From 725c5e742f85f04d6e4142f555362b4698035e53 Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Mon, 15 Jun 2020 15:58:12 -0700
Subject: [PATCH] Modeld: loop over platforms to find CPU/GPU (#1710)

* Modeld: loop over platforms to find gpu

* Remove prints

* PC needs CPU

* Keep default for qcom

* Update error message
old-commit-hash: 4ca8283d739ab31e2fdbd2aeb658cb4f0d2e1bcc
---
 selfdrive/modeld/modeld.cc | 63 ++++++++++++++++++++++++++------------
 tools/webcam/README.md     |  1 -
 2 files changed, 43 insertions(+), 21 deletions(-)

diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 7206f5a9e8..c383d5cffd 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -84,40 +84,63 @@ int main(int argc, char **argv) {
   PubMaster pm({"model", "cameraOdometry"});
   SubMaster sm({"pathPlan"});
 
+#ifdef QCOM
+  cl_device_type device_type = CL_DEVICE_TYPE_DEFAULT;
+#else
+  cl_device_type device_type = CL_DEVICE_TYPE_CPU;
+#endif
+
   // cl init
   cl_device_id device_id;
   cl_context context;
   cl_command_queue q;
   {
-    // TODO: refactor this
-    cl_platform_id platform_id[2];
-    cl_uint num_devices;
     cl_uint num_platforms;
+    err = clGetPlatformIDs(0, NULL, &num_platforms);
+    assert(err == 0);
 
-    err = clGetPlatformIDs(sizeof(platform_id)/sizeof(cl_platform_id), platform_id, &num_platforms);
+    cl_platform_id * platform_ids = new cl_platform_id[num_platforms];
+    err = clGetPlatformIDs(num_platforms, platform_ids, NULL);
     assert(err == 0);
 
-    #ifdef QCOM
-      int clPlatform = 0;
-    #else
-      // don't use nvidia on pc, it's broken
-      // TODO: write this nicely
-      int clPlatform = num_platforms-1;
-    #endif
+    LOGD("got %d opencl platform(s)", num_platforms);
 
     char cBuffer[1024];
-    clGetPlatformInfo(platform_id[clPlatform], CL_PLATFORM_NAME, sizeof(cBuffer), &cBuffer, NULL);
-    LOG("got %d opencl platform(s), using %s", num_platforms, cBuffer);
+    bool opencl_platform_found = false;
 
-    err = clGetDeviceIDs(platform_id[clPlatform], CL_DEVICE_TYPE_DEFAULT, 1,
-                         &device_id, &num_devices);
-    assert(err == 0);
+    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);
+    }
 
-    context = clCreateContext(NULL, 1, &device_id, NULL, NULL, &err);
-    assert(err == 0);
 
-    q = clCreateCommandQueue(context, device_id, 0, &err);
-    assert(err == 0);
     LOGD("opencl init complete");
   }
 
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 9243a79061..c1e7d27d07 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -19,7 +19,6 @@ git clone https://github.com/commaai/openpilot.git
 - Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc
 - Install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5
 - Install [OpenCL Driver](http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz)
-- (Note: the code assumes cl platforms order to be 0.GPU/1.CPU when running clinfo; if reverse, change the -1 to -2 in selfdrive/modeld/modeld.cc#L130; helping us refactor this mess is encouraged)
 - Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part)
 
 ## Build openpilot for webcam