBOSE_DEBUG 4
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using namespace std;
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namespace json11 {
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class Json;
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}
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class Thneed;
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class GPUMalloc {
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public:
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GPUMalloc(int size, int fd);
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~GPUMalloc();
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void *alloc(int size);
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private:
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uint64_t base;
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int remaining;
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};
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class CLQueuedKernel {
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public:
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CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; }
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CLQueuedKernel(Thneed *lthneed,
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cl_kernel _kernel,
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cl_uint _work_dim,
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const size_t *_global_work_size,
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const size_t *_local_work_size);
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cl_int exec();
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void debug_print(bool verbose);
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int get_arg_num(const char *search_arg_name);
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cl_program program;
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string name;
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cl_uint num_args;
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vector<string> arg_names;
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vector<string> arg_types;
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vector<string> args;
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vector<int> args_size;
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cl_kernel kernel = NULL;
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json11::Json to_json() const;
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cl_uint work_dim;
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size_t global_work_size[3] = {0};
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size_t local_work_size[3] = {0};
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private:
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Thneed *thneed;
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};
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class CachedIoctl {
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public:
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virtual void exec() {}
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};
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class CachedSync: public CachedIoctl {
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public:
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CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; }
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void exec();
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private:
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Thneed *thneed;
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string data;
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};
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class CachedCommand: public CachedIoctl {
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public:
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CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
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void exec();
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private:
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void disassemble(int cmd_index);
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struct kgsl_gpu_command cache;
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unique_ptr<kgsl_command_object[]> cmds;
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unique_ptr<kgsl_command_object[]> objs;
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Thneed *thneed;
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vector<shared_ptr<CLQueuedKernel> > kq;
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};
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class Thneed {
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public:
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Thneed(bool do_clinit=false);
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void stop();
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void execute(float **finputs, float *foutput, bool slow=false);
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void wait();
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int optimize();
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vector<void *> inputs;
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vector<size_t> input_sizes;
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cl_mem output = NULL;
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cl_context context = NULL;
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cl_command_queue command_queue;
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cl_device_id device_id;
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int context_id;
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// protected?
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int record;
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int timestamp;
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unique_ptr<GPUMalloc> ram;
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vector<unique_ptr<CachedIoctl> > cmds;
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int fd;
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// all CL kernels
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void find_inputs_outputs();
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void copy_inputs(float **finputs);
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void copy_output(float *foutput);
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cl_int clexec();
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vector<shared_ptr<CLQueuedKernel> > kq;
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// pending CL kernels
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vector<shared_ptr<CLQueuedKernel> > ckq;
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// loading and saving
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void load(const char *filename);
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void save(const char *filename, bool save_binaries=false);
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private:
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void clinit();
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};
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