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openpilot/selfdrive/common/clutil.c

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C
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#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <assert.h>
#include <string.h>
#include <unistd.h>
#include <inttypes.h>
#include <sys/stat.h>
#ifdef __APPLE__
#include <OpenCL/cl.h>
#else
#include <CL/cl.h>
#endif
#include "common/util.h"
#include "clutil.h"
typedef struct CLUProgramIndex {
uint64_t index_hash;
const uint8_t* bin_data;
const uint8_t* bin_end;
} CLUProgramIndex;
#ifdef CLU_NO_SRC
#include "clcache_bins.h"
#else
static const CLUProgramIndex clu_index[] = {};
#endif
void clu_init(void) {
#ifndef CLU_NO_SRC
mkdir("/tmp/clcache", 0777);
unlink("/tmp/clcache/index.cli");
#endif
}
cl_program cl_create_program_from_file(cl_context ctx, const char* path) {
char* src_buf = read_file(path, NULL);
assert(src_buf);
int err = 0;
cl_program ret = clCreateProgramWithSource(ctx, 1, (const char**)&src_buf, NULL, &err);
assert(err == 0);
free(src_buf);
return ret;
}
static char* get_version_string(cl_platform_id platform) {
size_t size = 0;
int err;
err = clGetPlatformInfo(platform, CL_PLATFORM_VERSION, 0, NULL, &size);
assert(err == 0);
char *str = malloc(size);
assert(str);
err = clGetPlatformInfo(platform, CL_PLATFORM_VERSION, size, str, NULL);
assert(err == 0);
return str;
}
void cl_print_info(cl_platform_id platform, cl_device_id device) {
char str[4096];
clGetPlatformInfo(platform, CL_PLATFORM_VENDOR, sizeof(str), str, NULL);
printf("vendor: '%s'\n", str);
char* version = get_version_string(platform);
printf("platform version: '%s'\n", version);
free(version);
clGetPlatformInfo(platform, CL_PLATFORM_PROFILE, sizeof(str), str, NULL);
printf("profile: '%s'\n", str);
clGetPlatformInfo(platform, CL_PLATFORM_EXTENSIONS, sizeof(str), str, NULL);
printf("extensions: '%s'\n", str);
clGetDeviceInfo(device, CL_DEVICE_NAME, sizeof(str), str, NULL);
printf("name: '%s'\n", str);
clGetDeviceInfo(device, CL_DEVICE_VERSION, sizeof(str), str, NULL);
printf("device version: '%s'\n", str);
size_t sz;
clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(sz), &sz, NULL);
printf("max work group size: %zu\n", sz);
cl_device_type type;
clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(type), &type, NULL);
printf("type = 0x%04x = ", (unsigned int)type);
switch(type) {
case CL_DEVICE_TYPE_CPU:
printf("CL_DEVICE_TYPE_CPU\n");
break;
case CL_DEVICE_TYPE_GPU:
printf("CL_DEVICE_TYPE_GPU\n");
break;
case CL_DEVICE_TYPE_ACCELERATOR:
printf("CL_DEVICE_TYPE_ACCELERATOR\n");
break;
default:
printf("Other...\n" );
break;
}
}
void cl_print_build_errors(cl_program program, cl_device_id device) {
cl_build_status status;
clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS,
sizeof(cl_build_status), &status, NULL);
size_t log_size;
clGetProgramBuildInfo(program, device,
CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
char* log = calloc(log_size+1, 1);
assert(log);
clGetProgramBuildInfo(program, device,
CL_PROGRAM_BUILD_LOG, log_size+1, log, NULL);
printf("build failed; status=%d, log:\n%s\n",
status, log);
free(log);
}
uint64_t clu_index_hash(const char* s) {
size_t sl = strlen(s);
assert(sl < 128);
uint64_t x = 0;
for (int i=127; i>=0; i--) {
x *= 65599ULL;
x += (uint8_t)s[i<sl ? sl-1-i : sl];
}
return x ^ (x >> 32);
}
uint64_t clu_fnv_hash(const uint8_t *data, size_t len) {
/* 64 bit Fowler/Noll/Vo FNV-1a hash code */
uint64_t hval = 0xcbf29ce484222325ULL;
const uint8_t *dp = data;
const uint8_t *de = data + len;
while (dp < de) {
hval ^= (uint64_t) *dp++;
hval += (hval << 1) + (hval << 4) + (hval << 5) +
(hval << 7) + (hval << 8) + (hval << 40);
}
return hval;
}
cl_program cl_cached_program_from_hash(cl_context ctx, cl_device_id device_id, uint64_t hash) {
int err;
char cache_path[1024];
snprintf(cache_path, sizeof(cache_path), "/tmp/clcache/%016" PRIx64 ".clb", hash);
size_t bin_size;
uint8_t *bin = read_file(cache_path, &bin_size);
if (!bin) {
return NULL;
}
cl_program prg = clCreateProgramWithBinary(ctx, 1, &device_id, &bin_size, (const uint8_t**)&bin, NULL, &err);
assert(err == 0);
free(bin);
err = clBuildProgram(prg, 1, &device_id, NULL, NULL, NULL);
assert(err == 0);
return prg;
}
static uint8_t* get_program_binary(cl_program prg, size_t *out_size) {
int err;
cl_uint num_devices;
err = clGetProgramInfo(prg, CL_PROGRAM_NUM_DEVICES, sizeof(num_devices), &num_devices, NULL);
assert(err == 0);
assert(num_devices == 1);
size_t binary_size = 0;
err = clGetProgramInfo(prg, CL_PROGRAM_BINARY_SIZES, sizeof(binary_size), &binary_size, NULL);
assert(err == 0);
assert(binary_size > 0);
uint8_t *binary_buf = malloc(binary_size);
assert(binary_buf);
uint8_t* bufs[1] = { binary_buf, };
err = clGetProgramInfo(prg, CL_PROGRAM_BINARIES, sizeof(bufs), &bufs, NULL);
assert(err == 0);
*out_size = binary_size;
return binary_buf;
}
cl_program cl_cached_program_from_string(cl_context ctx, cl_device_id device_id,
const char* src, const char* args,
uint64_t *out_hash) {
int err;
cl_platform_id platform;
err = clGetDeviceInfo(device_id, CL_DEVICE_PLATFORM, sizeof(platform), &platform, NULL);
assert(err == 0);
const char* platform_version = get_version_string(platform);
const size_t hash_len = strlen(platform_version)+1+strlen(src)+1+strlen(args)+1;
char* hash_buf = malloc(hash_len);
assert(hash_buf);
memset(hash_buf, 0, hash_len);
snprintf(hash_buf, hash_len, "%s%c%s%c%s", platform_version, 1, src, 1, args);
free((void*)platform_version);
uint64_t hash = clu_fnv_hash((uint8_t*)hash_buf, hash_len);
free(hash_buf);
cl_program prg = NULL;
#ifndef CLU_NO_CACHE
prg = cl_cached_program_from_hash(ctx, device_id, hash);
#endif
if (prg == NULL) {
prg = clCreateProgramWithSource(ctx, 1, (const char**)&src, NULL, &err);
assert(err == 0);
err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL);
if (err != 0) {
cl_print_build_errors(prg, device_id);
}
assert(err == 0);
#ifndef CLU_NO_CACHE
// write program binary to cache
size_t binary_size;
uint8_t *binary_buf = get_program_binary(prg, &binary_size);
char cache_path[1024];
snprintf(cache_path, sizeof(cache_path), "/tmp/clcache/%016" PRIx64 ".clb", hash);
FILE* of = fopen(cache_path, "wb");
assert(of);
fwrite(binary_buf, 1, binary_size, of);
fclose(of);
free(binary_buf);
#endif
}
if (out_hash) *out_hash = hash;
return prg;
}
cl_program cl_cached_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args,
uint64_t *out_hash) {
char* src_buf = read_file(path, NULL);
assert(src_buf);
cl_program ret = cl_cached_program_from_string(ctx, device_id, src_buf, args, out_hash);
free(src_buf);
return ret;
}
static void add_index(uint64_t index_hash, uint64_t src_hash) {
FILE *f = fopen("/tmp/clcache/index.cli", "a");
assert(f);
fprintf(f, "%016" PRIx64 " %016" PRIx64 "\n", index_hash, src_hash);
fclose(f);
}
cl_program cl_program_from_index(cl_context ctx, cl_device_id device_id, uint64_t index_hash) {
int err;
int i;
for (i=0; i<ARRAYSIZE(clu_index); i++) {
if (clu_index[i].index_hash == index_hash) {
break;
}
}
if (i >= ARRAYSIZE(clu_index)) {
assert(false);
}
size_t bin_size = clu_index[i].bin_end - clu_index[i].bin_data;
const uint8_t *bin_data = clu_index[i].bin_data;
cl_program prg = clCreateProgramWithBinary(ctx, 1, &device_id, &bin_size, (const uint8_t**)&bin_data, NULL, &err);
assert(err == 0);
err = clBuildProgram(prg, 1, &device_id, NULL, NULL, NULL);
assert(err == 0);
return prg;
}
cl_program cl_index_program_from_string(cl_context ctx, cl_device_id device_id,
const char* src, const char* args,
uint64_t index_hash) {
uint64_t src_hash = 0;
cl_program ret = cl_cached_program_from_string(ctx, device_id, src, args, &src_hash);
#ifndef CLU_NO_CACHE
add_index(index_hash, src_hash);
#endif
return ret;
}
cl_program cl_index_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args,
uint64_t index_hash) {
uint64_t src_hash = 0;
cl_program ret = cl_cached_program_from_file(ctx, device_id, path, args, &src_hash);
#ifndef CLU_NO_CACHE
add_index(index_hash, src_hash);
#endif
return ret;
}
/*
* Given a cl code and return a string represenation
*/
const char* cl_get_error_string(int err) {
switch (err) {
case 0: return "CL_SUCCESS";
case -1: return "CL_DEVICE_NOT_FOUND";
case -2: return "CL_DEVICE_NOT_AVAILABLE";
case -3: return "CL_COMPILER_NOT_AVAILABLE";
case -4: return "CL_MEM_OBJECT_ALLOCATION_FAILURE";
case -5: return "CL_OUT_OF_RESOURCES";
case -6: return "CL_OUT_OF_HOST_MEMORY";
case -7: return "CL_PROFILING_INFO_NOT_AVAILABLE";
case -8: return "CL_MEM_COPY_OVERLAP";
case -9: return "CL_IMAGE_FORMAT_MISMATCH";
case -10: return "CL_IMAGE_FORMAT_NOT_SUPPORTED";
case -12: return "CL_MAP_FAILURE";
case -13: return "CL_MISALIGNED_SUB_BUFFER_OFFSET";
case -14: return "CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST";
case -15: return "CL_COMPILE_PROGRAM_FAILURE";
case -16: return "CL_LINKER_NOT_AVAILABLE";
case -17: return "CL_LINK_PROGRAM_FAILURE";
case -18: return "CL_DEVICE_PARTITION_FAILED";
case -19: return "CL_KERNEL_ARG_INFO_NOT_AVAILABLE";
case -30: return "CL_INVALID_VALUE";
case -31: return "CL_INVALID_DEVICE_TYPE";
case -32: return "CL_INVALID_PLATFORM";
case -33: return "CL_INVALID_DEVICE";
case -34: return "CL_INVALID_CONTEXT";
case -35: return "CL_INVALID_QUEUE_PROPERTIES";
case -36: return "CL_INVALID_COMMAND_QUEUE";
case -37: return "CL_INVALID_HOST_PTR";
case -38: return "CL_INVALID_MEM_OBJECT";
case -39: return "CL_INVALID_IMAGE_FORMAT_DESCRIPTOR";
case -40: return "CL_INVALID_IMAGE_SIZE";
case -41: return "CL_INVALID_SAMPLER";
case -42: return "CL_INVALID_BINARY";
case -43: return "CL_INVALID_BUILD_OPTIONS";
case -44: return "CL_INVALID_PROGRAM";
case -45: return "CL_INVALID_PROGRAM_EXECUTABLE";
case -46: return "CL_INVALID_KERNEL_NAME";
case -47: return "CL_INVALID_KERNEL_DEFINITION";
case -48: return "CL_INVALID_KERNEL";
case -49: return "CL_INVALID_ARG_INDEX";
case -50: return "CL_INVALID_ARG_VALUE";
case -51: return "CL_INVALID_ARG_SIZE";
case -52: return "CL_INVALID_KERNEL_ARGS";
case -53: return "CL_INVALID_WORK_DIMENSION";
case -54: return "CL_INVALID_WORK_GROUP_SIZE";
case -55: return "CL_INVALID_WORK_ITEM_SIZE";
case -56: return "CL_INVALID_GLOBAL_OFFSET";
case -57: return "CL_INVALID_EVENT_WAIT_LIST";
case -58: return "CL_INVALID_EVENT";
case -59: return "CL_INVALID_OPERATION";
case -60: return "CL_INVALID_GL_OBJECT";
case -61: return "CL_INVALID_BUFFER_SIZE";
case -62: return "CL_INVALID_MIP_LEVEL";
case -63: return "CL_INVALID_GLOBAL_WORK_SIZE";
case -64: return "CL_INVALID_PROPERTY";
case -65: return "CL_INVALID_IMAGE_DESCRIPTOR";
case -66: return "CL_INVALID_COMPILER_OPTIONS";
case -67: return "CL_INVALID_LINKER_OPTIONS";
case -68: return "CL_INVALID_DEVICE_PARTITION_COUNT";
case -69: return "CL_INVALID_PIPE_SIZE";
case -70: return "CL_INVALID_DEVICE_QUEUE";
case -71: return "CL_INVALID_SPEC_ID";
case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED";
case -1002: return "CL_INVALID_D3D10_DEVICE_KHR";
case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR";
case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR";
case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR";
case -1006: return "CL_INVALID_D3D11_DEVICE_KHR";
case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR";
case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR";
case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR";
case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR";
case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR";
case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR";
case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR";
case -1093: return "CL_INVALID_EGL_OBJECT_KHR";
case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR";
case -1001: return "CL_PLATFORM_NOT_FOUND_KHR";
case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT";
case -1058: return "CL_INVALID_PARTITION_COUNT_EXT";
case -1059: return "CL_INVALID_PARTITION_NAME_EXT";
case -1094: return "CL_INVALID_ACCELERATOR_INTEL";
case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL";
case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL";
case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL";
case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR";
case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL";
case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL";
case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL";
case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL";
default: return "CL_UNKNOWN_ERROR";
}
}
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