openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#pragma once
#ifndef __user
#define __user __attribute__(())
#endif
#include <stdlib.h>
#include <stdint.h>
#include "include/msm_kgsl.h"
#include <vector>
#include <memory>
#include <CL/cl.h>
using namespace std;
class Thneed;
class GPUMalloc {
public:
GPUMalloc(int size, int fd);
~GPUMalloc();
void *alloc(int size);
private:
uint64_t base;
int remaining;
};
class CachedCommand {
public:
CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd);
void exec(bool wait);
void disassemble();
private:
struct kgsl_gpu_command cache;
struct kgsl_command_object cmds[2];
struct kgsl_command_object objs[1];
Thneed *thneed;
};
class Thneed {
public:
Thneed();
void stop();
void execute(float **finputs, float *foutput, bool slow=false);
vector<cl_mem> inputs;
cl_mem output;
cl_command_queue command_queue;
int context_id;
// protected?
int record;
int timestamp;
unique_ptr<GPUMalloc> ram;
vector<unique_ptr<CachedCommand> > cmds;
vector<string> syncobjs;
int fd;
};