Thneed load/save (#19700)
* start thneed load/save * compiling * fix loading * build thneed model in scons * don't hardcode /data/openpilot * release files * those too * support for loading/saving binary kernels * save binaries out of json band * make binary a command line flag to the compiler * need include assert * fix shadowed common in SConscript * cleanup run.h * hmm, the recurrent buffer wasn't 0ed * ugh, unique ptr * remove power constraint, refactor record * Revert "remove power constraint, refactor record" This reverts commit bb6fa52db6df59cd9d6420a6f630430e35af8a5e. * print on thneed stop * fingers crossed for this one * recorded * just curious * okay okay, pass tests? * cleanups * refactor wait Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/214/head
George Hotz
5 years ago
committed by
GitHub
parent
124100d0fa
commit
59fac9fdc6
12 changed files with 561 additions and 97 deletions
@ -0,0 +1,41 @@ |
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#include "thneedmodel.h" |
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#include <assert.h> |
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ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime) { |
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thneed = new Thneed(true); |
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thneed->record = 0; |
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thneed->load(path); |
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thneed->clexec(); |
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thneed->find_inputs_outputs(); |
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recorded = false; |
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output = loutput; |
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} |
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void ThneedModel::addRecurrent(float *state, int state_size) { |
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recurrent = state; |
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} |
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void ThneedModel::addTrafficConvention(float *state, int state_size) { |
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trafficConvention = state; |
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} |
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void ThneedModel::addDesire(float *state, int state_size) { |
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desire = state; |
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} |
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void ThneedModel::execute(float *net_input_buf, int buf_size) { |
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float *inputs[4] = {recurrent, trafficConvention, desire, net_input_buf}; |
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if (!recorded) { |
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thneed->record = THNEED_RECORD; |
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thneed->copy_inputs(inputs); |
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thneed->clexec(); |
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thneed->copy_output(output); |
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thneed->stop(); |
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recorded = true; |
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} else { |
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thneed->execute(inputs, output); |
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} |
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} |
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#pragma once |
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#include "runmodel.h" |
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#include "thneed/thneed.h" |
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class ThneedModel : public RunModel { |
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public: |
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ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime); |
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void addRecurrent(float *state, int state_size); |
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void addTrafficConvention(float *state, int state_size); |
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void addDesire(float *state, int state_size); |
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void execute(float *net_input_buf, int buf_size); |
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private: |
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Thneed *thneed = NULL; |
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bool recorded; |
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float *output; |
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// recurrent and desire
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float *recurrent; |
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float *trafficConvention; |
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float *desire; |
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}; |
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@ -0,0 +1,34 @@ |
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#include <string.h> |
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#include "thneed.h" |
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#include "../runners/snpemodel.h" |
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#define TEMPORAL_SIZE 512 |
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#define DESIRE_LEN 8 |
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#define TRAFFIC_CONVENTION_LEN 2 |
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// TODO: This should probably use SNPE directly.
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int main(int argc, char* argv[]) { |
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#define OUTPUT_SIZE 0x10000 |
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float *output = (float*)calloc(OUTPUT_SIZE, sizeof(float)); |
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SNPEModel mdl(argv[1], output, 0, USE_GPU_RUNTIME); |
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float state[TEMPORAL_SIZE] = {0}; |
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float desire[DESIRE_LEN] = {0}; |
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float traffic_convention[TRAFFIC_CONVENTION_LEN] = {0}; |
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float *input = (float*)calloc(0x1000000, sizeof(float));; |
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mdl.addRecurrent(state, TEMPORAL_SIZE); |
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mdl.addDesire(desire, DESIRE_LEN); |
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mdl.addTrafficConvention(traffic_convention, TRAFFIC_CONVENTION_LEN); |
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// first run
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printf("************** execute 1 **************\n"); |
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memset(output, 0, OUTPUT_SIZE * sizeof(float)); |
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mdl.execute(input, 0); |
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// save model
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bool save_binaries = (argc > 3) && (strcmp(argv[3], "--binary") == 0); |
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mdl.thneed->save(argv[2], save_binaries); |
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return 0; |
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} |
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@ -0,0 +1,290 @@ |
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#include <set> |
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#include <assert.h> |
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#include "thneed.h" |
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#include "json11.hpp" |
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using namespace json11; |
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extern map<cl_program, string> g_program_source; |
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void Thneed::load(const char *filename) { |
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printf("Thneed::load: loading from %s\n", filename); |
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FILE *f = fopen(filename, "rb"); |
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fseek(f, 0L, SEEK_END); |
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int sz = ftell(f); |
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fseek(f, 0L, SEEK_SET); |
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char *buf = (char*)malloc(sz); |
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fread(buf, 1, sz, f); |
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fclose(f); |
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int jsz = *(int *)buf; |
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string jj(buf+4, jsz); |
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string err; |
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Json jdat = Json::parse(jj, err); |
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map<cl_mem, cl_mem> real_mem; |
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real_mem[NULL] = NULL; |
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int ptr = 4+jsz; |
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for (auto &obj : jdat["objects"].array_items()) { |
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auto mobj = obj.object_items(); |
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int sz = mobj["size"].int_value(); |
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cl_mem clbuf = NULL; |
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if (mobj["buffer_id"].string_value().size() > 0) { |
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// image buffer must already be allocated
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clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; |
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assert(mobj["needs_load"].bool_value() == false); |
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} else { |
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if (mobj["needs_load"].bool_value()) { |
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//printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr);
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clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL); |
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ptr += sz; |
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} else { |
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clbuf = clCreateBuffer(context, CL_MEM_READ_WRITE, sz, NULL, NULL); |
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} |
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} |
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assert(clbuf != NULL); |
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if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") { |
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cl_image_desc desc = {0}; |
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desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER; |
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desc.image_width = mobj["width"].int_value(); |
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desc.image_height = mobj["height"].int_value(); |
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desc.image_row_pitch = mobj["row_pitch"].int_value(); |
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desc.buffer = clbuf; |
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cl_image_format format; |
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format.image_channel_order = CL_RGBA; |
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format.image_channel_data_type = CL_HALF_FLOAT; |
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clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, NULL); |
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assert(clbuf != NULL); |
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} |
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real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf; |
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} |
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map<string, cl_program> g_programs; |
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for (auto &obj : jdat["programs"].object_items()) { |
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const char *srcs[1]; |
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srcs[0] = (const char *)obj.second.string_value().c_str(); |
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size_t length = obj.second.string_value().size(); |
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if (record & THNEED_DEBUG) printf("building %s with size %zu\n", obj.first.c_str(), length); |
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cl_program program = clCreateProgramWithSource(context, 1, srcs, &length, NULL); |
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int err = clBuildProgram(program, 1, &device_id, "", NULL, NULL); |
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if (err != 0) { |
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printf("got err %d\n", err); |
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size_t length; |
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char buffer[2048]; |
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clGetProgramBuildInfo(program, device_id, CL_PROGRAM_BUILD_LOG, sizeof(buffer), buffer, &length); |
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buffer[length] = '\0'; |
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printf("%s\n", buffer); |
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} |
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assert(err == 0); |
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g_programs[obj.first] = program; |
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} |
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for (auto &obj : jdat["binaries"].array_items()) { |
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string name = obj["name"].string_value(); |
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size_t length = obj["length"].int_value(); |
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const unsigned char *srcs[1]; |
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srcs[0] = (const unsigned char *)&buf[ptr]; |
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ptr += length; |
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if (record & THNEED_DEBUG) printf("binary %s with size %zu\n", name.c_str(), length); |
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cl_int err; |
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cl_program program = clCreateProgramWithBinary(context, 1, &device_id, &length, srcs, NULL, &err); |
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assert(program != NULL && err == CL_SUCCESS); |
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err = clBuildProgram(program, 1, &device_id, "", NULL, NULL); |
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assert(err == CL_SUCCESS); |
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g_programs[name] = program; |
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} |
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for (auto &obj : jdat["kernels"].array_items()) { |
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auto gws = obj["global_work_size"]; |
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auto lws = obj["local_work_size"]; |
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auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this)); |
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kk->name = obj["name"].string_value(); |
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kk->program = g_programs[kk->name]; |
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kk->work_dim = obj["work_dim"].int_value(); |
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for (int i = 0; i < kk->work_dim; i++) { |
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kk->global_work_size[i] = gws[i].int_value(); |
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kk->local_work_size[i] = lws[i].int_value(); |
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} |
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kk->num_args = obj["num_args"].int_value(); |
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for (int i = 0; i < kk->num_args; i++) { |
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string arg = obj["args"].array_items()[i].string_value(); |
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int arg_size = obj["args_size"].array_items()[i].int_value(); |
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kk->args_size.push_back(arg_size); |
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if (arg_size == 8) { |
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cl_mem val = *(cl_mem*)(arg.data()); |
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val = real_mem[val]; |
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kk->args.push_back(string((char*)&val, sizeof(val))); |
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} else { |
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kk->args.push_back(arg); |
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} |
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} |
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kq.push_back(kk); |
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} |
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free(buf); |
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clFinish(command_queue); |
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} |
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void Thneed::save(const char *filename, bool save_binaries) { |
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printf("Thneed::save: saving to %s\n", filename); |
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// get kernels
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std::vector<Json> kernels; |
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std::set<string> saved_objects; |
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std::vector<Json> objects; |
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std::map<string, string> programs; |
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std::map<string, string> binaries; |
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for (auto &k : kq) { |
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kernels.push_back(k->to_json()); |
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// check args for objects
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int i = 0; |
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for (auto &a : k->args) { |
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if (a.size() == 8) { |
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if (saved_objects.find(a) == saved_objects.end()) { |
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saved_objects.insert(a); |
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cl_mem val = *(cl_mem*)(a.data()); |
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if (val != NULL) { |
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bool needs_load = k->arg_names[i] == "weights" || k->arg_names[i] == "biases"; |
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auto jj = Json::object({ |
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{"id", a}, |
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{"arg_type", k->arg_types[i]}, |
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}); |
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if (k->arg_types[i] == "image2d_t" || k->arg_types[i] == "image1d_t") { |
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cl_mem buf; |
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clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL); |
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string aa = string((char *)&buf, sizeof(buf)); |
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jj["buffer_id"] = aa; |
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size_t width, height, row_pitch; |
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clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL); |
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clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL); |
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clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL); |
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jj["width"] = (int)width; |
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jj["height"] = (int)height; |
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jj["row_pitch"] = (int)row_pitch; |
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jj["size"] = (int)(height * row_pitch); |
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jj["needs_load"] = false; |
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if (saved_objects.find(aa) == saved_objects.end()) { |
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saved_objects.insert(aa); |
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size_t sz; |
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clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL); |
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// save the buffer
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objects.push_back(Json::object({ |
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{"id", aa}, |
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{"arg_type", "<image buffer>"}, |
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{"needs_load", needs_load}, |
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{"size", (int)sz} |
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})); |
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if (needs_load) assert(sz == height * row_pitch); |
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} |
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} else { |
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size_t sz = 0; |
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clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL); |
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jj["size"] = (int)sz; |
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jj["needs_load"] = needs_load; |
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} |
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objects.push_back(jj); |
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} |
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} |
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} |
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i++; |
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} |
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if (save_binaries) { |
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int err; |
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size_t binary_size = 0; |
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err = clGetProgramInfo(k->program, CL_PROGRAM_BINARY_SIZES, sizeof(binary_size), &binary_size, NULL); |
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assert(err == 0); |
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assert(binary_size > 0); |
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string sv(binary_size, '\x00'); |
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uint8_t* bufs[1] = { (uint8_t*)sv.data(), }; |
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err = clGetProgramInfo(k->program, CL_PROGRAM_BINARIES, sizeof(bufs), &bufs, NULL); |
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assert(err == 0); |
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binaries[k->name] = sv; |
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} else { |
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programs[k->name] = g_program_source[k->program]; |
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} |
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} |
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vector<string> saved_buffers; |
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for (auto &obj : objects) { |
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auto mobj = obj.object_items(); |
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cl_mem val = *(cl_mem*)(mobj["id"].string_value().data()); |
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int sz = mobj["size"].int_value(); |
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if (mobj["needs_load"].bool_value()) { |
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char *buf = (char *)malloc(sz); |
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if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") { |
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assert(false); |
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} else { |
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// buffers alloced with CL_MEM_HOST_WRITE_ONLY, hence this hack
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//hexdump((uint32_t*)val, 0x100);
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// the worst hack in thneed, the flags are at 0x14
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((uint32_t*)val)[0x14] &= ~CL_MEM_HOST_WRITE_ONLY; |
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cl_int ret = clEnqueueReadBuffer(command_queue, val, CL_TRUE, 0, sz, buf, 0, NULL, NULL); |
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assert(ret == CL_SUCCESS); |
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} |
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//printf("saving buffer: %d %p %s\n", sz, buf, mobj["arg_type"].string_value().c_str());
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saved_buffers.push_back(string(buf, sz)); |
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free(buf); |
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} |
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} |
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std::vector<Json> jbinaries; |
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for (auto &obj : binaries) { |
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jbinaries.push_back(Json::object({{"name", obj.first}, {"length", (int)obj.second.size()}})); |
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saved_buffers.push_back(obj.second); |
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} |
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Json jdat = Json::object({ |
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{"kernels", kernels}, |
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{"objects", objects}, |
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{"programs", programs}, |
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{"binaries", jbinaries}, |
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}); |
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string str = jdat.dump(); |
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int jsz = str.length(); |
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FILE *f = fopen(filename, "wb"); |
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fwrite(&jsz, 1, sizeof(jsz), f); |
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fwrite(str.data(), 1, jsz, f); |
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for (auto &s : saved_buffers) { |
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fwrite(s.data(), 1, s.length(), f); |
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} |
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fclose(f); |
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} |
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Json CLQueuedKernel::to_json() const { |
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return Json::object { |
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{ "name", name }, |
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{ "work_dim", (int)work_dim }, |
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{ "global_work_size", Json::array { (int)global_work_size[0], (int)global_work_size[1], (int)global_work_size[2] } }, |
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{ "local_work_size", Json::array { (int)local_work_size[0], (int)local_work_size[1], (int)local_work_size[2] } }, |
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{ "num_args", (int)num_args }, |
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{ "args", args }, |
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{ "args_size", args_size }, |
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}; |
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} |
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