add function cl_get_device_id (#1948)

* add func cl_get_device_id

cleanup

* add fix from review

selfdrive/camerad/main.cc

@@ -1010,19 +1010,7 @@ cl_program build_pool_program(VisionState *s,
 
 void cl_init(VisionState *s) {
   int err;
-  cl_platform_id platform_id = NULL;
+  s->device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  cl_uint num_devices;
-  cl_uint num_platforms;
-
-  err = clGetPlatformIDs(1, &platform_id, &num_platforms);
-  assert(err == 0);
-  err = clGetDeviceIDs(platform_id, CL_DEVICE_TYPE_DEFAULT, 1,
-                       &s->device_id, &num_devices);
-  assert(err == 0);
-
-  cl_print_info(platform_id, s->device_id);
-  printf("\n");
-
   s->context = clCreateContext(NULL, 1, &s->device_id, NULL, NULL, &err);
   assert(err == 0);
 }

selfdrive/camerad/test/yuv_bench/yuv_bench.cc

@@ -38,27 +38,8 @@ int main() {
 
 
   // init cl
-  /* Get Platform and Device Info */
+  int err;
-  cl_platform_id platform_id = NULL;
+  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  cl_uint num_platforms_unused;
-  int err = clGetPlatformIDs(1, &platform_id, &num_platforms_unused);
-  if (err != 0) {
-    fprintf(stderr, "cl error: %d\n", err);
-  }
-  assert(err == 0);
-
-  cl_device_id device_id = NULL;
-  cl_uint num_devices_unused;
-  err = clGetDeviceIDs(platform_id, CL_DEVICE_TYPE_DEFAULT, 1, &device_id,
-                       &num_devices_unused);
-  if (err != 0) {
-    fprintf(stderr, "cl error: %d\n", err);
-  }
-  assert(err == 0);
-
-  cl_print_info(platform_id, device_id);
-  printf("\n");
-
   cl_context context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
   assert(err == 0);
 

selfdrive/camerad/transforms/rgb_to_yuv_test.cc

@@ -42,14 +42,7 @@ static inline double millis_since_boot() {
 
 void cl_init(cl_device_id &device_id, cl_context &context) {
   int err;
-  cl_platform_id platform_id = NULL;
+  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  cl_uint num_devices;
-  cl_uint num_platforms;
-
-  err = clGetPlatformIDs(1, &platform_id, &num_platforms);
-  err = clGetDeviceIDs(platform_id, CL_DEVICE_TYPE_DEFAULT, 1,
-                       &device_id, &num_devices);
-  cl_print_info(platform_id, device_id);
   context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
 }
 

selfdrive/common/clutil.c

@@ -36,6 +36,44 @@ void clu_init(void) {
 #endif
 }
 
+cl_device_id cl_get_device_id(cl_device_type device_type) {
+  bool opencl_platform_found = false;
+  cl_device_id device_id = NULL;
+  
+  cl_uint num_platforms = 0;
+  int err = clGetPlatformIDs(0, NULL, &num_platforms);
+  assert(err == 0);
+  cl_platform_id* platform_ids = malloc(sizeof(cl_platform_id) * num_platforms);
+  err = clGetPlatformIDs(num_platforms, platform_ids, NULL);
+  assert(err == 0);
+
+  char cBuffer[1024];
+  for (size_t i = 0; i < num_platforms; i++) {
+    err = clGetPlatformInfo(platform_ids[i], CL_PLATFORM_NAME, sizeof(cBuffer), &cBuffer, NULL);
+    assert(err == 0);
+    printf("platform[%zu] CL_PLATFORM_NAME: %s\n", i, cBuffer);
+
+    cl_uint num_devices;
+    err = clGetDeviceIDs(platform_ids[i], device_type, 0, NULL, &num_devices);
+    if (err != 0 || !num_devices) {
+      continue;
+    }
+    // Get first device
+    err = clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL);
+    assert(err == 0);
+    cl_print_info(platform_ids[i], device_id);
+    opencl_platform_found = true;
+    break;
+  }
+  free(platform_ids);
+  
+  if (!opencl_platform_found) {
+    printf("No valid openCL platform found\n");
+    assert(opencl_platform_found);
+  }
+  return device_id;
+}
+
 cl_program cl_create_program_from_file(cl_context ctx, const char* path) {
   char* src_buf = read_file(path, NULL);
   assert(src_buf);

selfdrive/common/clutil.h

@@ -17,6 +17,7 @@ extern "C" {
 
 void clu_init(void);
 
+cl_device_id cl_get_device_id(cl_device_type device_type);
 cl_program cl_create_program_from_file(cl_context ctx, const char* path);
 void cl_print_info(cl_platform_id platform, cl_device_id device);
 void cl_print_build_errors(cl_program program, cl_device_id device);

selfdrive/modeld/modeld.cc

@@ -6,6 +6,7 @@
 #include "common/visionbuf.h"
 #include "common/visionipc.h"
 #include "common/swaglog.h"
+#include "common/clutil.h"
 
 #include "models/driving.h"
 #include "messaging.hpp"
@@ -96,59 +97,13 @@ int main(int argc, char **argv) {
 #endif
 
   // cl init
-  cl_device_id device_id;
+  cl_device_id device_id = cl_get_device_id(device_type);
-  cl_context context;
+  cl_context context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
-  cl_command_queue q;
-  {
-    cl_uint num_platforms;
-    err = clGetPlatformIDs(0, NULL, &num_platforms);
   assert(err == 0);
 
-    cl_platform_id * platform_ids = new cl_platform_id[num_platforms];
+  cl_command_queue q = clCreateCommandQueue(context, device_id, 0, &err);
-    err = clGetPlatformIDs(num_platforms, platform_ids, NULL);
   assert(err == 0);
 
-    LOGD("got %d opencl platform(s)", num_platforms);
-
-    char cBuffer[1024];
-    bool opencl_platform_found = false;
-
-    for (size_t i = 0; i < num_platforms; i++){
-      err = clGetPlatformInfo(platform_ids[i], CL_PLATFORM_NAME, sizeof(cBuffer), &cBuffer, NULL);
-      assert(err == 0);
-      LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, cBuffer);
-
-      cl_uint num_devices;
-      err = clGetDeviceIDs(platform_ids[i], device_type, 0, NULL, &num_devices);
-      if (err != 0|| !num_devices){
-        continue;
-      }
-
-      // Get first device
-      err = clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL);
-      assert(err == 0);
-
-      context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
-      assert(err == 0);
-
-      q = clCreateCommandQueue(context, device_id, 0, &err);
-      assert(err == 0);
-
-      opencl_platform_found = true;
-      break;
-    }
-
-    delete[] platform_ids;
-
-    if (!opencl_platform_found){
-      LOGE("No valid openCL platform found");
-      assert(opencl_platform_found);
-    }
-
-
-    LOGD("opencl init complete");
-  }
-
   // init the models
   ModelState model;
   model_init(&model, device_id, context, true);

selfdrive/modeld/thneed/debug/main.cc

@@ -1,5 +1,6 @@
 #include <sys/types.h>
 #include "include/msm_kgsl.h"
+#include "common/clutil.h"
 #include <stdio.h>
 #include <stdlib.h>
 #include <dlfcn.h>
@@ -601,18 +602,8 @@ void *dlsym(void *handle, const char *symbol) {
 
 int main(int argc, char* argv[]) {
   int err;
-  cl_platform_id platform_id = NULL;
-  cl_device_id device_id = NULL;
-  cl_uint num_devices;
-  cl_uint num_platforms;
-
   start_time = nanos_since_boot();
-
+  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  err = clGetPlatformIDs(1, &platform_id, &num_platforms);
-  assert(err == 0);
-  err = clGetDeviceIDs(platform_id, CL_DEVICE_TYPE_DEFAULT, 1, &device_id, &num_devices);
-  assert(err == 0);
-
   cl_uint tmp;
 
   // sweet this is 64!

selfdrive/modeld/visiontest.c

@@ -33,28 +33,8 @@ typedef struct {
 
 void initialize_opencl(VisionTest* visiontest) {
   // init cl
-  /* Get Platform and Device Info */
+  int err;
-  cl_platform_id platform_ids[16] = {0};
+  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_CPU);
-  cl_uint num_platforms;
-  int err = clGetPlatformIDs(16, platform_ids, &num_platforms);
-  if (err != 0) {
-    fprintf(stderr, "cl error: %d\n", err);
-  }
-  assert(err == 0);
-
-  // try to find a CPU device
-  cl_device_id device_id = NULL;
-  for (int i=0; i<num_platforms; i++) {
-    cl_uint num_devices_unused;
-    err = clGetDeviceIDs(platform_ids[i], CL_DEVICE_TYPE_CPU, 1, &device_id,
-                         &num_devices_unused);
-    if (err == 0) break;
-  }
-  if (err != 0) {
-    fprintf(stderr, "cl error: %d\n", err);
-  }
-  assert(err == 0);
-
   visiontest->context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
   assert(err == 0);