87 lines
2.0 KiB
C++
87 lines
2.0 KiB
C++
#include "visionbuf.h"
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#include <atomic>
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#include <stdio.h>
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#include <fcntl.h>
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#include <assert.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <sys/mman.h>
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#include <sys/types.h>
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std::atomic<int> offset = 0;
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static void *malloc_with_fd(size_t len, int *fd) {
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char full_path[0x100];
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#ifdef __APPLE__
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snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++);
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#else
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snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++);
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#endif
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*fd = open(full_path, O_RDWR | O_CREAT, 0777);
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assert(*fd >= 0);
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unlink(full_path);
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ftruncate(*fd, len);
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void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0);
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assert(addr != MAP_FAILED);
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return addr;
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}
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void VisionBuf::allocate(size_t len) {
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int fd;
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void *addr = malloc_with_fd(len, &fd);
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this->len = len;
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this->mmap_len = len;
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this->addr = addr;
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this->fd = fd;
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}
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void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){
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int err;
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this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err);
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assert(err == 0);
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this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err);
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assert(err == 0);
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}
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void VisionBuf::import(){
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assert(this->fd >= 0);
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this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0);
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assert(this->addr != MAP_FAILED);
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}
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void VisionBuf::sync(int dir) {
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int err = 0;
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if (!this->buf_cl) return;
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if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
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err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
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} else {
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err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL);
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}
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assert(err == 0);
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clFinish(this->copy_q);
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}
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void VisionBuf::free() {
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if (this->buf_cl){
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int err = clReleaseMemObject(this->buf_cl);
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assert(err == 0);
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clReleaseCommandQueue(this->copy_q);
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}
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munmap(this->addr, this->len);
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close(this->fd);
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}
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