Replace ThneedModel with TinygradModel (#33532)
* squash * bump tg * bump tg * debump tinygrad * bump tinygrad * bump tg * Skip init iteration * fixes * cleanups * skip first test sample * typos * linter unhappy * update cpu usage * OPENCL just zeros for now * imports * Try printing * Runs again, but slower * unused import * Allow more buffer with tg and all on gpu * bump tinygrad --------- Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> Co-authored-by: Bruce Wayne <harald.the.engineer@gmail.com>pull/33990/head
Mitchell Goff
6 months ago
committed by
GitHub
parent
127c922aed
commit
da952e9b64
25 changed files with 151 additions and 1021 deletions
@ -1,10 +1,4 @@ |
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#!/usr/bin/env bash |
#!/usr/bin/env bash |
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DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" |
DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" |
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cd "$DIR/../../" |
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if [ -f "$DIR/libthneed.so" ]; then |
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export LD_PRELOAD="$DIR/libthneed.so" |
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fi |
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exec "$DIR/dmonitoringmodeld.py" "$@" |
exec "$DIR/dmonitoringmodeld.py" "$@" |
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@ -1,58 +0,0 @@ |
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#include "selfdrive/modeld/runners/thneedmodel.h" |
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#include <string> |
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#include "common/swaglog.h" |
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ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) { |
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thneed = new Thneed(true, context); |
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thneed->load(path.c_str()); |
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thneed->clexec(); |
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recorded = false; |
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output = _output; |
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} |
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void* ThneedModel::getCLBuffer(const std::string name) { |
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int index = -1; |
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for (int i = 0; i < inputs.size(); i++) { |
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if (name == inputs[i]->name) { |
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index = i; |
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break; |
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} |
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} |
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if (index == -1) { |
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LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str()); |
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assert(false); |
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} |
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if (thneed->input_clmem.size() >= inputs.size()) { |
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return &thneed->input_clmem[inputs.size() - index - 1]; |
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} else { |
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return nullptr; |
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} |
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} |
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void ThneedModel::execute() { |
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if (!recorded) { |
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thneed->record = true; |
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float *input_buffers[inputs.size()]; |
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for (int i = 0; i < inputs.size(); i++) { |
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input_buffers[inputs.size() - i - 1] = inputs[i]->buffer; |
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} |
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thneed->copy_inputs(input_buffers); |
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thneed->clexec(); |
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thneed->copy_output(output); |
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thneed->stop(); |
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recorded = true; |
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} else { |
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float *input_buffers[inputs.size()]; |
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for (int i = 0; i < inputs.size(); i++) { |
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input_buffers[inputs.size() - i - 1] = inputs[i]->buffer; |
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} |
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thneed->execute(input_buffers, output); |
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} |
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} |
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@ -1,17 +0,0 @@ |
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#pragma once |
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#include <string> |
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#include "selfdrive/modeld/runners/runmodel.h" |
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#include "selfdrive/modeld/thneed/thneed.h" |
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class ThneedModel : public RunModel { |
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public: |
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ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL); |
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void *getCLBuffer(const std::string name); |
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void execute(); |
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private: |
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Thneed *thneed = NULL; |
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bool recorded; |
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float *output; |
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}; |
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@ -1,9 +0,0 @@ |
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# distutils: language = c++ |
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from libcpp.string cimport string |
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from msgq.visionipc.visionipc cimport cl_context |
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cdef extern from "selfdrive/modeld/runners/thneedmodel.h": |
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cdef cppclass ThneedModel: |
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ThneedModel(string, float*, size_t, int, bool, cl_context) |
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@ -1,14 +0,0 @@ |
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# distutils: language = c++ |
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# cython: c_string_encoding=ascii, language_level=3 |
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from libcpp cimport bool |
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from libcpp.string cimport string |
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from .thneedmodel cimport ThneedModel as cppThneedModel |
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from selfdrive.modeld.models.commonmodel_pyx cimport CLContext |
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from selfdrive.modeld.runners.runmodel_pyx cimport RunModel |
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from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel |
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cdef class ThneedModel(RunModel): |
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def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): |
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self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context) |
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@ -0,0 +1,8 @@ |
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from tinygrad.tensor import Tensor |
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from tinygrad.helpers import to_mv |
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def qcom_tensor_from_opencl_address(opencl_address, shape, dtype): |
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cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0] |
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rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer. |
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return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM') |
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@ -1,8 +0,0 @@ |
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thneed is an SNPE accelerator. I know SNPE is already an accelerator, but sometimes things need to go even faster.. |
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It runs on the local device, and caches a single model run. Then it replays it, but fast. |
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thneed slices through abstraction layers like a fish. |
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You need a thneed. |
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@ -1,154 +0,0 @@ |
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#include <cassert> |
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#include <set> |
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#include "third_party/json11/json11.hpp" |
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#include "common/util.h" |
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#include "common/clutil.h" |
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#include "common/swaglog.h" |
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#include "selfdrive/modeld/thneed/thneed.h" |
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using namespace json11; |
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extern map<cl_program, string> g_program_source; |
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void Thneed::load(const char *filename) { |
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LOGD("Thneed::load: loading from %s\n", filename); |
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string buf = util::read_file(filename); |
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int jsz = *(int *)buf.data(); |
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string jsonerr; |
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string jj(buf.data() + sizeof(int), jsz); |
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Json jdat = Json::parse(jj, jsonerr); |
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map<cl_mem, cl_mem> real_mem; |
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real_mem[NULL] = NULL; |
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int ptr = sizeof(int)+jsz; |
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for (auto &obj : jdat["objects"].array_items()) { |
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auto mobj = obj.object_items(); |
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int sz = mobj["size"].int_value(); |
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cl_mem clbuf = NULL; |
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if (mobj["buffer_id"].string_value().size() > 0) { |
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// image buffer must already be allocated
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clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; |
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assert(mobj["needs_load"].bool_value() == false); |
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} else { |
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if (mobj["needs_load"].bool_value()) { |
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clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL); |
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if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr); |
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ptr += sz; |
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} else { |
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// TODO: is there a faster way to init zeroed out buffers?
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void *host_zeros = calloc(sz, 1); |
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clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL); |
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free(host_zeros); |
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} |
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} |
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assert(clbuf != NULL); |
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if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") { |
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cl_image_desc desc = {0}; |
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desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER; |
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desc.image_width = mobj["width"].int_value(); |
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desc.image_height = mobj["height"].int_value(); |
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desc.image_row_pitch = mobj["row_pitch"].int_value(); |
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assert(sz == desc.image_height*desc.image_row_pitch); |
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#ifdef QCOM2 |
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desc.buffer = clbuf; |
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#else |
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// TODO: we are creating unused buffers on PC
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clReleaseMemObject(clbuf); |
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#endif |
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cl_image_format format = {0}; |
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format.image_channel_order = CL_RGBA; |
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format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT; |
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cl_int errcode; |
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#ifndef QCOM2 |
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if (mobj["needs_load"].bool_value()) { |
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clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode); |
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} else { |
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clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode); |
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} |
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#else |
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clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode); |
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#endif |
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if (clbuf == NULL) { |
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LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode), |
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desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer); |
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} |
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assert(clbuf != NULL); |
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} |
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real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf; |
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} |
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map<string, cl_program> g_programs; |
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for (const auto &[name, source] : jdat["programs"].object_items()) { |
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if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size()); |
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g_programs[name] = cl_program_from_source(context, device_id, source.string_value()); |
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} |
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for (auto &obj : jdat["inputs"].array_items()) { |
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auto mobj = obj.object_items(); |
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int sz = mobj["size"].int_value(); |
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cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; |
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input_clmem.push_back(aa); |
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input_sizes.push_back(sz); |
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LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz); |
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cl_int cl_err; |
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void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err); |
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if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz); |
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assert(cl_err == CL_SUCCESS); |
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inputs.push_back(ret); |
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} |
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for (auto &obj : jdat["outputs"].array_items()) { |
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auto mobj = obj.object_items(); |
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int sz = mobj["size"].int_value(); |
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LOGD("Thneed::save: adding output with size %d\n", sz); |
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// TODO: support multiple outputs
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output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; |
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assert(output != NULL); |
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} |
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for (auto &obj : jdat["binaries"].array_items()) { |
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string name = obj["name"].string_value(); |
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size_t length = obj["length"].int_value(); |
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if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length); |
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g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length); |
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ptr += length; |
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} |
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for (auto &obj : jdat["kernels"].array_items()) { |
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auto gws = obj["global_work_size"]; |
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auto lws = obj["local_work_size"]; |
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auto kk = shared_ptr<CLQueuedKernel>(new CLQueuedKernel(this)); |
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kk->name = obj["name"].string_value(); |
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kk->program = g_programs[kk->name]; |
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kk->work_dim = obj["work_dim"].int_value(); |
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for (int i = 0; i < kk->work_dim; i++) { |
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kk->global_work_size[i] = gws[i].int_value(); |
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kk->local_work_size[i] = lws[i].int_value(); |
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} |
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kk->num_args = obj["num_args"].int_value(); |
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for (int i = 0; i < kk->num_args; i++) { |
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string arg = obj["args"].array_items()[i].string_value(); |
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int arg_size = obj["args_size"].array_items()[i].int_value(); |
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kk->args_size.push_back(arg_size); |
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if (arg_size == 8) { |
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cl_mem val = *(cl_mem*)(arg.data()); |
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val = real_mem[val]; |
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kk->args.push_back(string((char*)&val, sizeof(val))); |
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} else { |
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kk->args.push_back(arg); |
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} |
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} |
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kq.push_back(kk); |
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} |
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clFinish(command_queue); |
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} |
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@ -1,133 +0,0 @@ |
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#pragma once |
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#ifndef __user |
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#define __user __attribute__(()) |
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#endif |
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#include <cstdint> |
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#include <cstdlib> |
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#include <memory> |
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#include <string> |
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#include <vector> |
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#include <CL/cl.h> |
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#include "third_party/linux/include/msm_kgsl.h" |
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using namespace std; |
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cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value); |
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namespace json11 { |
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class Json; |
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} |
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class Thneed; |
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class GPUMalloc { |
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public: |
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GPUMalloc(int size, int fd); |
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~GPUMalloc(); |
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void *alloc(int size); |
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private: |
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uint64_t base; |
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int remaining; |
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}; |
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class CLQueuedKernel { |
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public: |
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CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; } |
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CLQueuedKernel(Thneed *lthneed, |
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cl_kernel _kernel, |
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cl_uint _work_dim, |
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const size_t *_global_work_size, |
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const size_t *_local_work_size); |
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cl_int exec(); |
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void debug_print(bool verbose); |
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int get_arg_num(const char *search_arg_name); |
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cl_program program; |
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string name; |
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cl_uint num_args; |
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vector<string> arg_names; |
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vector<string> arg_types; |
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vector<string> args; |
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vector<int> args_size; |
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cl_kernel kernel = NULL; |
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json11::Json to_json() const; |
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cl_uint work_dim; |
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size_t global_work_size[3] = {0}; |
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size_t local_work_size[3] = {0}; |
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private: |
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Thneed *thneed; |
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}; |
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class CachedIoctl { |
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public: |
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virtual void exec() {} |
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}; |
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class CachedSync: public CachedIoctl { |
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public: |
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CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; } |
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void exec(); |
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private: |
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Thneed *thneed; |
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string data; |
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}; |
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class CachedCommand: public CachedIoctl { |
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public: |
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CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd); |
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void exec(); |
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private: |
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void disassemble(int cmd_index); |
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struct kgsl_gpu_command cache; |
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unique_ptr<kgsl_command_object[]> cmds; |
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unique_ptr<kgsl_command_object[]> objs; |
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Thneed *thneed; |
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vector<shared_ptr<CLQueuedKernel> > kq; |
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}; |
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class Thneed { |
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public: |
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Thneed(bool do_clinit=false, cl_context _context = NULL); |
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void stop(); |
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void execute(float **finputs, float *foutput, bool slow=false); |
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void wait(); |
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vector<cl_mem> input_clmem; |
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vector<void *> inputs; |
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vector<size_t> input_sizes; |
|
||||||
cl_mem output = NULL; |
|
||||||
|
|
||||||
cl_context context = NULL; |
|
||||||
cl_command_queue command_queue; |
|
||||||
cl_device_id device_id; |
|
||||||
int context_id; |
|
||||||
|
|
||||||
// protected?
|
|
||||||
bool record = false; |
|
||||||
int debug; |
|
||||||
int timestamp; |
|
||||||
|
|
||||||
#ifdef QCOM2 |
|
||||||
unique_ptr<GPUMalloc> ram; |
|
||||||
vector<unique_ptr<CachedIoctl> > cmds; |
|
||||||
int fd; |
|
||||||
#endif |
|
||||||
|
|
||||||
// all CL kernels
|
|
||||||
void copy_inputs(float **finputs, bool internal=false); |
|
||||||
void copy_output(float *foutput); |
|
||||||
cl_int clexec(); |
|
||||||
vector<shared_ptr<CLQueuedKernel> > kq; |
|
||||||
|
|
||||||
// pending CL kernels
|
|
||||||
vector<shared_ptr<CLQueuedKernel> > ckq; |
|
||||||
|
|
||||||
// loading
|
|
||||||
void load(const char *filename); |
|
||||||
private: |
|
||||||
void clinit(); |
|
||||||
}; |
|
||||||
|
|
||||||
@ -1,216 +0,0 @@ |
|||||||
#include "selfdrive/modeld/thneed/thneed.h" |
|
||||||
|
|
||||||
#include <cassert> |
|
||||||
#include <cstring> |
|
||||||
#include <map> |
|
||||||
|
|
||||||
#include "common/clutil.h" |
|
||||||
#include "common/timing.h" |
|
||||||
|
|
||||||
map<pair<cl_kernel, int>, string> g_args; |
|
||||||
map<pair<cl_kernel, int>, int> g_args_size; |
|
||||||
map<cl_program, string> g_program_source; |
|
||||||
|
|
||||||
void Thneed::stop() { |
|
||||||
//printf("Thneed::stop: recorded %lu commands\n", cmds.size());
|
|
||||||
record = false; |
|
||||||
} |
|
||||||
|
|
||||||
void Thneed::clinit() { |
|
||||||
device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); |
|
||||||
if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); |
|
||||||
//cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0};
|
|
||||||
cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0}; |
|
||||||
command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err)); |
|
||||||
printf("Thneed::clinit done\n"); |
|
||||||
} |
|
||||||
|
|
||||||
cl_int Thneed::clexec() { |
|
||||||
if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size()); |
|
||||||
for (auto &k : kq) { |
|
||||||
if (record) ckq.push_back(k); |
|
||||||
cl_int ret = k->exec(); |
|
||||||
assert(ret == CL_SUCCESS); |
|
||||||
} |
|
||||||
return clFinish(command_queue); |
|
||||||
} |
|
||||||
|
|
||||||
void Thneed::copy_inputs(float **finputs, bool internal) { |
|
||||||
for (int idx = 0; idx < inputs.size(); ++idx) { |
|
||||||
if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]); |
|
||||||
|
|
||||||
if (internal) { |
|
||||||
// if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer
|
|
||||||
if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]); |
|
||||||
} else { |
|
||||||
if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL)); |
|
||||||
} |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
void Thneed::copy_output(float *foutput) { |
|
||||||
if (output != NULL) { |
|
||||||
size_t sz; |
|
||||||
clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL); |
|
||||||
if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput); |
|
||||||
CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL)); |
|
||||||
} else { |
|
||||||
printf("CAUTION: model output is NULL, does it have no outputs?\n"); |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
// *********** CLQueuedKernel ***********
|
|
||||||
|
|
||||||
CLQueuedKernel::CLQueuedKernel(Thneed *lthneed, |
|
||||||
cl_kernel _kernel, |
|
||||||
cl_uint _work_dim, |
|
||||||
const size_t *_global_work_size, |
|
||||||
const size_t *_local_work_size) { |
|
||||||
thneed = lthneed; |
|
||||||
kernel = _kernel; |
|
||||||
work_dim = _work_dim; |
|
||||||
assert(work_dim <= 3); |
|
||||||
for (int i = 0; i < work_dim; i++) { |
|
||||||
global_work_size[i] = _global_work_size[i]; |
|
||||||
local_work_size[i] = _local_work_size[i]; |
|
||||||
} |
|
||||||
|
|
||||||
char _name[0x100]; |
|
||||||
clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL); |
|
||||||
name = string(_name); |
|
||||||
clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL); |
|
||||||
|
|
||||||
// get args
|
|
||||||
for (int i = 0; i < num_args; i++) { |
|
||||||
char arg_name[0x100] = {0}; |
|
||||||
clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL); |
|
||||||
arg_names.push_back(string(arg_name)); |
|
||||||
clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL); |
|
||||||
arg_types.push_back(string(arg_name)); |
|
||||||
|
|
||||||
args.push_back(g_args[make_pair(kernel, i)]); |
|
||||||
args_size.push_back(g_args_size[make_pair(kernel, i)]); |
|
||||||
} |
|
||||||
|
|
||||||
// get program
|
|
||||||
clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL); |
|
||||||
} |
|
||||||
|
|
||||||
int CLQueuedKernel::get_arg_num(const char *search_arg_name) { |
|
||||||
for (int i = 0; i < num_args; i++) { |
|
||||||
if (arg_names[i] == search_arg_name) return i; |
|
||||||
} |
|
||||||
printf("failed to find %s in %s\n", search_arg_name, name.c_str()); |
|
||||||
assert(false); |
|
||||||
} |
|
||||||
|
|
||||||
cl_int CLQueuedKernel::exec() { |
|
||||||
if (kernel == NULL) { |
|
||||||
kernel = clCreateKernel(program, name.c_str(), NULL); |
|
||||||
arg_names.clear(); |
|
||||||
arg_types.clear(); |
|
||||||
|
|
||||||
for (int j = 0; j < num_args; j++) { |
|
||||||
char arg_name[0x100] = {0}; |
|
||||||
clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL); |
|
||||||
arg_names.push_back(string(arg_name)); |
|
||||||
clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL); |
|
||||||
arg_types.push_back(string(arg_name)); |
|
||||||
|
|
||||||
cl_int ret; |
|
||||||
if (args[j].size() != 0) { |
|
||||||
assert(args[j].size() == args_size[j]); |
|
||||||
ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data()); |
|
||||||
} else { |
|
||||||
ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL); |
|
||||||
} |
|
||||||
assert(ret == CL_SUCCESS); |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
if (thneed->debug >= 1) { |
|
||||||
debug_print(thneed->debug >= 2); |
|
||||||
} |
|
||||||
|
|
||||||
return clEnqueueNDRangeKernel(thneed->command_queue, |
|
||||||
kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL); |
|
||||||
} |
|
||||||
|
|
||||||
void CLQueuedKernel::debug_print(bool verbose) { |
|
||||||
printf("%p %56s -- ", kernel, name.c_str()); |
|
||||||
for (int i = 0; i < work_dim; i++) { |
|
||||||
printf("%4zu ", global_work_size[i]); |
|
||||||
} |
|
||||||
printf(" -- "); |
|
||||||
for (int i = 0; i < work_dim; i++) { |
|
||||||
printf("%4zu ", local_work_size[i]); |
|
||||||
} |
|
||||||
printf("\n"); |
|
||||||
|
|
||||||
if (verbose) { |
|
||||||
for (int i = 0; i < num_args; i++) { |
|
||||||
string arg = args[i]; |
|
||||||
printf(" %s %s", arg_types[i].c_str(), arg_names[i].c_str()); |
|
||||||
void *arg_value = (void*)arg.data(); |
|
||||||
int arg_size = arg.size(); |
|
||||||
if (arg_size == 0) { |
|
||||||
printf(" (size) %d", args_size[i]); |
|
||||||
} else if (arg_size == 1) { |
|
||||||
printf(" = %d", *((char*)arg_value)); |
|
||||||
} else if (arg_size == 2) { |
|
||||||
printf(" = %d", *((short*)arg_value)); |
|
||||||
} else if (arg_size == 4) { |
|
||||||
if (arg_types[i] == "float") { |
|
||||||
printf(" = %f", *((float*)arg_value)); |
|
||||||
} else { |
|
||||||
printf(" = %d", *((int*)arg_value)); |
|
||||||
} |
|
||||||
} else if (arg_size == 8) { |
|
||||||
cl_mem val = (cl_mem)(*((uintptr_t*)arg_value)); |
|
||||||
printf(" = %p", val); |
|
||||||
if (val != NULL) { |
|
||||||
cl_mem_object_type obj_type; |
|
||||||
clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL); |
|
||||||
if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) { |
|
||||||
cl_image_format format; |
|
||||||
size_t width, height, depth, array_size, row_pitch, slice_pitch; |
|
||||||
cl_mem buf; |
|
||||||
clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL); |
|
||||||
assert(format.image_channel_order == CL_RGBA); |
|
||||||
assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT); |
|
||||||
clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL); |
|
||||||
clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL); |
|
||||||
clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL); |
|
||||||
clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL); |
|
||||||
clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL); |
|
||||||
clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL); |
|
||||||
assert(depth == 0); |
|
||||||
assert(array_size == 0); |
|
||||||
assert(slice_pitch == 0); |
|
||||||
|
|
||||||
clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL); |
|
||||||
size_t sz = 0; |
|
||||||
if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL); |
|
||||||
printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz); |
|
||||||
} else { |
|
||||||
size_t sz; |
|
||||||
clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL); |
|
||||||
printf(" buffer %zu", sz); |
|
||||||
} |
|
||||||
} |
|
||||||
} |
|
||||||
printf("\n"); |
|
||||||
} |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) { |
|
||||||
g_args_size[make_pair(kernel, arg_index)] = arg_size; |
|
||||||
if (arg_value != NULL) { |
|
||||||
g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size); |
|
||||||
} else { |
|
||||||
g_args[make_pair(kernel, arg_index)] = string(""); |
|
||||||
} |
|
||||||
cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value); |
|
||||||
return ret; |
|
||||||
} |
|
||||||
@ -1,32 +0,0 @@ |
|||||||
#include "selfdrive/modeld/thneed/thneed.h" |
|
||||||
|
|
||||||
#include <cassert> |
|
||||||
|
|
||||||
#include "common/clutil.h" |
|
||||||
#include "common/timing.h" |
|
||||||
|
|
||||||
Thneed::Thneed(bool do_clinit, cl_context _context) { |
|
||||||
context = _context; |
|
||||||
if (do_clinit) clinit(); |
|
||||||
char *thneed_debug_env = getenv("THNEED_DEBUG"); |
|
||||||
debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0; |
|
||||||
} |
|
||||||
|
|
||||||
void Thneed::execute(float **finputs, float *foutput, bool slow) { |
|
||||||
uint64_t tb, te; |
|
||||||
if (debug >= 1) tb = nanos_since_boot(); |
|
||||||
|
|
||||||
// ****** copy inputs
|
|
||||||
copy_inputs(finputs); |
|
||||||
|
|
||||||
// ****** run commands
|
|
||||||
clexec(); |
|
||||||
|
|
||||||
// ****** copy outputs
|
|
||||||
copy_output(foutput); |
|
||||||
|
|
||||||
if (debug >= 1) { |
|
||||||
te = nanos_since_boot(); |
|
||||||
printf("model exec in %lu us\n", (te-tb)/1000); |
|
||||||
} |
|
||||||
} |
|
||||||
@ -1,258 +0,0 @@ |
|||||||
#include "selfdrive/modeld/thneed/thneed.h" |
|
||||||
|
|
||||||
#include <dlfcn.h> |
|
||||||
#include <sys/mman.h> |
|
||||||
|
|
||||||
#include <cassert> |
|
||||||
#include <cerrno> |
|
||||||
#include <cstring> |
|
||||||
#include <map> |
|
||||||
#include <string> |
|
||||||
|
|
||||||
#include "common/clutil.h" |
|
||||||
#include "common/timing.h" |
|
||||||
|
|
||||||
Thneed *g_thneed = NULL; |
|
||||||
int g_fd = -1; |
|
||||||
|
|
||||||
void hexdump(uint8_t *d, int len) { |
|
||||||
assert((len%4) == 0); |
|
||||||
printf(" dumping %p len 0x%x\n", d, len); |
|
||||||
for (int i = 0; i < len/4; i++) { |
|
||||||
if (i != 0 && (i%0x10) == 0) printf("\n"); |
|
||||||
printf("%8x ", d[i]); |
|
||||||
} |
|
||||||
printf("\n"); |
|
||||||
} |
|
||||||
|
|
||||||
// *********** ioctl interceptor ***********
|
|
||||||
|
|
||||||
extern "C" { |
|
||||||
|
|
||||||
int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL; |
|
||||||
#undef ioctl |
|
||||||
int ioctl(int filedes, unsigned long request, void *argp) { |
|
||||||
request &= 0xFFFFFFFF; // needed on QCOM2
|
|
||||||
if (my_ioctl == NULL) my_ioctl = reinterpret_cast<decltype(my_ioctl)>(dlsym(RTLD_NEXT, "ioctl")); |
|
||||||
Thneed *thneed = g_thneed; |
|
||||||
|
|
||||||
// save the fd
|
|
||||||
if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes; |
|
||||||
|
|
||||||
// note that this runs always, even without a thneed object
|
|
||||||
if (request == IOCTL_KGSL_DRAWCTXT_CREATE) { |
|
||||||
struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp; |
|
||||||
create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK; |
|
||||||
create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority
|
|
||||||
printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags); |
|
||||||
} |
|
||||||
|
|
||||||
if (thneed != NULL) { |
|
||||||
if (request == IOCTL_KGSL_GPU_COMMAND) { |
|
||||||
struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp; |
|
||||||
if (thneed->record) { |
|
||||||
thneed->timestamp = cmd->timestamp; |
|
||||||
thneed->context_id = cmd->context_id; |
|
||||||
thneed->cmds.push_back(unique_ptr<CachedCommand>(new CachedCommand(thneed, cmd))); |
|
||||||
} |
|
||||||
if (thneed->debug >= 1) { |
|
||||||
printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx context_id: %u timestamp: %u numcmds: %d numobjs: %d\n", |
|
||||||
thneed->cmds.size(), |
|
||||||
cmd->flags, |
|
||||||
cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs); |
|
||||||
} |
|
||||||
} else if (request == IOCTL_KGSL_GPUOBJ_SYNC) { |
|
||||||
struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp; |
|
||||||
struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs); |
|
||||||
|
|
||||||
if (thneed->debug >= 2) { |
|
||||||
printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count); |
|
||||||
for (int i = 0; i < cmd->count; i++) { |
|
||||||
printf(" -- offset:0x%lx len:0x%lx id:%d op:%d ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op); |
|
||||||
} |
|
||||||
printf("\n"); |
|
||||||
} |
|
||||||
|
|
||||||
if (thneed->record) { |
|
||||||
thneed->cmds.push_back(unique_ptr<CachedSync>(new |
|
||||||
CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count)))); |
|
||||||
} |
|
||||||
} else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) { |
|
||||||
struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp; |
|
||||||
if (thneed->debug >= 1) { |
|
||||||
printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d timestamp: %d timeout: %d\n", |
|
||||||
cmd->context_id, cmd->timestamp, cmd->timeout); |
|
||||||
} |
|
||||||
} else if (request == IOCTL_KGSL_SETPROPERTY) { |
|
||||||
if (thneed->debug >= 1) { |
|
||||||
struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp; |
|
||||||
printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes); |
|
||||||
if (thneed->debug >= 2) { |
|
||||||
hexdump((uint8_t *)prop->value, prop->sizebytes); |
|
||||||
if (prop->type == KGSL_PROP_PWR_CONSTRAINT) { |
|
||||||
struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value; |
|
||||||
hexdump((uint8_t *)constraint->data, constraint->size); |
|
||||||
} |
|
||||||
} |
|
||||||
} |
|
||||||
} else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) { |
|
||||||
// this happens
|
|
||||||
} else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) { |
|
||||||
// this happens
|
|
||||||
} else { |
|
||||||
if (thneed->debug >= 1) { |
|
||||||
printf("other ioctl %lx\n", request); |
|
||||||
} |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
int ret = my_ioctl(filedes, request, argp); |
|
||||||
// NOTE: This error message goes into stdout and messes up pyenv
|
|
||||||
// if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
|
|
||||||
return ret; |
|
||||||
} |
|
||||||
|
|
||||||
} |
|
||||||
|
|
||||||
// *********** GPUMalloc ***********
|
|
||||||
|
|
||||||
GPUMalloc::GPUMalloc(int size, int fd) { |
|
||||||
struct kgsl_gpuobj_alloc alloc; |
|
||||||
memset(&alloc, 0, sizeof(alloc)); |
|
||||||
alloc.size = size; |
|
||||||
alloc.flags = 0x10000a00; |
|
||||||
ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc); |
|
||||||
void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000); |
|
||||||
assert(addr != MAP_FAILED); |
|
||||||
|
|
||||||
base = (uint64_t)addr; |
|
||||||
remaining = size; |
|
||||||
} |
|
||||||
|
|
||||||
GPUMalloc::~GPUMalloc() { |
|
||||||
// TODO: free the GPU malloced area
|
|
||||||
} |
|
||||||
|
|
||||||
void *GPUMalloc::alloc(int size) { |
|
||||||
void *ret = (void*)base; |
|
||||||
size = (size+0xff) & (~0xFF); |
|
||||||
assert(size <= remaining); |
|
||||||
remaining -= size; |
|
||||||
base += size; |
|
||||||
return ret; |
|
||||||
} |
|
||||||
|
|
||||||
// *********** CachedSync, at the ioctl layer ***********
|
|
||||||
|
|
||||||
void CachedSync::exec() { |
|
||||||
struct kgsl_gpuobj_sync cmd; |
|
||||||
|
|
||||||
cmd.objs = (uint64_t)data.data(); |
|
||||||
cmd.obj_len = data.length(); |
|
||||||
cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj); |
|
||||||
|
|
||||||
int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd); |
|
||||||
assert(ret == 0); |
|
||||||
} |
|
||||||
|
|
||||||
// *********** CachedCommand, at the ioctl layer ***********
|
|
||||||
|
|
||||||
CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) { |
|
||||||
thneed = lthneed; |
|
||||||
assert(cmd->numsyncs == 0); |
|
||||||
|
|
||||||
memcpy(&cache, cmd, sizeof(cache)); |
|
||||||
|
|
||||||
if (cmd->numcmds > 0) { |
|
||||||
cmds = make_unique<struct kgsl_command_object[]>(cmd->numcmds); |
|
||||||
memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds); |
|
||||||
cache.cmdlist = (uint64_t)cmds.get(); |
|
||||||
for (int i = 0; i < cmd->numcmds; i++) { |
|
||||||
void *nn = thneed->ram->alloc(cmds[i].size); |
|
||||||
memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size); |
|
||||||
cmds[i].gpuaddr = (uint64_t)nn; |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
if (cmd->numobjs > 0) { |
|
||||||
objs = make_unique<struct kgsl_command_object[]>(cmd->numobjs); |
|
||||||
memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs); |
|
||||||
cache.objlist = (uint64_t)objs.get(); |
|
||||||
for (int i = 0; i < cmd->numobjs; i++) { |
|
||||||
void *nn = thneed->ram->alloc(objs[i].size); |
|
||||||
memset(nn, 0, objs[i].size); |
|
||||||
objs[i].gpuaddr = (uint64_t)nn; |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
kq = thneed->ckq; |
|
||||||
thneed->ckq.clear(); |
|
||||||
} |
|
||||||
|
|
||||||
void CachedCommand::exec() { |
|
||||||
cache.timestamp = ++thneed->timestamp; |
|
||||||
int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache); |
|
||||||
|
|
||||||
if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret); |
|
||||||
|
|
||||||
if (thneed->debug >= 2) { |
|
||||||
for (auto &it : kq) { |
|
||||||
it->debug_print(false); |
|
||||||
} |
|
||||||
} |
|
||||||
|
|
||||||
assert(ret == 0); |
|
||||||
} |
|
||||||
|
|
||||||
// *********** Thneed ***********
|
|
||||||
|
|
||||||
Thneed::Thneed(bool do_clinit, cl_context _context) { |
|
||||||
// TODO: QCOM2 actually requires a different context
|
|
||||||
//context = _context;
|
|
||||||
if (do_clinit) clinit(); |
|
||||||
assert(g_fd != -1); |
|
||||||
fd = g_fd; |
|
||||||
ram = make_unique<GPUMalloc>(0x80000, fd); |
|
||||||
timestamp = -1; |
|
||||||
g_thneed = this; |
|
||||||
char *thneed_debug_env = getenv("THNEED_DEBUG"); |
|
||||||
debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0; |
|
||||||
} |
|
||||||
|
|
||||||
void Thneed::wait() { |
|
||||||
struct kgsl_device_waittimestamp_ctxtid wait; |
|
||||||
wait.context_id = context_id; |
|
||||||
wait.timestamp = timestamp; |
|
||||||
wait.timeout = -1; |
|
||||||
|
|
||||||
uint64_t tb = nanos_since_boot(); |
|
||||||
int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait); |
|
||||||
uint64_t te = nanos_since_boot(); |
|
||||||
|
|
||||||
if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000); |
|
||||||
} |
|
||||||
|
|
||||||
void Thneed::execute(float **finputs, float *foutput, bool slow) { |
|
||||||
uint64_t tb, te; |
|
||||||
if (debug >= 1) tb = nanos_since_boot(); |
|
||||||
|
|
||||||
// ****** copy inputs
|
|
||||||
copy_inputs(finputs, true); |
|
||||||
|
|
||||||
// ****** run commands
|
|
||||||
int i = 0; |
|
||||||
for (auto &it : cmds) { |
|
||||||
++i; |
|
||||||
if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000); |
|
||||||
it->exec(); |
|
||||||
if ((i == cmds.size()) || slow) wait(); |
|
||||||
} |
|
||||||
|
|
||||||
// ****** copy outputs
|
|
||||||
copy_output(foutput); |
|
||||||
|
|
||||||
if (debug >= 1) { |
|
||||||
te = nanos_since_boot(); |
|
||||||
printf("model exec in %lu us\n", (te-tb)/1000); |
|
||||||
} |
|
||||||
} |
|
||||||
@ -1 +1 @@ |
|||||||
Subproject commit 9dda6d260db0255750bacff61e3cee1e580567e1 |
Subproject commit ad119af6a511373e1c016a6525ab733f14a60c51 |
||||||
Loading…
Reference in new issue