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Set camerad CL priority to 4 (#2747)

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* priority 2 get

* add to files_common

* cl_ext_qcom

Co-authored-by: Comma Device <device@comma.ai>
pull/19501/head
George Hotz 4 years ago committed by GitHub
parent 343e38d0cf
commit cb238fd2ee
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  1. 255
      phonelibs/opencl/include/CL/cl_ext_qcom.h
  2. 10
      selfdrive/camerad/main.cc

255
phonelibs/opencl/include/CL/cl_ext_qcom.h
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@ -0,0 +1,255 @@
/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc. All Rights Reserved.
* Qualcomm Technologies Proprietary and Confidential.
*/
#ifndef __OPENCL_CL_EXT_QCOM_H
#define __OPENCL_CL_EXT_QCOM_H
// Needed by cl_khr_egl_event extension
#include <EGL/egl.h>
#include <EGL/eglext.h>
#include <CL/cl_ext.h>
#ifdef __cplusplus
extern "C" {
#endif
/************************************
* cl_qcom_create_buffer_from_image *
************************************/
#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM 0x40C0
#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM 0x40C1
extern CL_API_ENTRY cl_mem CL_API_CALL
clCreateBufferFromImageQCOM(cl_mem image,
cl_mem_flags flags,
cl_int *errcode_ret);
/************************************
* cl_qcom_limited_printf extension *
************************************/
/* Builtin printf function buffer size in bytes. */
#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM 0x1049
/*************************************
* cl_qcom_extended_images extension *
*************************************/
#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM 0x40AA
#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM 0x40AB
#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM 0x40AC
#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM 0x40AD
#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM 0x40AE
#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM 0x40AF
/*************************************
* cl_qcom_perf_hint extension *
*************************************/
typedef cl_uint cl_perf_hint;
#define CL_CONTEXT_PERF_HINT_QCOM 0x40C2
/*cl_perf_hint*/
#define CL_PERF_HINT_HIGH_QCOM 0x40C3
#define CL_PERF_HINT_NORMAL_QCOM 0x40C4
#define CL_PERF_HINT_LOW_QCOM 0x40C5
extern CL_API_ENTRY cl_int CL_API_CALL
clSetPerfHintQCOM(cl_context context,
cl_perf_hint perf_hint);
// This extension is published at Khronos, so its definitions are made in cl_ext.h.
// This duplication is for backward compatibility.
#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
/*********************************
* cl_qcom_android_native_buffer_host_ptr extension
*********************************/
#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM 0x40C6
typedef struct _cl_mem_android_native_buffer_host_ptr
{
// Type of external memory allocation.
// Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
cl_mem_ext_host_ptr ext_host_ptr;
// Virtual pointer to the android native buffer
void* anb_ptr;
} cl_mem_android_native_buffer_host_ptr;
#endif //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
/***********************************
* cl_img_egl_image extension *
************************************/
typedef void* CLeglImageIMG;
typedef void* CLeglDisplayIMG;
extern CL_API_ENTRY cl_mem CL_API_CALL
clCreateFromEGLImageIMG(cl_context context,
cl_mem_flags flags,
CLeglImageIMG image,
CLeglDisplayIMG display,
cl_int *errcode_ret);
/*********************************
* cl_qcom_other_image extension
*********************************/
// Extended flag for creating/querying QCOM non-standard images
#define CL_MEM_OTHER_IMAGE_QCOM (1<<25)
// cl_channel_type
#define CL_QCOM_UNORM_MIPI10 0x4159
#define CL_QCOM_UNORM_MIPI12 0x415A
#define CL_QCOM_UNSIGNED_MIPI10 0x415B
#define CL_QCOM_UNSIGNED_MIPI12 0x415C
#define CL_QCOM_UNORM_INT10 0x415D
#define CL_QCOM_UNORM_INT12 0x415E
#define CL_QCOM_UNSIGNED_INT16 0x415F
// cl_channel_order
// Dedicate 0x4130-0x415F range for QCOM extended image formats
// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
#define CL_QCOM_BAYER 0x414E
#define CL_QCOM_NV12 0x4133
#define CL_QCOM_NV12_Y 0x4134
#define CL_QCOM_NV12_UV 0x4135
#define CL_QCOM_TILED_NV12 0x4136
#define CL_QCOM_TILED_NV12_Y 0x4137
#define CL_QCOM_TILED_NV12_UV 0x4138
#define CL_QCOM_P010 0x413C
#define CL_QCOM_P010_Y 0x413D
#define CL_QCOM_P010_UV 0x413E
#define CL_QCOM_TILED_P010 0x413F
#define CL_QCOM_TILED_P010_Y 0x4140
#define CL_QCOM_TILED_P010_UV 0x4141
#define CL_QCOM_TP10 0x4145
#define CL_QCOM_TP10_Y 0x4146
#define CL_QCOM_TP10_UV 0x4147
#define CL_QCOM_TILED_TP10 0x4148
#define CL_QCOM_TILED_TP10_Y 0x4149
#define CL_QCOM_TILED_TP10_UV 0x414A
/*********************************
* cl_qcom_compressed_image extension
*********************************/
// Extended flag for creating/querying QCOM non-planar compressed images
#define CL_MEM_COMPRESSED_IMAGE_QCOM (1<<27)
// Extended image format
// cl_channel_order
#define CL_QCOM_COMPRESSED_RGBA 0x4130
#define CL_QCOM_COMPRESSED_RGBx 0x4131
#define CL_QCOM_COMPRESSED_NV12_Y 0x413A
#define CL_QCOM_COMPRESSED_NV12_UV 0x413B
#define CL_QCOM_COMPRESSED_P010 0x4142
#define CL_QCOM_COMPRESSED_P010_Y 0x4143
#define CL_QCOM_COMPRESSED_P010_UV 0x4144
#define CL_QCOM_COMPRESSED_TP10 0x414B
#define CL_QCOM_COMPRESSED_TP10_Y 0x414C
#define CL_QCOM_COMPRESSED_TP10_UV 0x414D
#define CL_QCOM_COMPRESSED_NV12_4R 0x414F
#define CL_QCOM_COMPRESSED_NV12_4R_Y 0x4150
#define CL_QCOM_COMPRESSED_NV12_4R_UV 0x4151
/*********************************
* cl_qcom_compressed_yuv_image_read extension
*********************************/
// Extended flag for creating/querying QCOM compressed images
#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM (1<<28)
// Extended image format
#define CL_QCOM_COMPRESSED_NV12 0x10C4
// Extended flag for setting ION buffer allocation type
#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM 0x40CD
#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM 0x40CE
/*********************************
* cl_qcom_accelerated_image_ops
*********************************/
#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM 0x4110
#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM 0x4111
#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM 0x4112
#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM 0x4113
#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM 0x4114
#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM 0x4115
//Extended flag for specifying weight image type
#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM (1<<0)
// Box Filter
typedef struct _cl_box_filter_size_qcom
{
// Width of box filter on X direction.
float box_filter_width;
// Height of box filter on Y direction.
float box_filter_height;
} cl_box_filter_size_qcom;
// HOF Weight Image Desc
typedef struct _cl_weight_desc_qcom
{
/** Coordinate of the "center" point of the weight image,
based on the weight image's top-left corner as the origin. */
size_t center_coord_x;
size_t center_coord_y;
cl_bitfield flags;
} cl_weight_desc_qcom;
typedef struct _cl_weight_image_desc_qcom
{
cl_image_desc image_desc;
cl_weight_desc_qcom weight_desc;
} cl_weight_image_desc_qcom;
/*************************************
* cl_qcom_protected_context extension *
*************************************/
#define CL_CONTEXT_PROTECTED_QCOM 0x40C7
#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM 0x40C8
/*************************************
* cl_qcom_priority_hint extension *
*************************************/
#define CL_PRIORITY_HINT_NONE_QCOM 0
typedef cl_uint cl_priority_hint;
#define CL_CONTEXT_PRIORITY_HINT_QCOM 0x40C9
/*cl_priority_hint*/
#define CL_PRIORITY_HINT_HIGH_QCOM 0x40CA
#define CL_PRIORITY_HINT_NORMAL_QCOM 0x40CB
#define CL_PRIORITY_HINT_LOW_QCOM 0x40CC
#ifdef __cplusplus
}
#endif
#endif /* __OPENCL_CL_EXT_QCOM_H */

10
selfdrive/camerad/main.cc
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@ -319,6 +319,10 @@ void party(cl_device_id device_id, cl_context context) {
server_thread.join(); server_thread.join();
} }
#if defined(QCOM) || defined(QCOM2)
#include "CL/cl_ext_qcom.h"
#endif
int main(int argc, char *argv[]) { int main(int argc, char *argv[]) {
set_realtime_priority(51); set_realtime_priority(51);
#if defined(QCOM) #if defined(QCOM)
@ -331,7 +335,13 @@ int main(int argc, char *argv[]) {
signal(SIGTERM, (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_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
#if defined(QCOM) || defined(QCOM2)
const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
cl_context context = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
#else
cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
#endif
party(device_id, context); party(device_id, context);

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