hook opencl to profile SNPE (#1249)

* hook for snpe speed

* hook works

* prints kernel names

* add timing to hook

* clean up printing

Co-authored-by: Comma Device <device@comma.ai>

selfdrive/modeld/test/opencl_hooks/build.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+gcc -fPIC -I /data/openpilot/phonelibs/opencl/include -shared hook.c
+

selfdrive/modeld/test/opencl_hooks/hook.c

@@ -0,0 +1,97 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <dlfcn.h>
+#include <CL/cl.h>
+#include <stdint.h>
+#include <time.h>
+
+static inline uint64_t nanos_since_boot() {
+  struct timespec t;
+  clock_gettime(CLOCK_BOOTTIME, &t);
+  return t.tv_sec * 1000000000ULL + t.tv_nsec;
+}
+
+struct kernel {
+  cl_kernel k;
+  const char *name;
+};
+
+int k_index = 0;
+struct kernel kk[0x1000] = {0};
+
+cl_kernel clCreateKernel(cl_program program, const char *kernel_name, cl_int *errcode_ret) {
+  cl_kernel (*my_clCreateKernel)(cl_program program, const char *kernel_name, cl_int *errcode_ret);
+  my_clCreateKernel = dlsym(RTLD_NEXT, "REAL_clCreateKernel");
+  cl_kernel ret = my_clCreateKernel(program, kernel_name, errcode_ret);
+  //printf("clCreateKernel: %s -> %p\n", kernel_name, ret);
+  
+  char *tmp = (char*)malloc(strlen(kernel_name)+1);
+  strcpy(tmp, kernel_name);
+
+  kk[k_index].k = ret;
+  kk[k_index].name = tmp;
+  k_index++;
+  return ret;
+}
+
+
+uint64_t start_time = 0;
+int cnt = 0;
+
+cl_int clEnqueueNDRangeKernel(cl_command_queue command_queue,
+ 	cl_kernel kernel,
+ 	cl_uint work_dim,
+ 	const size_t *global_work_offset,
+ 	const size_t *global_work_size,
+ 	const size_t *local_work_size,
+ 	cl_uint num_events_in_wait_list,
+ 	const cl_event *event_wait_list,
+ 	cl_event *event) {
+
+  cl_int (*my_clEnqueueNDRangeKernel)(cl_command_queue, cl_kernel, cl_uint,
+    const size_t *, const size_t *, const size_t *,
+    cl_uint, const cl_event *, cl_event *) = NULL;
+  my_clEnqueueNDRangeKernel = dlsym(RTLD_NEXT, "REAL_clEnqueueNDRangeKernel");
+
+  if (start_time == 0) {
+    start_time = nanos_since_boot();
+  }
+
+  // get kernel name
+  const char *name = NULL;
+  for (int i = 0; i < k_index; i++) {
+    if (kk[i].k == kernel) {
+      name = kk[i].name;
+      break;
+    }
+  }
+
+  uint64_t tb = nanos_since_boot();
+  cl_int ret = my_clEnqueueNDRangeKernel(command_queue, kernel, work_dim,
+    global_work_offset, global_work_size, local_work_size,
+    num_events_in_wait_list, event_wait_list, event);
+  uint64_t te = nanos_since_boot();
+
+  printf("%10lu run%8d in %5ld us command_queue:%p work_dim:%d event:%p  ", (tb-start_time)/1000, cnt++, (te-tb)/1000,
+    command_queue, work_dim, event);
+  for (int i = 0; i < work_dim; i++) {
+    printf("%4zu ", global_work_size[i]);
+  }
+  printf("%s\n", name);
+  return ret;
+}
+
+void *dlsym(void *handle, const char *symbol) {
+  void *(*my_dlsym)(void *handle, const char *symbol) = (void*)dlopen-0x2d4;
+  if (memcmp("REAL_", symbol, 5) == 0) {
+    return my_dlsym(handle, symbol+5);
+  } else if (strcmp("clEnqueueNDRangeKernel", symbol) == 0) {
+    return clEnqueueNDRangeKernel;
+  } else if (strcmp("clCreateKernel", symbol) == 0) {
+    return clCreateKernel;
+  } else {
+    printf("dlsym %s\n", symbol);
+    return my_dlsym(handle, symbol);
+  }
+}
+