struct CLContext

selfdrive/camerad/cameras/camera_common.cc

@@ -30,7 +30,7 @@ const int env_ymin = getenv("YMIN") ? atoi(getenv("YMIN")) : 0;
 const int env_ymax = getenv("YMAX") ? atoi(getenv("YMAX")) : -1;
 const int env_scale = getenv("SCALE") ? atoi(getenv("SCALE")) : 1;
 
-static cl_program build_debayer_program(cl_device_id device_id, cl_context context, const CameraInfo *ci, const CameraBuf *b) {
+static cl_program build_debayer_program(CLContext *ctx, const CameraInfo *ci, const CameraBuf *b) {
   char args[4096];
   snprintf(args, sizeof(args),
            "-cl-fast-relaxed-math -cl-denorms-are-zero "
@@ -41,13 +41,13 @@ static cl_program build_debayer_program(cl_device_id device_id, cl_context conte
            b->rgb_width, b->rgb_height, b->rgb_stride,
            ci->bayer_flip, ci->hdr);
 #ifdef QCOM2
-  return cl_program_from_file(context, device_id, "cameras/real_debayer.cl", args);
+  return cl_program_from_file(ctx, "cameras/real_debayer.cl", args);
 #else
-  return cl_program_from_file(context, device_id, "cameras/debayer.cl", args);
+  return cl_program_from_file(ctx, "cameras/debayer.cl", args);
 #endif
 }
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, int frame_cnt,
+void CameraBuf::init(CLContext *ctx, CameraState *s, int frame_cnt,
                      const char *name, release_cb relase_callback) {
   const CameraInfo *ci = &s->ci;
   camera_state = s;
@@ -57,7 +57,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   camera_bufs = std::make_unique<VisionBuf[]>(frame_buf_count);
   camera_bufs_metadata = std::make_unique<FrameMetadata[]>(frame_buf_count);
   for (int i = 0; i < frame_buf_count; i++) {
-    camera_bufs[i] = visionbuf_allocate_cl(frame_size, device_id, context);
+    camera_bufs[i] = visionbuf_allocate_cl(ctx, frame_size);
   }
 
   rgb_width = ci->frame_width;
@@ -80,7 +80,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   }
 
   for (int i = 0; i < UI_BUF_COUNT; i++) {
-    VisionImg img = visionimg_alloc_rgb24(device_id, context, rgb_width, rgb_height, &rgb_bufs[i]);
+    VisionImg img = visionimg_alloc_rgb24(ctx, rgb_width, rgb_height, &rgb_bufs[i]);
     if (i == 0) {
       rgb_stride = img.stride;
     }
@@ -97,25 +97,25 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   yuv_buf_size = rgb_width * rgb_height * 3 / 2;
 
   for (int i = 0; i < YUV_COUNT; i++) {
-    yuv_ion[i] = visionbuf_allocate_cl(yuv_buf_size, device_id, context);
+    yuv_ion[i] = visionbuf_allocate_cl(ctx, yuv_buf_size);
     yuv_bufs[i].y = (uint8_t *)yuv_ion[i].addr;
     yuv_bufs[i].u = yuv_bufs[i].y + (yuv_width * yuv_height);
     yuv_bufs[i].v = yuv_bufs[i].u + (yuv_width / 2 * yuv_height / 2);
   }
 
   if (ci->bayer) {
-    cl_program prg_debayer = build_debayer_program(device_id, context, ci, this);
+    cl_program prg_debayer = build_debayer_program(ctx, ci, this);
     krnl_debayer = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
     CL_CHECK(clReleaseProgram(prg_debayer));
   }
 
-  rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, yuv_width, yuv_height, rgb_stride);
+  rgb_to_yuv_init(&rgb_to_yuv_state, ctx, yuv_width, yuv_height, rgb_stride);
 
 #ifdef __APPLE__
-  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  q = CL_CHECK_ERR(clCreateCommandQueue(ctx->context, ctx->device_id, 0, &err));
 #else
   const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
+  q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(ctx->context, ctx->device_id, props, &err));
 #endif
 }
 

selfdrive/camerad/cameras/camera_common.h

@@ -122,7 +122,7 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, CameraState *s, int frame_cnt,
+  void init(CLContext *ctx, CameraState *s, int frame_cnt,
             const char *name = "frame", release_cb relase_callback = nullptr);
   bool acquire();
   void release();

selfdrive/camerad/cameras/camera_frame_stream.cc

@@ -30,13 +30,13 @@ void camera_close(CameraState *s) {
   s->buf.stop();
 }
 
-void camera_init(CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx) {
+void camera_init(CameraState *s, int camera_id, unsigned int fps, CLContext *ctx) {
   assert(camera_id < ARRAYSIZE(cameras_supported));
   s->ci = cameras_supported[camera_id];
   assert(s->ci.frame_width != 0);
 
   s->fps = fps;
-  s->buf.init(device_id, ctx, s, FRAME_BUF_COUNT, "camera");
+  s->buf.init(ctx, s, FRAME_BUF_COUNT, "camera");
 }
 
 void run_frame_stream(MultiCameraState *s) {
@@ -87,15 +87,15 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
   },
 };
 
-void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  camera_init(&s->rear, CAMERA_ID_IMX298, 20, device_id, ctx);
+void cameras_init(MultiCameraState *s, CLContext *ctx) {
+  camera_init(&s->rear, CAMERA_ID_IMX298, 20, ctx);
   s->rear.transform = (mat3){{
     1.0,  0.0, 0.0,
     0.0, 1.0, 0.0,
     0.0,  0.0, 1.0,
   }};
 
-  camera_init(&s->front, CAMERA_ID_OV8865, 10, device_id, ctx);
+  camera_init(&s->front, CAMERA_ID_OV8865, 10, ctx);
   s->front.transform = (mat3){{
     1.0,  0.0, 0.0,
     0.0, 1.0, 0.0,

selfdrive/camerad/cameras/camera_frame_stream.h

@@ -2,13 +2,7 @@
 
 #include <stdbool.h>
 
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
+#include "clutil.h"
 #include "camera_common.h"
 
 #define FRAME_BUF_COUNT 16
@@ -36,7 +30,7 @@ typedef struct MultiCameraState {
   PubMaster *pm;
 } MultiCameraState;
 
-void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx);
+void cameras_init(MultiCameraState *s, CLContext *ctx);
 void cameras_open(MultiCameraState *s);
 void cameras_run(MultiCameraState *s);
 void cameras_close(MultiCameraState *s);

selfdrive/camerad/cameras/camera_qcom.cc

@@ -100,7 +100,7 @@ static void camera_release_buffer(void* cookie, int buf_idx) {
 
 static void camera_init(CameraState *s, int camera_id, int camera_num,
                         uint32_t pixel_clock, uint32_t line_length_pclk,
-                        unsigned int max_gain, unsigned int fps, cl_device_id device_id, cl_context ctx) {
+                        unsigned int max_gain, unsigned int fps, CLContext *ctx) {
   s->camera_num = camera_num;
   s->camera_id = camera_id;
 
@@ -115,7 +115,7 @@ static void camera_init(CameraState *s, int camera_id, int camera_num,
 
   s->self_recover = 0;
 
-  s->buf.init(device_id, ctx, s, FRAME_BUF_COUNT, "frame", camera_release_buffer);
+  s->buf.init(ctx, s, FRAME_BUF_COUNT, "frame", camera_release_buffer);
 
   pthread_mutex_init(&s->frame_info_lock, NULL);
 }
@@ -251,7 +251,7 @@ cl_program build_conv_program(cl_device_id device_id, cl_context context, int im
   return cl_program_from_file(context, device_id, "imgproc/conv.cl", args);
 }
 
-void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
+void cameras_init(MultiCameraState *s, CLContext *ctx) {
   char project_name[1024] = {0};
   property_get("ro.boot.project_name", project_name, "");
 
@@ -295,23 +295,23 @@ void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
 #else
               /*fps*/ 20,
 #endif
-              device_id, ctx);
+              ctx);
   s->rear.apply_exposure = imx298_apply_exposure;
 
   if (s->device == DEVICE_OP3T) {
     camera_init(&s->front, CAMERA_ID_S5K3P8SP, 1,
                 /*pixel_clock=*/560000000, /*line_length_pclk=*/5120,
-                /*max_gain=*/510, 10, device_id, ctx);
+                /*max_gain=*/510, 10, ctx);
     s->front.apply_exposure = imx179_s5k3p8sp_apply_exposure;
   } else if (s->device == DEVICE_LP3) {
     camera_init(&s->front, CAMERA_ID_OV8865, 1,
                 /*pixel_clock=*/72000000, /*line_length_pclk=*/1602,
-                /*max_gain=*/510, 10, device_id, ctx);
+                /*max_gain=*/510, 10, ctx);
     s->front.apply_exposure = ov8865_apply_exposure;
   } else {
     camera_init(&s->front, CAMERA_ID_IMX179, 1,
                 /*pixel_clock=*/251200000, /*line_length_pclk=*/3440,
-                /*max_gain=*/224, 20, device_id, ctx);
+                /*max_gain=*/224, 20, ctx);
     s->front.apply_exposure = imx179_s5k3p8sp_apply_exposure;
   }
 

selfdrive/camerad/cameras/camera_qcom.h

@@ -148,7 +148,7 @@ typedef struct MultiCameraState {
 
 } MultiCameraState;
 
-void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx);
+void cameras_init(MultiCameraState *s, CLContext *ctx);
 void cameras_open(MultiCameraState *s);
 void cameras_run(MultiCameraState *s);
 void cameras_close(MultiCameraState *s);

selfdrive/camerad/cameras/camera_qcom2.cc

@@ -555,7 +555,7 @@ void enqueue_req_multi(struct CameraState *s, int start, int n, bool dp) {
 
 // ******************* camera *******************
 
-static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx) {
+static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned int fps, CLContext *ctx) {
   LOGD("camera init %d", camera_num);
 
   assert(camera_id < ARRAYSIZE(cameras_supported));
@@ -586,7 +586,7 @@ static void camera_init(CameraState *s, int camera_id, int camera_num, unsigned
   s->debayer_cl_localWorkSize[0] = DEBAYER_LOCAL_WORKSIZE;
   s->debayer_cl_localWorkSize[1] = DEBAYER_LOCAL_WORKSIZE;
 
-  s->buf.init(device_id, ctx, s, FRAME_BUF_COUNT, "frame");
+  s->buf.init(ctx, s, FRAME_BUF_COUNT, "frame");
 }
 
 // TODO: refactor this to somewhere nicer, perhaps use in camera_qcom as well
@@ -809,12 +809,12 @@ static void camera_open(CameraState *s) {
   enqueue_req_multi(s, 1, FRAME_BUF_COUNT, 0);
 }
 
-void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  camera_init(&s->rear, CAMERA_ID_AR0231, 1, 20, device_id, ctx); // swap left/right
+void cameras_init(MultiCameraState *s, CLContext *ctx) {
+  camera_init(&s->rear, CAMERA_ID_AR0231, 1, 20, ctx); // swap left/right
   printf("rear initted \n");
-  camera_init(&s->wide, CAMERA_ID_AR0231, 0, 20, device_id, ctx);
+  camera_init(&s->wide, CAMERA_ID_AR0231, 0, 20, ctx);
   printf("wide initted \n");
-  camera_init(&s->front, CAMERA_ID_AR0231, 2, 20, device_id, ctx);
+  camera_init(&s->front, CAMERA_ID_AR0231, 2, 20, ctx);
   printf("front initted \n");
 
   s->sm = new SubMaster({"driverState"});

selfdrive/camerad/cameras/camera_qcom2.h

@@ -88,7 +88,7 @@ typedef struct MultiCameraState {
   PubMaster *pm;
 } MultiCameraState;
 
-void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx);
+void cameras_init(MultiCameraState *s, CLContext *ctx);
 void cameras_open(MultiCameraState *s);
 void cameras_run(MultiCameraState *s);
 void camera_autoexposure(CameraState *s, float grey_frac);

selfdrive/camerad/cameras/camera_webcam.cc

@@ -35,14 +35,14 @@ void camera_close(CameraState *s) {
   s->buf.stop();
 }
 
-void camera_init(CameraState *s, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx) {
+void camera_init(CameraState *s, int camera_id, unsigned int fps, CLContext *ctx) {
   assert(camera_id < ARRAYSIZE(cameras_supported));
   s->ci = cameras_supported[camera_id];
   assert(s->ci.frame_width != 0);
 
   s->fps = fps;
 
-  s->buf.init(device_id, ctx, s, FRAME_BUF_COUNT, "frame");
+  s->buf.init(ctx, s, FRAME_BUF_COUNT, "frame");
 }
 
 static void* rear_thread(void *arg) {
@@ -217,16 +217,16 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
   },
 };
 
-void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
+void cameras_init(MultiCameraState *s, CLContext *ctx) {
 
-  camera_init(&s->rear, CAMERA_ID_LGC920, 20, device_id, ctx);
+  camera_init(&s->rear, CAMERA_ID_LGC920, 20, ctx);
   s->rear.transform = (mat3){{
     1.0, 0.0, 0.0,
     0.0, 1.0, 0.0,
     0.0, 0.0, 1.0,
   }};
 
-  camera_init(&s->front, CAMERA_ID_LGC615, 10, device_id, ctx);
+  camera_init(&s->front, CAMERA_ID_LGC615, 10, ctx);
   s->front.transform = (mat3){{
     1.0, 0.0, 0.0,
     0.0, 1.0, 0.0,

selfdrive/camerad/cameras/camera_webcam.h

@@ -29,7 +29,7 @@ typedef struct MultiCameraState {
   PubMaster *pm;
 } MultiCameraState;
 
-void cameras_init(MultiCameraState *s, cl_device_id device_id, cl_context ctx);
+void cameras_init(MultiCameraState *s, CLContext *ctx);
 void cameras_open(MultiCameraState *s);
 void cameras_run(MultiCameraState *s);
 void cameras_close(MultiCameraState *s);

selfdrive/camerad/main.cc

@@ -301,11 +301,11 @@ void* visionserver_thread(void* arg) {
   return NULL;
 }
 
-void party(cl_device_id device_id, cl_context context) {
+void party(CLContext *ctx) {
   VisionState state = {};
   VisionState *s = &state;
   
-  cameras_init(&s->cameras, device_id, context);
+  cameras_init(&s->cameras, ctx);
   cameras_open(&s->cameras);
 
   std::thread server_thread(visionserver_thread, s);
@@ -330,10 +330,7 @@ int main(int argc, char *argv[]) {
   signal(SIGINT, (sighandler_t)set_do_exit);
   signal(SIGTERM, (sighandler_t)set_do_exit);
 
-  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-
-  party(device_id, context);
-
-  CL_CHECK(clReleaseContext(context));
+  CLContext ctx = cl_init_context(CL_DEVICE_TYPE_DEFAULT);
+  party(&ctx);
+  cl_free_context(&ctx);
 }

selfdrive/camerad/transforms/rgb_to_yuv.c

@@ -1,11 +1,9 @@
 #include <string.h>
 #include <assert.h>
 
-#include "clutil.h"
-
 #include "rgb_to_yuv.h"
 
-void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
+void rgb_to_yuv_init(RGBToYUVState* s, CLContext *ctx, int width, int height, int rgb_stride) {
   memset(s, 0, sizeof(*s));
   printf("width %d, height %d, rgb_stride %d\n", width, height, rgb_stride);
   assert(width % 2 == 0);
@@ -20,7 +18,7 @@ void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, i
 #endif
            "-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
            width, height, width/ 2, height / 2, rgb_stride, width * height);
-  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
+  cl_program prg = cl_program_from_file(ctx, "transforms/rgb_to_yuv.cl", args);
 
   s->rgb_to_yuv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
   // done with this

selfdrive/camerad/transforms/rgb_to_yuv.h

@@ -1,14 +1,9 @@
-#ifndef RGB_TO_YUV_H
-#define RGB_TO_YUV_H
+#pragma once
 
 #include <inttypes.h>
 #include <stdbool.h>
 
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
+#include "clutil.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -19,7 +14,7 @@ typedef struct {
   cl_kernel rgb_to_yuv_krnl;
 } RGBToYUVState;
 
-void rgb_to_yuv_init(RGBToYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride);
+void rgb_to_yuv_init(RGBToYUVState* s, CLContext *ctx, int width, int height, int rgb_stride);
 
 void rgb_to_yuv_destroy(RGBToYUVState* s);
 
@@ -28,5 +23,3 @@ void rgb_to_yuv_queue(RGBToYUVState* s, cl_command_queue q, cl_mem rgb_cl, cl_me
 #ifdef __cplusplus
 }
 #endif
-
-#endif  // RGB_TO_YUV_H

selfdrive/camerad/transforms/rgb_to_yuv_test.cc

@@ -28,8 +28,6 @@
 
 #include <libyuv.h>
 
-#include <CL/cl.h>
-
 #include "clutil.h"
 #include "rgb_to_yuv.h"
 
@@ -40,12 +38,6 @@ static inline double millis_since_boot() {
   return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
 }
 
-void cl_init(cl_device_id &device_id, cl_context &context) {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-
 bool compare_results(uint8_t *a, uint8_t *b, int len, int stride, int width, int height, uint8_t *rgb) {
   int min_diff = 0., max_diff = 0., max_e = 0.;
   int e1 = 0, e0 = 0;
@@ -101,13 +93,11 @@ bool compare_results(uint8_t *a, uint8_t *b, int len, int stride, int width, int
 int main(int argc, char** argv) {
   srand(1337);
 
-  cl_device_id device_id;
-  cl_context context;
-  cl_init(device_id, context)	;
+  CLContext ctx = cl_init_context(CL_DEVICE_TYPE_DEFAULT);
 
   int err;
   const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  cl_command_queue q = clCreateCommandQueueWithProperties(context, device_id, props, &err);
+  cl_command_queue q = clCreateCommandQueueWithProperties(ctx.context, ctx.device_id, props, &err);
   if(err != 0) {
     std::cout << "clCreateCommandQueueWithProperties error: " << err << std::endl;
   }
@@ -132,16 +122,16 @@ int main(int argc, char** argv) {
 
 
   RGBToYUVState rgb_to_yuv_state;
-  rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, width, height, width * 3);
+  rgb_to_yuv_init(&rgb_to_yuv_state, &ctx, width, height, width * 3);
 
   int frame_yuv_buf_size = width * height * 3 / 2;
-  cl_mem yuv_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err));
+  cl_mem yuv_cl = CL_CHECK_ERR(clCreateBuffer(ctx.context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err));
   uint8_t *frame_yuv_buf = new uint8_t[frame_yuv_buf_size];
   uint8_t *frame_yuv_ptr_y = frame_yuv_buf;
   uint8_t *frame_yuv_ptr_u = frame_yuv_buf + (width * height);
   uint8_t *frame_yuv_ptr_v = frame_yuv_ptr_u + ((width/2) * (height/2));
 
-  cl_mem rgb_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err));
+  cl_mem rgb_cl = CL_CHECK_ERR(clCreateBuffer(ctx.context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err));
   int mismatched = 0;
   int counter = 0;
   srand (time(NULL));
@@ -182,7 +172,7 @@ int main(int argc, char** argv) {
 
   delete[] frame_yuv_buf;
   rgb_to_yuv_destroy(&rgb_to_yuv_state);
-  clReleaseContext(context);
+  cl_free_context(&ctx)
   delete[] rgb_frame;
 
   if (mismatched == 0)

selfdrive/common/clutil.cc

@@ -103,13 +103,25 @@ cl_device_id cl_get_device_id(cl_device_type device_type) {
   return nullptr;
 }
 
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
+CLContext cl_init_context(cl_device_type device_type) {
+  cl_device_id device_id = cl_get_device_id(device_type);
+  cl_context ctx = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+  return CLContext{.device_id = device_id, .context = ctx};
+}
+
+void cl_free_context(CLContext *ctx) {
+  clReleaseContext(ctx->context);
+  ctx->context = nullptr;
+  ctx->device_id = nullptr;
+}
+
+cl_program cl_program_from_file(CLContext *ctx, const char* path, const char* args) {
   char* src = (char*)read_file(path, nullptr);
   assert(src != nullptr);
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, (const char**)&src, NULL, &err));
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx->context, 1, (const char**)&src, NULL, &err));
   free(src);
-  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
-    cl_print_build_errors(prg, device_id);
+  if (int err = clBuildProgram(prg, 1, &ctx->device_id, args, NULL, NULL); err != 0) {
+    cl_print_build_errors(prg, ctx->device_id);
     assert(0);
   }
   return prg;

selfdrive/common/clutil.h

@@ -3,7 +3,7 @@
 #include <stdint.h>
 #include <stdio.h>
 #include <stdlib.h>
-
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
 #include <OpenCL/cl.h>
 #else
@@ -27,8 +27,15 @@ extern "C" {
     _ret;                             \
   })
 
+typedef struct CLContext{
+  cl_context context;
+  cl_device_id device_id;
+}CLContext;
+
+CLContext cl_init_context(cl_device_type device_type);
 cl_device_id cl_get_device_id(cl_device_type device_type);
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
+void cl_free_context(CLContext *ctx);
+cl_program cl_program_from_file(CLContext *ctx, const char* path, const char* args);
 const char* cl_get_error_string(int err);
 
 #ifdef __cplusplus

selfdrive/common/visionbuf.h

@@ -1,11 +1,6 @@
 #pragma once
 
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
+#include "clutil.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -18,8 +13,7 @@ typedef struct VisionBuf {
   int handle;
   int fd;
 
-  cl_context ctx;
-  cl_device_id device_id;
+  CLContext *ctx;
   cl_mem buf_cl;
   cl_command_queue copy_q;
 } VisionBuf;
@@ -28,7 +22,7 @@ typedef struct VisionBuf {
 #define VISIONBUF_SYNC_TO_DEVICE 1
 
 VisionBuf visionbuf_allocate(size_t len);
-VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx);
+VisionBuf visionbuf_allocate_cl(CLContext *ctx, size_t len);
 void visionbuf_sync(const VisionBuf* buf, int dir);
 void visionbuf_free(const VisionBuf* buf);
 

selfdrive/common/visionbuf_cl.c

@@ -7,14 +7,6 @@
 #include <unistd.h>
 #include <sys/mman.h>
 #include <sys/types.h>
-#include "common/clutil.h"
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
 
 int offset = 0;
 void *malloc_with_fd(size_t len, int *fd) {
@@ -46,7 +38,7 @@ VisionBuf visionbuf_allocate(size_t len) {
   };
 }
 
-VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx) {
+VisionBuf visionbuf_allocate_cl(CLContext *ctx, size_t len) {
 #if __OPENCL_VERSION__ >= 200
   void* host_ptr =
       clSVMAlloc(ctx, CL_MEM_READ_WRITE | CL_MEM_SVM_FINE_GRAIN_BUFFER, len, 0);
@@ -55,14 +47,14 @@ VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context c
   int fd;
   void* host_ptr = malloc_with_fd(len, &fd);
 
-  cl_command_queue q = CL_CHECK_ERR(clCreateCommandQueue(ctx, device_id, 0, &err));
+  cl_command_queue q = CL_CHECK_ERR(clCreateCommandQueue(ctx->context, ctx->device_id, 0, &err));
 #endif
 
-  cl_mem mem = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, len, host_ptr, &err));
+  cl_mem mem = CL_CHECK_ERR(clCreateBuffer(ctx->context, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, len, host_ptr, &err));
 
   return (VisionBuf){
       .len = len, .addr = host_ptr, .handle = 0, .fd = fd,
-      .device_id = device_id, .ctx = ctx, .buf_cl = mem,
+      .ctx = ctx, .buf_cl = mem,
 
 #if __OPENCL_VERSION__ < 200
       .copy_q = q,
@@ -91,7 +83,7 @@ void visionbuf_free(const VisionBuf* buf) {
   } else {
     CL_CHECK(clReleaseMemObject(buf->buf_cl));
 #if __OPENCL_VERSION__ >= 200
-    clSVMFree(buf->ctx, buf->addr);
+    clSVMFree(buf->ctx->context, buf->addr);
 #else
     CL_CHECK(clReleaseCommandQueue(buf->copy_q));
     munmap(buf->addr, buf->len);

selfdrive/common/visionbuf_ion.c

@@ -10,7 +10,6 @@
 #include <unistd.h>
 #include <linux/ion.h>
 #include <CL/cl_ext.h>
-#include "common/clutil.h"
 #include <msm_ion.h>
 
 #include "visionbuf.h"
@@ -71,7 +70,7 @@ VisionBuf visionbuf_allocate(size_t len) {
   };
 }
 
-VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx) {
+VisionBuf visionbuf_allocate_cl(CLContext *ctx, size_t len) {
   VisionBuf buf = visionbuf_allocate(len);
 
   assert(((uintptr_t)buf.addr % DEVICE_PAGE_SIZE_CL) == 0);
@@ -82,7 +81,7 @@ VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context c
   ion_cl.ion_filedesc = buf.fd;
   ion_cl.ion_hostptr = buf.addr;
 
-  buf.buf_cl = CL_CHECK_ERR(clCreateBuffer(ctx,
+  buf.buf_cl = CL_CHECK_ERR(clCreateBuffer(ctx->context,
                               CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM,
                               buf.len, &ion_cl, &err));
   return buf;

selfdrive/common/visionimg.cc

@@ -44,7 +44,7 @@ void visionimg_compute_aligned_width_and_height(int width, int height, int *alig
 #endif
 }
 
-VisionImg visionimg_alloc_rgb24(cl_device_id device_id, cl_context ctx, int width, int height, VisionBuf *out_buf) {
+VisionImg visionimg_alloc_rgb24(CLContext *ctx, int width, int height, VisionBuf *out_buf) {
   assert(out_buf != nullptr);
   int aligned_w = 0, aligned_h = 0;
   visionimg_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h);
@@ -52,7 +52,7 @@ VisionImg visionimg_alloc_rgb24(cl_device_id device_id, cl_context ctx, int widt
   int stride = aligned_w * 3;
   size_t size = (size_t) aligned_w * aligned_h * 3;
 
-  *out_buf = visionbuf_allocate_cl(size, device_id, ctx);
+  *out_buf = visionbuf_allocate_cl(ctx, size);
 
   return (VisionImg){
     .fd = out_buf->fd,

selfdrive/common/visionimg.h

@@ -1,8 +1,8 @@
-#ifndef VISIONIMG_H
-#define VISIONIMG_H
+#pragma once
 
 #include "common/visionbuf.h"
 #include "common/glutil.h"
+#include "common/clutil.h"
 
 #ifdef QCOM
 #include <EGL/egl.h>
@@ -28,7 +28,7 @@ typedef struct VisionImg {
 } VisionImg;
 
 void visionimg_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h);
-VisionImg visionimg_alloc_rgb24(cl_device_id device_id, cl_context ctx, int width, int height, VisionBuf *out_buf);
+VisionImg visionimg_alloc_rgb24(CLContext *ctx, int width, int height, VisionBuf *out_buf);
 
 EGLClientBuffer visionimg_to_egl(const VisionImg *img, void **pph);
 GLuint visionimg_to_gl(const VisionImg *img, EGLImageKHR *pkhr, void **pph);
@@ -37,5 +37,3 @@ void visionimg_destroy_gl(EGLImageKHR khr, void *ph);
 #ifdef __cplusplus
 }  // extern "C"
 #endif
-
-#endif

selfdrive/modeld/modeld.cc

@@ -115,12 +115,10 @@ int main(int argc, char **argv) {
   SubMaster sm({"pathPlan", "frame"});
 
   // cl init
-  cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-
+  CLContext ctx = cl_init_context(CL_DEVICE_TYPE_DEFAULT);
   // init the models
   ModelState model;
-  model_init(&model, device_id, context);
+  model_init(&model, &ctx);
   LOGW("models loaded, modeld starting");
 
   // loop
@@ -142,7 +140,7 @@ int main(int argc, char **argv) {
     float frames_dropped = 0;
 
     // one frame in memory
-    VisionBuf yuv_ion = visionbuf_allocate_cl(buf_info.buf_len, device_id, context);
+    VisionBuf yuv_ion = visionbuf_allocate_cl(&ctx, buf_info.buf_len);
 
     uint32_t frame_id = 0, last_vipc_frame_id = 0;
     double last = 0;
@@ -214,7 +212,7 @@ int main(int argc, char **argv) {
   LOG("joining live_thread");
   err = pthread_join(live_thread_handle, NULL);
   assert(err == 0);
-  CL_CHECK(clReleaseContext(context));
+  cl_free_context(&ctx);
   pthread_mutex_destroy(&transform_lock);
   return 0;
 }

selfdrive/modeld/models/commonmodel.cc

@@ -5,22 +5,21 @@
 #include "common/mat.h"
 #include "common/timing.h"
 
-void frame_init(ModelFrame* frame, int width, int height,
-                      cl_device_id device_id, cl_context context) {
-  transform_init(&frame->transform, context, device_id);
+void frame_init(ModelFrame* frame, CLContext *ctx, int width, int height) {
+  transform_init(&frame->transform, ctx);
   frame->transformed_width = width;
   frame->transformed_height = height;
 
-  frame->transformed_y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE,
+  frame->transformed_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx->context, CL_MEM_READ_WRITE,
                                            (size_t)frame->transformed_width*frame->transformed_height, NULL, &err));
-  frame->transformed_u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE,
+  frame->transformed_u_cl = CL_CHECK_ERR(clCreateBuffer(ctx->context, CL_MEM_READ_WRITE,
                                            (size_t)(frame->transformed_width/2)*(frame->transformed_height/2), NULL, &err));
-  frame->transformed_v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE,
+  frame->transformed_v_cl = CL_CHECK_ERR(clCreateBuffer(ctx->context, CL_MEM_READ_WRITE,
                                            (size_t)(frame->transformed_width/2)*(frame->transformed_height/2), NULL, &err));
   frame->net_input_size = ((width*height*3)/2)*sizeof(float);
-  frame->net_input = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE,
+  frame->net_input = CL_CHECK_ERR(clCreateBuffer(ctx->context, CL_MEM_READ_WRITE,
                                 frame->net_input_size, (void*)NULL, &err));
-  loadyuv_init(&frame->loadyuv, context, device_id, frame->transformed_width, frame->transformed_height);
+  loadyuv_init(&frame->loadyuv, ctx, frame->transformed_width, frame->transformed_height);
 }
 
 float *frame_prepare(ModelFrame* frame, cl_command_queue q,

selfdrive/modeld/models/commonmodel.h

@@ -1,11 +1,5 @@
 #pragma once
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
+#include "clutil.h"
 #include <float.h>
 #include <stdlib.h>
 #include "common/mat.h"
@@ -27,8 +21,7 @@ typedef struct ModelFrame {
   size_t net_input_size;
 } ModelFrame;
 
-void frame_init(ModelFrame* frame, int width, int height,
-                      cl_device_id device_id, cl_context context);
+void frame_init(ModelFrame* frame, CLContext *ctx, int width, int height);
 float *frame_prepare(ModelFrame* frame, cl_command_queue q,
                            cl_mem yuv_cl, int width, int height,
                            const mat3 &transform);

selfdrive/modeld/models/driving.cc

@@ -8,7 +8,6 @@
 #include "common/timing.h"
 #include "common/params.h"
 #include "driving.h"
-#include "clutil.h"
 
 constexpr int MODEL_WIDTH = 512;
 constexpr int MODEL_HEIGHT = 256;
@@ -52,8 +51,8 @@ Eigen::Matrix<float, MODEL_PATH_DISTANCE, POLYFIT_DEGREE - 1> vander;
 float X_IDXS[TRAJECTORY_SIZE];
 float T_IDXS[TRAJECTORY_SIZE];
 
-void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
-  frame_init(&s->frame, MODEL_WIDTH, MODEL_HEIGHT, device_id, context);
+void model_init(ModelState* s, CLContext *ctx) {
+  frame_init(&s->frame, ctx, MODEL_WIDTH, MODEL_HEIGHT);
   s->input_frames = std::make_unique<float[]>(MODEL_FRAME_SIZE * 2);
 
   constexpr int output_size = OUTPUT_SIZE + TEMPORAL_SIZE;
@@ -83,7 +82,7 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
     }
   }
 
-  s->q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+  s->q = CL_CHECK_ERR(clCreateCommandQueue(ctx->context, ctx->device_id, 0, &err));
 }
 
 ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height,

selfdrive/modeld/models/driving.h

@@ -7,6 +7,7 @@
 
 #include "common/mat.h"
 #include "common/util.h"
+#include "clutil.h"
 #include "common/modeldata.h"
 
 #include "commonmodel.h"
@@ -47,7 +48,7 @@ typedef struct ModelState {
 #endif
 } ModelState;
 
-void model_init(ModelState* s, cl_device_id device_id, cl_context context);
+void model_init(ModelState* s, CLContext *ctx);
 ModelDataRaw model_eval_frame(ModelState* s, cl_mem yuv_cl, int width, int height,
                            const mat3 &transform, float *desire_in);
 void model_free(ModelState* s);

selfdrive/modeld/transforms/loadyuv.c

@@ -1,11 +1,9 @@
 #include <string.h>
 #include <assert.h>
 
-#include "clutil.h"
-
 #include "loadyuv.h"
 
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
+void loadyuv_init(LoadYUVState* s, CLContext *ctx, int width, int height) {
   memset(s, 0, sizeof(*s));
 
   s->width = width;
@@ -16,7 +14,7 @@ void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int w
            "-cl-fast-relaxed-math -cl-denorms-are-zero "
            "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
            width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/loadyuv.cl", args);
+  cl_program prg = cl_program_from_file(ctx, "transforms/loadyuv.cl", args);
 
   s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
   s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));

selfdrive/modeld/transforms/loadyuv.h

@@ -1,14 +1,9 @@
-#ifndef LOADYUV_H
-#define LOADYUV_H
+#pragma once
 
 #include <inttypes.h>
 #include <stdbool.h>
 
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
+#include "clutil.h"
 
 #ifdef __cplusplus
 extern "C" {
@@ -19,7 +14,7 @@ typedef struct {
   cl_kernel loadys_krnl, loaduv_krnl;
 } LoadYUVState;
 
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
+void loadyuv_init(LoadYUVState* s, CLContext *ctx, int width, int height);
 
 void loadyuv_destroy(LoadYUVState* s);
 
@@ -30,5 +25,3 @@ void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
 #ifdef __cplusplus
 }
 #endif
-
-#endif  // LOADYUV_H

selfdrive/modeld/transforms/transform.cc

@@ -1,20 +1,18 @@
 #include <string.h>
 #include <assert.h>
 
-#include "clutil.h"
-
 #include "transform.h"
 
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
+void transform_init(Transform* s, CLContext *ctx) {
   memset(s, 0, sizeof(*s));
 
-  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/transform.cl", "");
+  cl_program prg = cl_program_from_file(ctx, "transforms/transform.cl", "");
   s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
   // done with this
   CL_CHECK(clReleaseProgram(prg));
 
-  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+  s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx->context, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+  s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx->context, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
 }
 
 void transform_destroy(Transform* s) {

selfdrive/modeld/transforms/transform.h

@@ -1,16 +1,9 @@
-#ifndef TRANSFORM_H
-#define TRANSFORM_H
+#pragma once
 
 #include <inttypes.h>
 #include <stdbool.h>
 
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
+#include "clutil.h"
 #include "common/mat.h"
 
 #ifdef __cplusplus
@@ -22,7 +15,7 @@ typedef struct {
   cl_mem m_y_cl, m_uv_cl;
 } Transform;
 
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
+void transform_init(Transform* s, CLContext *ctx);
 
 void transform_destroy(Transform* transform);
 
@@ -35,5 +28,3 @@ void transform_queue(Transform* s, cl_command_queue q,
 #ifdef __cplusplus
 }
 #endif
-
-#endif  // TRANSFORM_H

selfdrive/modeld/visiontest.c

@@ -2,13 +2,6 @@
 #include <stdio.h>
 #include <string.h>
 
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include <OpenCL/cl.h>
-#else
-#include <CL/cl.h>
-#endif
-
 #include "clutil.h"
 #include "transforms/transform.h"