openpilot_comma/tinygrad_repo/tinygrad/runtime/ops_dsp.py

from __future__ import annotations
import ctypes, os, mmap, tempfile, pathlib, array, functools, threading, contextlib, sys, subprocess, struct
assert sys.platform != 'win32'
from tinygrad.device import BufferSpec, Compiled, Allocator, Compiler, MallocAllocator
from tinygrad.dtype import dtypes, DType, PtrDType
from tinygrad.uop.ops import Ops, UOp
from tinygrad.helpers import from_mv, getenv, round_up, mv_address, to_mv, cpu_objdump, DEBUG
from tinygrad.renderer.cstyle import ClangRenderer
from tinygrad.runtime.autogen import libc, qcom_dsp
if getenv("IOCTL"): import extra.dsp.run # noqa: F401 # pylint: disable=unused-import

from tinygrad.uop.ops import PatternMatcher, UPat

dsp_pm = PatternMatcher([
  (((UPat.var('x').maximum(0) ^ -1).maximum(-256) ^ -1).cast(dtypes.uchar.vec(128)),
   lambda x: UOp(Ops.CUSTOM, dtypes.uchar.vec(128), src=tuple(x.gep(tuple(range(i, i+32))) for i in range(0, 128, 32)),
     arg="__builtin_HEXAGON_V6_vpackhub_sat_128B(__builtin_HEXAGON_V6_vpackwh_sat_128B({3}, {2}), __builtin_HEXAGON_V6_vpackwh_sat_128B({1}, {0}))")),
  (UPat(Ops.GEP, name="x"), lambda x: UOp(Ops.CUSTOM, x.dtype, x.src+x.src,
    "__builtin_shufflevector({0}, {1}, "+','.join([str(y) for y in x.arg])+")") if len(x.arg) > 1 and x.src[0].dtype.count > 1 else None),
])

dsp_pm_late = PatternMatcher([
  (UPat.var("x")+UPat(Ops.VECTORIZE,src=UPat.var("y")), lambda x,y: x+UOp(Ops.CUSTOMI,x.dtype,(y,),arg="{0}") if x.op is not Ops.CUSTOMI else None),
  (UPat.var("x")*UPat(Ops.VECTORIZE,src=UPat.var("y")), lambda x,y: x*UOp(Ops.CUSTOMI,x.dtype,(y,),arg="{0}") if x.op is not Ops.CUSTOMI else None),
  (UPat.var("x")//UPat(Ops.VECTORIZE,src=UPat.var("y")), lambda x,y: x//UOp(Ops.CUSTOMI,x.dtype,(y,),arg="{0}") if x.op is not Ops.CUSTOMI else None),
  (UPat(Ops.DEFINE_ACC, src=(UPat(Ops.VECTORIZE, src=UPat(Ops.CONST, arg=0)),), dtype=dtypes.uchar.vec(128), name="d", allow_any_len=True),
   lambda d: d.replace(src=(UOp(Ops.CUSTOMI, d.dtype, arg="__builtin_HEXAGON_V6_vd0_128B()"),)+d.src[1:])),
])

# NOTE: this just increases readability of the generated code
dsp_string = PatternMatcher([
  (UPat(Ops.CONST, (dtypes.int8, dtypes.uint8), name="x"), lambda ctx,x: str(x.arg)),
])

class DSPRenderer(ClangRenderer):
  device = "DSP"
  supports_float4 = True
  buffer_suffix = " restrict __attribute__((align_value(128)))"
  kernel_typedef = "__attribute__((noinline)) void"
  pre_matcher = dsp_pm
  extra_matcher = dsp_pm_late+ClangRenderer.extra_matcher
  string_rewrite = dsp_string+ClangRenderer.string_rewrite
  type_map = { **ClangRenderer.type_map, dtypes.uint64: "unsigned long long", dtypes.int64: "long long" }
  code_for_op = {k:v for k,v in ClangRenderer.code_for_op.items() if k != Ops.SQRT}

  def _render_defines(self, uops) -> list[str]:
    return ['''/* DSP boilerplate */ struct dcvs_v2_req { int type; int _pad; _Bool dcvs_enable; char dcvs_option; _Bool set_latency; int latency;
      _Bool set_dcvs_params; short _pad2; char target_corner; char min_corner; char max_corner; int _pad3[3];};''','int HAP_power_set(void*, void*);',
      'typedef union { struct { void *pv; unsigned int len; } buf; struct { int fd; unsigned int offset; } dma; } remote_arg;',
      'void* HAP_mmap(void *addr, int len, int prot, int flags, int fd, long offset);', 'int HAP_munmap(void *addr, int len);',
      'unsigned long long HAP_perf_get_time_us(void);'] + super()._render_defines(uops)

  def _render_entry(self, function_name:str, bufs:list[tuple[str,tuple[DType,bool]]]) -> str:
    msrc = ['int entry(unsigned long long handle, unsigned int sc, remote_arg* pra) {',
            'struct dcvs_v2_req req = {.type=7, .dcvs_enable=0, .set_latency=1, .latency=100, .set_dcvs_params=1, .target_corner = 6 /* TURBO */};',
            'HAP_power_set((void*)handle, (void*)&req);']
    msrc += ['if ((sc>>24) != 2) return 0;']
    msrc += [f'int sz_or_val_{i} = ((int*)pra[0].buf.pv)[{i}];' for i,b in enumerate(bufs)]
    msrc += [f'int off{i} = ((int*)pra[1].buf.pv)[{i}];' for i,b in enumerate(bufs) if isinstance(b[1][0], PtrDType)]
    msrc += [f'void *buf_{i} = HAP_mmap(0,sz_or_val_{i},3,0,pra[{i+3}].dma.fd,0)+off{i};' for i,b in enumerate(bufs) if isinstance(b[1][0], PtrDType)]
    msrc += ["unsigned long long start = HAP_perf_get_time_us();"]
    msrc += [f"{function_name}({', '.join([(f'buf_{i}' if isinstance(b[1][0], PtrDType) else f'sz_or_val_{i}') for i,b in enumerate(bufs)])});"]
    msrc += ["*(unsigned long long *)(pra[2].buf.pv) = HAP_perf_get_time_us() - start;"]
    msrc += [f'HAP_munmap(buf_{i}, sz_or_val_{i});' for i,b in enumerate(bufs) if isinstance(b[1][0], PtrDType)]
    msrc += ["return 0; }"]
    return '\n'.join(msrc)

def rpc_sc(method=0, ins=0, outs=0, fds=0): return (method << 24) | (ins << 16) | (outs << 8) | fds
def rpc_prep_args(ins=None, outs=None, in_fds=None):
  ins, outs, in_fds = ins or list(), outs or list(), in_fds or list()

  pra = (qcom_dsp.union_remote_arg * (len(ins) + len(outs) + len(in_fds)))()
  fds = (ctypes.c_int32 * (len(ins) + len(outs) + len(in_fds)))(*([-1] * (len(ins) + len(outs))), *in_fds)
  attrs = (ctypes.c_uint32 * (len(ins) + len(outs) + len(in_fds)))(*([0] * (len(ins) + len(outs))), *([1] * (len(in_fds))))

  for i, mv in enumerate(ins + outs): pra[i].buf.pv, pra[i].buf.len = mv_address(mv) if mv.nbytes > 0 else 0, mv.nbytes
  return pra, fds, attrs, (ins, outs)

class DSPProgram:
  def __init__(self, dev:DSPDevice, name:str, lib:bytes):
    self.dev, self.lib = dev, lib

  def __call__(self, *bufs, vals:tuple[int, ...]=(), wait=False):
    if len(bufs) >= 16: raise RuntimeError(f"Too many buffers to execute: {len(bufs)}")

    pra, fds, attrs, _ = rpc_prep_args(ins=[var_vals_mv:=memoryview(bytearray((len(bufs)+len(vals))*4)), off_mv:=memoryview(bytearray(len(bufs)*4))],
                                       outs=[timer:=memoryview(bytearray(8)).cast('Q')], in_fds=[b.share_info.fd for b in bufs])
    var_vals_mv.cast('i')[:] = array.array('i', tuple(b.size for b in bufs) + vals)
    off_mv.cast('I')[:] = array.array('I', tuple(b.offset for b in bufs))
    self.dev.exec_lib(self.lib, rpc_sc(method=2, ins=2, outs=1, fds=len(bufs)), pra, fds, attrs)
    return timer[0] / 1e6

class DSPBuffer:
  def __init__(self, va_addr:int, size:int, share_info, offset:int=0):
    self.va_addr, self.size, self.share_info, self.offset = va_addr, size, share_info, offset

class DSPAllocator(Allocator['DSPDevice']):
  def _alloc(self, size:int, options:BufferSpec):
    b = qcom_dsp.ION_IOC_ALLOC(self.dev.ion_fd, len=size, align=0x200, heap_id_mask=1<<qcom_dsp.ION_SYSTEM_HEAP_ID, flags=qcom_dsp.ION_FLAG_CACHED)
    share_info = qcom_dsp.ION_IOC_SHARE(self.dev.ion_fd, handle=b.handle)
    va_addr = libc.mmap(0, size, mmap.PROT_READ|mmap.PROT_WRITE, mmap.MAP_SHARED, share_info.fd, 0)
    return DSPBuffer(va_addr, size, share_info, offset=0)

  def _free(self, opaque:DSPBuffer, options:BufferSpec):
    if libc is not None and qcom_dsp is not None:
      libc.munmap(opaque.va_addr, opaque.size)
      os.close(opaque.share_info.fd)
      qcom_dsp.ION_IOC_FREE(self.dev.ion_fd, handle=opaque.share_info.handle)

  def _as_buffer(self, src:DSPBuffer) -> memoryview: return to_mv(src.va_addr, src.size)
  def _copyin(self, dest:DSPBuffer, src:memoryview): ctypes.memmove(dest.va_addr, from_mv(src), src.nbytes)
  def _copyout(self, dest:memoryview, src:DSPBuffer): ctypes.memmove(from_mv(dest), src.va_addr, dest.nbytes)
  def _offset(self, buf, size:int, offset:int): return DSPBuffer(buf.va_addr+offset, size, buf.share_info, buf.offset+offset)

class ClangCompiler(Compiler):
  def __init__(self, cachekey="compile_clang", args:list[str]|None=None, objdump_tool='objdump'):
    self.args = ['-shared', '-march=native'] if args is None else args
    self.objdump_tool = objdump_tool
    super().__init__(cachekey)

  def compile(self, src:str) -> bytes:
    # TODO: remove file write. sadly clang doesn't like the use of /dev/stdout here
    with tempfile.NamedTemporaryFile(delete=True) as output_file:
      subprocess.check_output([getenv("CC", 'clang'), *self.args, '-O2', '-Wall', '-Werror', '-x', 'c', '-fPIC', '-ffreestanding', '-nostdlib',
                               '-', '-o', str(output_file.name)], input=src.encode('utf-8'))
      return pathlib.Path(output_file.name).read_bytes()

  def disassemble(self, lib:bytes): return cpu_objdump(lib, self.objdump_tool)

class DSPDevice(Compiled):
  def __init__(self, device:str=""):
    compiler_args = ["--target=hexagon", "-mcpu=hexagonv65", "-fuse-ld=lld", "-nostdlib",  "-mhvx=v65", "-mhvx-length=128b"]
    if getenv("MOCKDSP"):
      super().__init__(device, MallocAllocator, MockDSPRenderer(), ClangCompiler(None, ["-static"] + compiler_args, 'llvm-objdump'), MockDSPProgram)
    else:
      self.ion_fd = os.open('/dev/ion', os.O_RDONLY)
      # Generate link script to pass into clang. Aligning all used sections to 4k fixes invoke problem.
      sections = ['text', 'rela.plt', 'rela.dyn', 'plt', 'data', 'bss', 'hash', 'dynamic',
                  'got', 'got.plt', 'dynsym', 'dynstr', 'symtab', 'shstrtab', 'strtab']
      sections_link = '\n'.join([f'.{n} : ALIGN(4096) {{ *(.{n}) }}' for n in sections])
      with tempfile.NamedTemporaryFile(delete=False) as self.link_ld:
        self.link_ld.write(f"SECTIONS {{ . = 0x0; {sections_link}\n /DISCARD/ : {{ *(.note .note.* .gnu.hash .comment) }} }}".encode())
        self.link_ld.flush()

      from tinygrad.runtime.graph.cpu import CPUGraph
      super().__init__(device, DSPAllocator(self), DSPRenderer(),
        ClangCompiler("compile_dsp", ["-shared"] + compiler_args + [f"-T{self.link_ld.name}"], 'llvm-objdump'), functools.partial(DSPProgram, self),
        functools.partial(CPUGraph, self))
      fastrpc_shell = memoryview(bytearray(pathlib.Path('/dsp/cdsp/fastrpc_shell_3').read_bytes()))
      self.shell_buf = self.allocator.alloc(round_up(fastrpc_shell.nbytes, 0x1000), BufferSpec(nolru=True))
      ctypes.memmove(self.shell_buf.va_addr, mv_address(fastrpc_shell), fastrpc_shell.nbytes)

      self.init_dsp()
      RPCListener(self).start()

  def open_lib(self, lib):
    self.binded_lib, self.binded_lib_off = lib, 0
    fp = "file:///tinylib?entry&_modver=1.0&_dom=cdsp\0"
    pra, _, _, _ = rpc_prep_args(ins=[memoryview(array.array('I', [len(fp), 0xff])), memoryview(bytearray(fp.encode()))],
                                 outs=[o1:=memoryview(bytearray(0x8)), o2:=memoryview(bytearray(0xff))])
    qcom_dsp.FASTRPC_IOCTL_INVOKE(self.rpc_fd, handle=0, sc=rpc_sc(method=0, ins=2, outs=2), pra=pra)
    if o1.cast('i')[1] < 0: raise RuntimeError(f"Cannot open lib: {o2.tobytes().decode()}")
    return o1.cast('I')[0]

  def close_lib(self, handle):
    pra, _, _, _ = rpc_prep_args(ins=[memoryview(array.array('I', [handle, 0xff]))], outs=[memoryview(bytearray(0x8)), memoryview(bytearray(0xff))])
    qcom_dsp.FASTRPC_IOCTL_INVOKE(self.rpc_fd, handle=0, sc=rpc_sc(method=1, ins=1, outs=2), pra=pra)

  def exec_lib(self, lib, sc, args, fds, attrs):
    def _exec_lib():
      handle = self.open_lib(lib)
      qcom_dsp.FASTRPC_IOCTL_INVOKE_ATTRS(self.rpc_fd, fds=fds, attrs=attrs, inv=qcom_dsp.struct_fastrpc_ioctl_invoke(handle=handle, sc=sc, pra=args))
      self.close_lib(handle)
    try: _exec_lib()
    except (OSError, PermissionError):
      # DSP might ask for a connection reset or just fail with operation not permitted, try to reset connection.
      self.init_dsp()
      try: _exec_lib()
      except (OSError, PermissionError) as e: raise RuntimeError(e)

  def init_dsp(self):
    if hasattr(self, 'rpc_fd'):
      with contextlib.suppress(OSError):
        qcom_dsp.FASTRPC_IOCTL_INVOKE(self.rpc_fd, handle=4, sc=rpc_sc(method=2, ins=0, outs=0)) # pylint: disable=access-member-before-definition
      os.close(self.rpc_fd) # pylint: disable=access-member-before-definition

    self.rpc_fd: int = os.open('/dev/adsprpc-smd', os.O_RDONLY | os.O_NONBLOCK)
    qcom_dsp.FASTRPC_IOCTL_GETINFO(self.rpc_fd, 3)
    qcom_dsp.FASTRPC_IOCTL_CONTROL(self.rpc_fd, req=0x3)
    qcom_dsp.FASTRPC_IOCTL_INIT(self.rpc_fd, flags=0x1, file=self.shell_buf.va_addr, filelen=self.shell_buf.size, filefd=self.shell_buf.share_info.fd)
    qcom_dsp.FASTRPC_IOCTL_INVOKE(self.rpc_fd, handle=3, sc=rpc_sc(method=3, ins=0, outs=0))

class RPCListener(threading.Thread):
  def __init__(self, device:DSPDevice):
    super().__init__()
    self.device, self.daemon = device, True

  def run(self):
    # Setup initial request arguments.
    context, status, TINYFD = 0, 0xffffffff, 0xffff
    req_args, _, _, _ = rpc_prep_args(ins=[msg_send:=memoryview(bytearray(0x10)).cast('I'), out_buf:=memoryview(bytearray(0x10000)).cast('I')],
                                      outs=[msg_recv:=memoryview(bytearray(0x10)).cast('I'), in_buf:=memoryview(bytearray(0x10000)).cast('I')])
    req_args[1].buf.len = 0

    while True:
      # Update message request and send it.
      msg_send[:] = array.array('I', [context, status, req_args[1].buf.len, in_buf.nbytes])

      try: qcom_dsp.FASTRPC_IOCTL_INVOKE(self.device.rpc_fd, handle=0x3, sc=0x04020200, pra=req_args)
      except OSError: continue # retry

      context, inbufs, outbufs = msg_recv[0], ((sc:=msg_recv[2]) >> 16) & 0xff, (msg_recv[2] >> 8) & 0xff

      in_ptr, out_ptr, objs = mv_address(in_buf), mv_address(out_buf), []
      for i in range(inbufs + outbufs):
        obj_ptr = round_up(in_ptr + 4, 8) if i < inbufs else round_up(out_ptr + 4, 8)
        objs.append(to_mv(obj_ptr, obj_size:=to_mv(in_ptr, 4).cast('I')[0]))
        if i < inbufs: in_ptr = obj_ptr + obj_size
        else:
          to_mv(out_ptr, 4).cast('I')[0] = obj_size
          out_ptr = obj_ptr + obj_size
          in_ptr += 4

      in_args, out_args = objs[:inbufs], objs[inbufs:]
      req_args[1].buf.len = out_ptr - mv_address(out_buf)

      status = 0 # reset status, will set if error
      if sc == 0x20200: pass # greating
      elif sc == 0x13050100: # open
        try: out_args[0].cast('I')[0] = TINYFD if (name:=in_args[3].tobytes()[:-1].decode()) == "tinylib" else os.open(name, os.O_RDONLY)
        except OSError: status = 1
      elif sc == 0x3010000:
        if (fd:=in_args[0].cast('I')[0]) != TINYFD: os.close(fd)
      elif sc == 0x9010000: # seek
        if (fd:=in_args[0].cast('I')[0]) == TINYFD:
          assert in_args[0].cast('I')[2] == qcom_dsp.APPS_STD_SEEK_SET, "Supported only SEEK_SET"
          res, self.device.binded_lib_off = 0, in_args[0].cast('I')[1]
        else: res = os.lseek(fd, in_args[0].cast('I')[1], in_args[0].cast('I')[2])
        status = 0 if res >= 0 else res
      elif sc == 0x4010200: # read
        if (fd:=in_args[0].cast('I')[0]) == TINYFD:
          buf = self.device.binded_lib[self.device.binded_lib_off:self.device.binded_lib_off+in_args[0].cast('I')[1]]
          self.device.binded_lib_off += len(buf)
        else: buf = os.read(fd, in_args[0].cast('I')[1])
        out_args[1][:len(buf)] = buf
        out_args[0].cast('I')[0:2] = array.array('I', [len(buf), int(len(buf) == 0)])
      elif sc == 0x1f020100: # stat
        stat = os.stat(in_args[1].tobytes()[:-1].decode())
        out_stat = qcom_dsp.struct_apps_std_STAT.from_address(mv_address(out_args[0]))
        for f in out_stat._fields_: out_stat.__setattr__(f[0], int(getattr(stat, f"st_{f[0]}", 0)))
      elif sc == 0x2010100: # mmap
        st = qcom_dsp.FASTRPC_IOCTL_MMAP(self.device.rpc_fd, fd=-1, flags=in_args[0].cast('I')[2], vaddrin=0, size=in_args[0].cast('Q')[3])
        out_args[0].cast('Q')[0:2] = array.array('Q', [0, st.vaddrout])
      else: raise RuntimeError(f"Unknown op: {sc=:X}")

# ***** mock DSP *****

mockdsp_boilerplate = '''/* DSP boilerplate */ static long syscall(long r0, long r1, long r2, long r3, long r4, long r5, long r6) {
long retval; __asm__ volatile("r0 = %1; r1 = %2; r2 = %3; r3 = %4; r4 = %5; r5 = %6; r6 = %7; trap0(#1); %0 = r0" : "=r" (retval)
  : "r" (r0), "r" (r1), "r" (r2), "r" (r3), "r" (r4), "r" (r5), "r" (r6) : "r0", "r1", "r2", "r3", "r4", "r5", "r6"); return retval; }
static int read(int fd, void* buf, int len) {{ return syscall(fd, (long)buf, len, 0, 0, 0, 63); }}
static int write(int fd, void* buf, int len) {{ return syscall(fd, (long)buf, len, 0, 0, 0, 64); }}
static int exit(int ret) {{ return syscall(ret, 0, 0, 0, 0, 0, 93); }}
static unsigned int inscount(void) {{ unsigned int ret; __asm__ volatile(".word 0x6a15c000; %0 = R0" : "=r" (ret) : : "r0"); return ret; }}
static void *mmap2(void *addr, unsigned int length, int prot, int flags, int fd, unsigned long offset) {{
return (void*)syscall((long)addr, length, prot, flags, fd, offset, 222); }}'''

class MockDSPRenderer(DSPRenderer):
  def _render_defines(self, uops) -> list[str]: return ClangRenderer._render_defines(self, uops)
  def _render_entry(self, function_name:str, bufs:list[tuple[str,tuple[DType,bool]]]) -> str:
    # https://gpages.juszkiewicz.com.pl/syscalls-table/syscalls.html
    # control register 21 is HEX_REG_QEMU_INSN_CNT, 0x6a15c000 loads it
    msrc = [mockdsp_boilerplate, 'void _start(void) {']
    for i,b in enumerate(bufs):
      if isinstance(b[1][0], PtrDType):
        sz = b[1][0].size*b[1][0].itemsize
        # for loop for big reads
        msrc.append(f"void *buf{i} = mmap2(0, {sz}, 3, 0x21, -1, 0); for(int rd = 0; rd < {sz}; rd += read(0, buf{i}+rd, {sz}-rd));")
      else:
        msrc.append(f"unsigned int val{i}; read(0, &val{i}, 4);")
    msrc.append("unsigned int st = inscount();")
    msrc.append(f"{function_name}({', '.join([(f'(void*)buf{i}' if isinstance(b[1][0], PtrDType) else f'val{i}') for i,b in enumerate(bufs)])});")
    msrc.append("unsigned int et = inscount() - st; write(1, &et, sizeof(et));")
    for i,b in enumerate(bufs):
      if isinstance(b[1][0], PtrDType): msrc.append(f"write(1, buf{i}, {b[1][0].size*b[1][0].itemsize});")
    msrc.append('exit(0); }')
    return '\n'.join(msrc)

class MockDSPProgram:
  def __init__(self, name:str, lib:bytes): self.lib = lib
  def __call__(self, *bufs, vals:tuple[int, ...]=(), wait=False):
    with tempfile.NamedTemporaryFile(suffix=".out") as dsp_lib:
      dsp_lib.write(self.lib)
      dsp_lib.flush()
      os.chmod(dsp_lib.name, 0o0777)
      # NOTE: this timing includes a docker launch
      proc = subprocess.run(["docker", "run", "--rm", "-i", "-v", f"{os.path.abspath(os.path.dirname(dsp_lib.name))}:/work", "-w", "/work",
                            "qemu-hexagon", "-c", f"qemu-hexagon {'-strace' if DEBUG >= 5 else ''} /work/"+os.path.basename(dsp_lib.name)],
                            input=b''.join([bytes(x) for x in bufs] + [struct.pack("I", x) for x in vals]), stdout=subprocess.PIPE, check=True)
    offset = 4
    for x in bufs:
      x[:] = proc.stdout[offset:offset+len(x)]
      offset += len(x)
    assert offset == len(proc.stdout)
    return struct.unpack("I", proc.stdout[0:4])[0] / 1e9  # pretend it's 1 Ghz, but this is an inscount, not a time