From 5e35feb3aba8b2f8c7f8d03c1a5949555bfde097 Mon Sep 17 00:00:00 2001 From: David <49467229+TheSecurityDev@users.noreply.github.com> Date: Wed, 4 Feb 2026 13:25:09 -0600 Subject: [PATCH 01/65] clips: allow mici UI (now default) (#37070) fix: make big false by default and remove assertion --- tools/clip/run.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 5fb693f30a..f2b871be69 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -40,7 +40,7 @@ def parse_args(): parser.add_argument("-f", "--file-size", type=float, default=9.0, help="Target file size in MB") parser.add_argument("-x", "--speed", type=int, default=1, help="Speed multiplier") parser.add_argument("--demo", action="store_true", help="Use demo route with default timing") - parser.add_argument("--big", action="store_true", default=True, help="Use big UI (2160x1080)") + parser.add_argument("--big", action="store_true", help="Use big UI (2160x1080)") parser.add_argument("--qcam", action="store_true", help="Use qcamera instead of fcamera") parser.add_argument("--windowed", action="store_true", help="Show window") parser.add_argument("--no-metadata", action="store_true", help="Disable metadata overlay") @@ -329,7 +329,6 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, def main(): logging.basicConfig(level=logging.INFO, format="%(asctime)s %(levelname)s\t%(message)s") args = parse_args() - assert args.big, "Clips doesn't support mici UI yet. TODO: make it work" setup_env(args.output, big=args.big, speed=args.speed, target_mb=args.file_size, duration=args.end - args.start) clip(Route(args.route, data_dir=args.data_dir), args.output, args.start, args.end, not args.windowed, From 8879d481e55bc026cf2750aaee984866bd5a4f6c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Feb 2026 16:04:49 -0800 Subject: [PATCH 02/65] comma four: new keyboard enter button (#37072) * works * enter dis * clean up * clean up * no debug * useless * poadding --- .../icons_mici/settings/keyboard/confirm.png | 3 --- .../icons_mici/settings/keyboard/enter.png | 3 +++ .../settings/keyboard/enter_disabled.png | 3 +++ selfdrive/ui/mici/widgets/dialog.py | 19 +++++++++++-------- 4 files changed, 17 insertions(+), 11 deletions(-) delete mode 100644 selfdrive/assets/icons_mici/settings/keyboard/confirm.png create mode 100644 selfdrive/assets/icons_mici/settings/keyboard/enter.png create mode 100644 selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png diff --git a/selfdrive/assets/icons_mici/settings/keyboard/confirm.png b/selfdrive/assets/icons_mici/settings/keyboard/confirm.png deleted file mode 100644 index 98ca5c61dc..0000000000 --- a/selfdrive/assets/icons_mici/settings/keyboard/confirm.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:43b64365a42d7bf772d567b8867a6ced4ec0175bb88b6acaa3a5345f19ca696e -size 1268 diff --git a/selfdrive/assets/icons_mici/settings/keyboard/enter.png b/selfdrive/assets/icons_mici/settings/keyboard/enter.png new file mode 100644 index 0000000000..0b7fc95c51 --- /dev/null +++ b/selfdrive/assets/icons_mici/settings/keyboard/enter.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3dd956d5ccfce01a01bea74ef59c9e73dfca406a5ff9ac62417203afa6027fba +size 5620 diff --git a/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png b/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png new file mode 100644 index 0000000000..251d5d8d14 --- /dev/null +++ b/selfdrive/assets/icons_mici/settings/keyboard/enter_disabled.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1dd1c2308872729d58adab390030ae9c987dc7908f0c39391651ea2b6cb620c5 +size 2445 diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index b23abe6080..49d73f7b0d 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -151,7 +151,8 @@ class BigInputDialog(BigDialogBase): self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 42, 36) self._backspace_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps) - self._enter_img = gui_app.texture("icons_mici/settings/keyboard/confirm.png", 42, 36) + self._enter_img = gui_app.texture("icons_mici/settings/keyboard/enter.png", 76, 62) + self._enter_disabled_img = gui_app.texture("icons_mici/settings/keyboard/enter_disabled.png", 76, 62) self._enter_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps) # rects for top buttons @@ -186,9 +187,9 @@ class BigInputDialog(BigDialogBase): text_size = measure_text_cached(gui_app.font(FontWeight.ROMAN), text + candidate_char or self._hint_label.text, self.TEXT_INPUT_SIZE) bg_block_margin = 5 - text_x = PADDING * 2 + self._enter_img.width + bg_block_margin + text_x = PADDING / 2 + self._enter_img.width + PADDING text_field_rect = rl.Rectangle(text_x, int(self._rect.y + PADDING) - bg_block_margin, - int(self._rect.width - text_x - PADDING * 2 - self._enter_img.width) - bg_block_margin * 2, + int(self._rect.width - text_x * 2), int(text_size.y)) # draw text input @@ -224,7 +225,7 @@ class BigInputDialog(BigDialogBase): self._backspace_img_alpha.update(255 * bool(text)) if self._backspace_img_alpha.x > 1: color = rl.Color(255, 255, 255, int(self._backspace_img_alpha.x)) - rl.draw_texture(self._backspace_img, int(self._rect.width - self._enter_img.width - 15), int(text_field_rect.y), color) + rl.draw_texture(self._backspace_img, int(self._rect.width - self._backspace_img.width - 27), int(self._rect.y + 14), color) if not text and self._hint_label.text and not candidate_char: # draw description if no text entered yet and not drawing candidate char @@ -236,10 +237,12 @@ class BigInputDialog(BigDialogBase): self._top_right_button_rect = rl.Rectangle(text_field_rect.x + text_field_rect.width, self._rect.y, self._rect.width - (text_field_rect.x + text_field_rect.width), self._top_left_button_rect.height) - self._enter_img_alpha.update(255 if (len(text) >= self._minimum_length) else 255 * 0.35) - if self._enter_img_alpha.x > 1: - color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x)) - rl.draw_texture(self._enter_img, int(self._rect.x + 15), int(text_field_rect.y), color) + # draw enter button + self._enter_img_alpha.update(255 if len(text) >= self._minimum_length else 0) + color = rl.Color(255, 255, 255, int(self._enter_img_alpha.x)) + rl.draw_texture(self._enter_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color) + color = rl.Color(255, 255, 255, 255 - int(self._enter_img_alpha.x)) + rl.draw_texture(self._enter_disabled_img, int(self._rect.x + PADDING / 2), int(self._rect.y), color) # keyboard goes over everything self._keyboard.render(self._rect) From 3ea474dd5877300987841cf3f4df296a1a34f18a Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Wed, 4 Feb 2026 19:31:44 -0500 Subject: [PATCH 03/65] tools: fix Python version comparison using normalized semantic version format (#37075) --- tools/op.sh | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index 8b5062ad9b..8c41926e0c 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -161,9 +161,9 @@ function op_check_python() { loge "ERROR_PYTHON_NOT_FOUND" return 1 else - LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f1) - UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9,]' | cut -d ',' -f2) - VERSION=$(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') + LB=$(echo $REQUIRED_PYTHON_VERSION | tr -d '",' | awk '{ split($4, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }') + UB=$(echo $REQUIRED_PYTHON_VERSION | tr -d '",' | awk '{ split($6, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }') + VERSION=$(echo $INSTALLED_PYTHON_VERSION | awk '{ split($2, v, "."); printf "%d%02d%02d", v[1], v[2], v[3] }') if [[ $VERSION -ge LB && $VERSION -lt UB ]]; then echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected." else From 2230933d4be2c3db83e7737208065aba79b961a9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Feb 2026 16:38:24 -0800 Subject: [PATCH 04/65] Back to tethering BigButton (#37082) Back to tethering big button --- selfdrive/assets/icons_mici/tethering_short.png | 3 --- selfdrive/ui/mici/layouts/settings/network/__init__.py | 5 ++--- 2 files changed, 2 insertions(+), 6 deletions(-) delete mode 100644 selfdrive/assets/icons_mici/tethering_short.png diff --git a/selfdrive/assets/icons_mici/tethering_short.png b/selfdrive/assets/icons_mici/tethering_short.png deleted file mode 100644 index f97fed95de..0000000000 --- a/selfdrive/assets/icons_mici/tethering_short.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fce940a3cbd2e9530e8efdde90794013a272919b2f3ea482bc06535c795640e7 -size 2176 diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py index 0d5e527836..d3ca11ce33 100644 --- a/selfdrive/ui/mici/layouts/settings/network/__init__.py +++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py @@ -4,7 +4,7 @@ from collections.abc import Callable from openpilot.system.ui.widgets.scroller import Scroller from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici -from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigCircleToggle +from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog from openpilot.selfdrive.ui.ui_state import ui_state from openpilot.selfdrive.ui.lib.prime_state import PrimeType @@ -39,8 +39,7 @@ class NetworkLayoutMici(NavWidget): self._network_metered_btn.set_enabled(False) self._wifi_manager.set_tethering_active(checked) - self._tethering_toggle_btn = BigCircleToggle("icons_mici/tethering_short.png", toggle_callback=tethering_toggle_callback, - icon_size=(82, 82), icon_offset=(0, 12)) + self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback) def tethering_password_callback(password: str): if password: From 944c23f369ad660ee8f3d0ab260370ee6922f087 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Feb 2026 17:06:11 -0800 Subject: [PATCH 05/65] Stock LKAS: remove permanent alert (#37083) rm perm --- selfdrive/selfdrived/events.py | 5 ----- 1 file changed, 5 deletions(-) diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py index 0e37a959c5..6fb96b6e5a 100755 --- a/selfdrive/selfdrived/events.py +++ b/selfdrive/selfdrived/events.py @@ -478,11 +478,6 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { }, EventName.stockLkas: { - ET.PERMANENT: Alert( - "Stock LKAS: Lane Departure Detected", - "", - AlertStatus.userPrompt, AlertSize.small, - Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.), ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"), }, From 1979a6d8e848b2946a7db1b8a866f6eaa45f2463 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Feb 2026 19:30:20 -0800 Subject: [PATCH 06/65] BigButton: remove unused scrolling (#37085) * BigButton: remove unused scrolling * clean up --- selfdrive/ui/mici/widgets/button.py | 39 ----------------------------- 1 file changed, 39 deletions(-) diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index 0b252c21aa..172a156c30 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -5,7 +5,6 @@ from collections.abc import Callable from openpilot.system.ui.widgets import Widget from openpilot.system.ui.widgets.label import MiciLabel from openpilot.system.ui.widgets.scroller import DO_ZOOM -from openpilot.system.ui.lib.text_measure import measure_text_cached from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.common.filter_simple import BounceFilter @@ -129,12 +128,6 @@ class BigButton(Widget): self._load_images() - # internal state - self._scroll_offset = 0 # in pixels - self._needs_scroll = measure_text_cached(self._label_font, text, self._get_label_font_size()).x + 25 > self._rect.width - self._scroll_timer = 0 - self._scroll_state = ScrollState.PRE_SCROLL - def set_icon(self, icon: Union[str, rl.Texture]): self._txt_icon = gui_app.texture(icon, *self._icon_size) if isinstance(icon, str) and len(icon) else icon @@ -178,38 +171,6 @@ class BigButton(Widget): def get_text(self): return self.text - def _update_state(self): - # hold on text for a bit, scroll, hold again, reset - if self._needs_scroll: - """`dt` should be seconds since last frame (rl.get_frame_time()).""" - # TODO: this comment is generated by GPT, prob wrong and misused - dt = rl.get_frame_time() - - self._scroll_timer += dt - if self._scroll_state == ScrollState.PRE_SCROLL: - if self._scroll_timer < 0.5: - return - self._scroll_state = ScrollState.SCROLLING - self._scroll_timer = 0 - - elif self._scroll_state == ScrollState.SCROLLING: - self._scroll_offset -= SCROLLING_SPEED_PX_S * dt - # reset when text has completely left the button + 50 px gap - # TODO: use global constant for 30+30 px gap - # TODO: add std Widget padding option integrated into the self._rect - full_len = measure_text_cached(self._label_font, self.text, self._get_label_font_size()).x + 30 + 30 - if self._scroll_offset < (self._rect.width - full_len): - self._scroll_state = ScrollState.POST_SCROLL - self._scroll_timer = 0 - - elif self._scroll_state == ScrollState.POST_SCROLL: - # wait for a bit before starting to scroll again - if self._scroll_timer < 0.75: - return - self._scroll_state = ScrollState.PRE_SCROLL - self._scroll_timer = 0 - self._scroll_offset = 0 - def _render(self, _): # draw _txt_default_bg txt_bg = self._txt_default_bg From 177a1a3c8b022c85e92a1bc68e32a136ee551735 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Feb 2026 22:25:28 -0800 Subject: [PATCH 07/65] BigButton: use UnifiedLabel (#37086) * BigButton: remove unused scrolling * start * debug * stash * actually removing the hardcoded size for multioption fixes it * back * cursor does sub label * clean up * more * more * try this for now * nick suggest * clean up * more * more --- selfdrive/ui/mici/layouts/settings/device.py | 4 +- selfdrive/ui/mici/widgets/button.py | 42 +++++++++----------- 2 files changed, 20 insertions(+), 26 deletions(-) diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py index 30ea90f3d1..c12a92482c 100644 --- a/selfdrive/ui/mici/layouts/settings/device.py +++ b/selfdrive/ui/mici/layouts/settings/device.py @@ -322,11 +322,11 @@ class DeviceLayoutMici(NavWidget): regulatory_btn = BigButton("regulatory info", "", "icons_mici/settings/device/info.png") regulatory_btn.set_click_callback(self._on_regulatory) - driver_cam_btn = BigButton("driver camera preview", "", "icons_mici/settings/device/cameras.png") + driver_cam_btn = BigButton("driver\ncamera preview", "", "icons_mici/settings/device/cameras.png") driver_cam_btn.set_click_callback(self._show_driver_camera) driver_cam_btn.set_enabled(lambda: ui_state.is_offroad()) - review_training_guide_btn = BigButton("review training guide", "", "icons_mici/settings/device/info.png") + review_training_guide_btn = BigButton("review\nntraining guide", "", "icons_mici/settings/device/info.png") review_training_guide_btn.set_click_callback(self._on_review_training_guide) review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad()) diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index 172a156c30..30a66376ea 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -3,7 +3,7 @@ from typing import Union from enum import Enum from collections.abc import Callable from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.widgets.label import MiciLabel +from openpilot.system.ui.widgets.label import UnifiedLabel from openpilot.system.ui.widgets.scroller import DO_ZOOM from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos from openpilot.common.filter_simple import BounceFilter @@ -119,12 +119,10 @@ class BigButton(Widget): self._label_font = gui_app.font(FontWeight.DISPLAY) self._value_font = gui_app.font(FontWeight.ROMAN) - self._label = MiciLabel(text, font_size=self._get_label_font_size(), width=int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2), - font_weight=FontWeight.DISPLAY, color=LABEL_COLOR, - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, wrap_text=True) - self._sub_label = MiciLabel(value, font_size=COMPLICATION_SIZE, width=int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2), - font_weight=FontWeight.ROMAN, color=COMPLICATION_GREY, - alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, wrap_text=True) + self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.DISPLAY, + text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, line_height=0.9) + self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN, + text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM) self._load_images() @@ -142,15 +140,16 @@ class BigButton(Widget): self._txt_disabled_bg = gui_app.texture("icons_mici/buttons/button_rectangle_disabled.png", 402, 180) self._txt_hover_bg = gui_app.texture("icons_mici/buttons/button_rectangle_hover.png", 402, 180) + def _width_hint(self) -> int: + return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2) + def _get_label_font_size(self): if len(self.text) < 12: font_size = 64 elif len(self.text) < 17: font_size = 48 - elif len(self.text) < 20: - font_size = 42 else: - font_size = 36 + font_size = 42 if self.value: font_size -= 20 @@ -189,14 +188,16 @@ class BigButton(Widget): ly = btn_y + self._rect.height - 33 # - 40# - self._get_label_font_size() / 2 if self.value: - self._sub_label.set_position(lx, ly) - ly -= self._sub_label.font_size + 9 - self._sub_label.render() + sub_label_height = self._sub_label.get_content_height(self._width_hint()) + sub_label_rect = rl.Rectangle(lx, ly - sub_label_height, self._width_hint(), sub_label_height) + self._sub_label.render(sub_label_rect) + ly -= sub_label_height label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) self._label.set_color(label_color) - self._label.set_position(lx, ly) - self._label.render() + label_height = self._label.get_content_height(self._width_hint()) + label_rect = rl.Rectangle(lx, ly - label_height, self._width_hint(), label_height) + self._label.render(label_rect) # ICON ------------------------------------------------------------------- if self._txt_icon: @@ -219,8 +220,6 @@ class BigToggle(BigButton): self._checked = initial_state self._toggle_callback = toggle_callback - self._label.set_font_size(48) - def _load_images(self): super()._load_images() self._txt_enabled_toggle = gui_app.texture("icons_mici/buttons/toggle_pill_enabled.png", 84, 66) @@ -258,15 +257,10 @@ class BigMultiToggle(BigToggle): self._options = options self._select_callback = select_callback - self._label.set_width(int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width)) - # TODO: why isn't this automatic? - self._label.set_font_size(self._get_label_font_size()) - self.set_value(self._options[0]) - def _get_label_font_size(self): - font_size = super()._get_label_font_size() - return font_size - 6 + def _width_hint(self) -> int: + return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - self._txt_enabled_toggle.width) def _handle_mouse_release(self, mouse_pos: MousePos): super()._handle_mouse_release(mouse_pos) From fc6afd5ab8bac4b19f0ca0564015884a9b90489b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Feb 2026 22:58:16 -0800 Subject: [PATCH 08/65] Network menu improvements (#37077) * try this * that's handy * todo, not sure what happens here * set_text * normalize * scroll wifi * clean up * more * better check --- .../mici/layouts/settings/network/__init__.py | 35 +++++++++++++------ .../mici/layouts/settings/network/wifi_ui.py | 6 +++- selfdrive/ui/mici/widgets/button.py | 11 ++++-- 3 files changed, 38 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py index d3ca11ce33..fb1d56a1f6 100644 --- a/selfdrive/ui/mici/layouts/settings/network/__init__.py +++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py @@ -3,7 +3,7 @@ from enum import IntEnum from collections.abc import Callable from openpilot.system.ui.widgets.scroller import Scroller -from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici +from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici, WifiIcon, normalize_ssid from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigToggle from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog from openpilot.selfdrive.ui.ui_state import ui_state @@ -55,9 +55,6 @@ class NetworkLayoutMici(NavWidget): self._tethering_password_btn = BigButton("tethering password", "", txt_tethering) self._tethering_password_btn.set_click_callback(tethering_password_clicked) - # ******** IP Address ******** - self._ip_address_btn = BigButton("IP Address", "Not connected") - # ******** Network Metered ******** def network_metered_callback(value: str): self._network_metered_btn.set_enabled(False) @@ -73,8 +70,13 @@ class NetworkLayoutMici(NavWidget): self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback) self._network_metered_btn.set_enabled(False) - wifi_button = BigButton("wi-fi") - wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI)) + self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 64, 56) + self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 64, 47) + self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 64, 47) + self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 64, 47) + + self._wifi_button = BigButton("wi-fi", "not connected", self._wifi_slash_txt, scroll=True) + self._wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI)) # ******** Advanced settings ******** # ******** Roaming toggle ******** @@ -89,7 +91,7 @@ class NetworkLayoutMici(NavWidget): # Main scroller ---------------------------------- self._scroller = Scroller([ - wifi_button, + self._wifi_button, self._network_metered_btn, self._tethering_toggle_btn, self._tethering_password_btn, @@ -98,7 +100,6 @@ class NetworkLayoutMici(NavWidget): self._apn_btn, self._cellular_metered_btn, # */ - self._ip_address_btn, ], snap_items=False) # Set initial config @@ -157,8 +158,22 @@ class NetworkLayoutMici(NavWidget): self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address)) self._tethering_toggle_btn.set_checked(tethering_active) - # Update IP address - self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected") + # Update wi-fi button with ssid and ip address + # TODO: make sure we handle hidden ssids + connected_network = next((network for network in networks if network.is_connected), None) + self._wifi_button.set_text(normalize_ssid(connected_network.ssid) if connected_network is not None else "wi-fi") + self._wifi_button.set_value(self._wifi_manager.ipv4_address or "not connected") + if connected_network is not None: + strength = WifiIcon.get_strength_icon_idx(connected_network.strength) + if strength == 2: + strength_icon = self._wifi_full_txt + elif strength == 1: + strength_icon = self._wifi_medium_txt + else: + strength_icon = self._wifi_low_txt + self._wifi_button.set_icon(strength_icon) + else: + self._wifi_button.set_icon(self._wifi_slash_txt) # Update network metered self._network_metered_btn.set_value( diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py index 23b89438dc..7791f18cf7 100644 --- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py +++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py @@ -50,12 +50,16 @@ class WifiIcon(Widget): def set_scale(self, scale: float): self._scale = scale + @staticmethod + def get_strength_icon_idx(strength: int) -> int: + return round(strength / 100 * 2) + def _render(self, _): if self._network is None: return # Determine which wifi strength icon to use - strength = round(self._network.strength / 100 * 2) + strength = self.get_strength_icon_idx(self._network.strength) if strength == 2: strength_icon = self._wifi_full_txt elif strength == 1: diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index 30a66376ea..a5f7ee686e 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -104,12 +104,14 @@ class BigCircleToggle(BigCircleButton): class BigButton(Widget): """A lightweight stand-in for the Qt BigButton, drawn & updated each frame.""" - def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64)): + def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64), + scroll: bool = False): super().__init__() self.set_rect(rl.Rectangle(0, 0, 402, 180)) self.text = text self.value = value self._icon_size = icon_size + self._scroll = scroll self.set_icon(icon) self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps) @@ -120,7 +122,8 @@ class BigButton(Widget): self._value_font = gui_app.font(FontWeight.ROMAN) self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.DISPLAY, - text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, line_height=0.9) + text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, scroll=scroll, + line_height=0.9) self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN, text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM) @@ -141,7 +144,9 @@ class BigButton(Widget): self._txt_hover_bg = gui_app.texture("icons_mici/buttons/button_rectangle_hover.png", 402, 180) def _width_hint(self) -> int: - return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2) + # Single line if scrolling, so hide behind icon if exists + icon_size = self._icon_size[0] if self._txt_icon and self._scroll and self.value else 0 + return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - icon_size) def _get_label_font_size(self): if len(self.text) < 12: From 39dcc883301f47c4061e3206cba6d5d50ab72778 Mon Sep 17 00:00:00 2001 From: ugtthis <142481257+ugtthis@users.noreply.github.com> Date: Thu, 5 Feb 2026 01:03:01 -0600 Subject: [PATCH 09/65] UI: only show `onroad_fade.png` when engaged (#37051) * only show when engaged * retrigger CI * fade animation 0.1 * nl --------- Co-authored-by: Shane Smiskol --- selfdrive/ui/mici/onroad/augmented_road_view.py | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py index 4e00a3aafe..69bcca401d 100644 --- a/selfdrive/ui/mici/onroad/augmented_road_view.py +++ b/selfdrive/ui/mici/onroad/augmented_road_view.py @@ -14,7 +14,7 @@ from openpilot.selfdrive.ui.mici.onroad.cameraview import CameraView from openpilot.system.ui.lib.application import FontWeight, gui_app, MousePos, MouseEvent from openpilot.system.ui.widgets.label import UnifiedLabel from openpilot.system.ui.widgets import Widget -from openpilot.common.filter_simple import BounceFilter +from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame from openpilot.common.transformations.orientation import rot_from_euler from enum import IntEnum @@ -165,6 +165,7 @@ class AugmentedRoadView(CameraView): alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE) self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png") + self._fade_alpha_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps) # debug self._pm = messaging.PubMaster(['uiDebug']) @@ -217,8 +218,11 @@ class AugmentedRoadView(CameraView): # Draw all UI overlays self._model_renderer.render(self._content_rect) - # Fade out bottom of overlays for looks - rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, rl.WHITE) + # Fade out bottom of overlays for looks (only when engaged) + fade_alpha = self._fade_alpha_filter.update(ui_state.status != UIStatus.DISENGAGED) + if fade_alpha > 1e-2: + rl.draw_texture_ex(self._fade_texture, rl.Vector2(self._content_rect.x, self._content_rect.y), 0.0, 1.0, + rl.Color(255, 255, 255, int(255 * fade_alpha))) alert_to_render, not_animating_out = self._alert_renderer.will_render() From a5c973be896bb87469e70250ea18af3783e09434 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 4 Feb 2026 23:52:59 -0800 Subject: [PATCH 10/65] NavBar: fix no show animation (#37090) * 1.5 not enough time on small screen * ohhhh * clean up --- system/ui/widgets/__init__.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 42d9a910aa..5d474e8aed 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -195,7 +195,7 @@ NAV_BAR_WIDTH = 205 NAV_BAR_HEIGHT = 8 DISMISS_PUSH_OFFSET = 50 + NAV_BAR_MARGIN + NAV_BAR_HEIGHT # px extra to push down when dismissing -DISMISS_TIME_SECONDS = 1.5 +DISMISS_TIME_SECONDS = 2.0 class NavBar(Widget): @@ -371,13 +371,13 @@ class NavWidget(Widget, abc.ABC): else: self._nav_bar_y_filter.update(NAV_BAR_MARGIN) - self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x)) - self._nav_bar.render() - # draw black above widget when dismissing if self._rect.y > 0: rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK) + self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x)) + self._nav_bar.render() + return ret def show_event(self): From 8aed5a1a89a8d699cf96c35eacca6432bad95d20 Mon Sep 17 00:00:00 2001 From: royjr Date: Thu, 5 Feb 2026 12:28:01 -0500 Subject: [PATCH 11/65] translations: remove arabic (#37087) * remove arabic * more --- selfdrive/assets/fonts/process.py | 2 +- selfdrive/ui/translations/app_ar.po | 1218 ---------------------- selfdrive/ui/translations/languages.json | 1 - system/ui/lib/multilang.py | 1 - 4 files changed, 1 insertion(+), 1221 deletions(-) delete mode 100644 selfdrive/ui/translations/app_ar.po diff --git a/selfdrive/assets/fonts/process.py b/selfdrive/assets/fonts/process.py index ddc8b3a868..30ccf9ca55 100755 --- a/selfdrive/assets/fonts/process.py +++ b/selfdrive/assets/fonts/process.py @@ -11,7 +11,7 @@ LANGUAGES_FILE = TRANSLATIONS_DIR / "languages.json" GLYPH_PADDING = 6 EXTRA_CHARS = "–‑✓×°§•X⚙✕◀▶✔⌫⇧␣○●↳çêüñ–‑✓×°§•€£¥" -UNIFONT_LANGUAGES = {"ar", "th", "zh-CHT", "zh-CHS", "ko", "ja"} +UNIFONT_LANGUAGES = {"th", "zh-CHT", "zh-CHS", "ko", "ja"} def _languages(): diff --git a/selfdrive/ui/translations/app_ar.po b/selfdrive/ui/translations/app_ar.po deleted file mode 100644 index 608389fc07..0000000000 --- a/selfdrive/ui/translations/app_ar.po +++ /dev/null @@ -1,1218 +0,0 @@ -# Arabic translations for PACKAGE package. -# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER -# This file is distributed under the same license as the PACKAGE package. -# Automatically generated, 2025. -# -msgid "" -msgstr "" -"Project-Id-Version: PACKAGE VERSION\n" -"Report-Msgid-Bugs-To: \n" -"POT-Creation-Date: 2025-10-23 00:50-0700\n" -"PO-Revision-Date: 2025-10-22 16:32-0700\n" -"Last-Translator: Automatically generated\n" -"Language-Team: none\n" -"Language: ar\n" -"MIME-Version: 1.0\n" -"Content-Type: text/plain; charset=UTF-8\n" -"Content-Transfer-Encoding: 8bit\n" -"Plural-Forms: nplurals=6; plural=n==0?0:n==1?1:n==2?2:(n%100>=3 && " -"n%100<=10)?3:(n%100>=11 && n%100<=99)?4:5;\n" - -#: selfdrive/ui/layouts/settings/device.py:160 -#, python-format -msgid " Steering torque response calibration is complete." -msgstr " اكتملت معايرة استجابة عزم التوجيه." - -#: selfdrive/ui/layouts/settings/device.py:158 -#, python-format -msgid " Steering torque response calibration is {}% complete." -msgstr " اكتملت معايرة استجابة عزم التوجيه بنسبة {}٪." - -#: selfdrive/ui/layouts/settings/device.py:133 -#, python-format -msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}." -msgstr " جهازك موجه بمقدار {:.1f}° {} و {:.1f}° {}." - -#: selfdrive/ui/layouts/sidebar.py:43 -msgid "--" -msgstr "--" - -#: selfdrive/ui/widgets/prime.py:47 -#, python-format -msgid "1 year of drive storage" -msgstr "سنة واحدة من تخزين القيادة" - -#: selfdrive/ui/widgets/prime.py:47 -#, python-format -msgid "24/7 LTE connectivity" -msgstr "اتصال LTE على مدار الساعة" - -#: selfdrive/ui/layouts/sidebar.py:46 -msgid "2G" -msgstr "2G" - -#: selfdrive/ui/layouts/sidebar.py:47 -msgid "3G" -msgstr "3G" - -#: selfdrive/ui/layouts/sidebar.py:49 -msgid "5G" -msgstr "5G" - -#: selfdrive/ui/layouts/settings/developer.py:23 -msgid "" -"WARNING: openpilot longitudinal control is in alpha for this car and will " -"disable Automatic Emergency Braking (AEB).

On this car, openpilot " -"defaults to the car's built-in ACC instead of openpilot's longitudinal " -"control. Enable this to switch to openpilot longitudinal control. Enabling " -"Experimental mode is recommended when enabling openpilot longitudinal " -"control alpha. Changing this setting will restart openpilot if the car is " -"powered on." -msgstr "" -"تحذير: التحكم الطولي لـ openpilot في مرحلة ألفا لهذه السيارة وسيُعطّل نظام " -"الكبح التلقائي في حالات الطوارئ (AEB).

في هذه السيارة، يعتمد " -"openpilot افتراضياً على نظام ACC المدمج بدلاً من التحكم الطولي لـ openpilot. " -"فعّل هذا الخيار للتبديل إلى التحكم الطولي لـ openpilot. يُنصح بتمكين وضع " -"التجربة عند تفعيل نسخة ألفا من التحكم الطولي. تغيير هذا الإعداد سيعيد تشغيل " -"openpilot إذا كانت السيارة قيد التشغيل." - -#: selfdrive/ui/layouts/settings/device.py:148 -#, python-format -msgid "

Steering lag calibration is complete." -msgstr "

اكتملت معايرة تأخر التوجيه." - -#: selfdrive/ui/layouts/settings/device.py:146 -#, python-format -msgid "

Steering lag calibration is {}% complete." -msgstr "

اكتملت معايرة تأخر التوجيه بنسبة {}٪." - -#: selfdrive/ui/layouts/settings/firehose.py:138 -#, python-format -msgid "ACTIVE" -msgstr "نشط" - -#: selfdrive/ui/layouts/settings/developer.py:15 -msgid "" -"ADB (Android Debug Bridge) allows connecting to your device over USB or over " -"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info." -msgstr "" -"يتيح ADB (Android Debug Bridge) الاتصال بجهازك عبر USB أو عبر الشبكة. راجع " -"https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات." - -#: selfdrive/ui/widgets/ssh_key.py:30 -msgid "ADD" -msgstr "إضافة" - -#: system/ui/widgets/network.py:139 -#, python-format -msgid "APN Setting" -msgstr "إعداد APN" - -#: selfdrive/ui/widgets/offroad_alerts.py:109 -#, python-format -msgid "Acknowledge Excessive Actuation" -msgstr "تأكيد التشغيل المفرط" - -#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95 -#, python-format -msgid "Advanced" -msgstr "متقدم" - -#: selfdrive/ui/layouts/settings/toggles.py:98 -#, python-format -msgid "Aggressive" -msgstr "عدواني" - -#: selfdrive/ui/layouts/onboarding.py:116 -#, python-format -msgid "Agree" -msgstr "موافقة" - -#: selfdrive/ui/layouts/settings/toggles.py:70 -#, python-format -msgid "Always-On Driver Monitoring" -msgstr "مراقبة السائق دائماً" - -#: selfdrive/ui/layouts/settings/toggles.py:186 -#, python-format -msgid "" -"An alpha version of openpilot longitudinal control can be tested, along with " -"Experimental mode, on non-release branches." -msgstr "" -"يمكن اختبار نسخة ألفا من التحكم الطولي لـ openpilot، مع وضع التجربة، على " -"الفروع غير الإصدارية." - -#: selfdrive/ui/layouts/settings/device.py:187 -#, python-format -msgid "Are you sure you want to power off?" -msgstr "هل أنت متأكد أنك تريد إيقاف التشغيل؟" - -#: selfdrive/ui/layouts/settings/device.py:175 -#, python-format -msgid "Are you sure you want to reboot?" -msgstr "هل أنت متأكد أنك تريد إعادة التشغيل؟" - -#: selfdrive/ui/layouts/settings/device.py:119 -#, python-format -msgid "Are you sure you want to reset calibration?" -msgstr "هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟" - -#: selfdrive/ui/layouts/settings/software.py:163 -#, python-format -msgid "Are you sure you want to uninstall?" -msgstr "هل أنت متأكد أنك تريد إلغاء التثبيت؟" - -#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147 -#, python-format -msgid "Back" -msgstr "رجوع" - -#: selfdrive/ui/widgets/prime.py:38 -#, python-format -msgid "Become a comma prime member at connect.comma.ai" -msgstr "انضم إلى comma prime عبر connect.comma.ai" - -#: selfdrive/ui/widgets/pairing_dialog.py:130 -#, python-format -msgid "Bookmark connect.comma.ai to your home screen to use it like an app" -msgstr "ثبّت connect.comma.ai على شاشتك الرئيسية لاستخدامه كتطبيق" - -#: selfdrive/ui/layouts/settings/device.py:68 -#, python-format -msgid "CHANGE" -msgstr "تغيير" - -#: selfdrive/ui/layouts/settings/software.py:50 -#: selfdrive/ui/layouts/settings/software.py:107 -#: selfdrive/ui/layouts/settings/software.py:118 -#: selfdrive/ui/layouts/settings/software.py:147 -#, python-format -msgid "CHECK" -msgstr "تحقق" - -#: selfdrive/ui/widgets/exp_mode_button.py:50 -#, python-format -msgid "CHILL MODE ON" -msgstr "وضع الهدوء مُفعل" - -#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73 -#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136 -#: selfdrive/ui/layouts/sidebar.py:138 -#, python-format -msgid "CONNECT" -msgstr "CONNECT" - -#: system/ui/widgets/network.py:369 -#, python-format -msgid "CONNECTING..." -msgstr "CONNECTING..." - -#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35 -#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318 -#, python-format -msgid "Cancel" -msgstr "إلغاء" - -#: system/ui/widgets/network.py:134 -#, python-format -msgid "Cellular Metered" -msgstr "خلوي بتعرفة محدودة" - -#: selfdrive/ui/layouts/settings/device.py:68 -#, python-format -msgid "Change Language" -msgstr "تغيير اللغة" - -#: selfdrive/ui/layouts/settings/toggles.py:125 -#, python-format -msgid "Changing this setting will restart openpilot if the car is powered on." -msgstr "" -"سيؤدي تغيير هذا الإعداد إلى إعادة تشغيل openpilot إذا كانت السيارة قيد " -"التشغيل." - -#: selfdrive/ui/widgets/pairing_dialog.py:129 -#, python-format -msgid "Click \"add new device\" and scan the QR code on the right" -msgstr "اضغط \"إضافة جهاز جديد\" ثم امسح رمز QR على اليمين" - -#: selfdrive/ui/widgets/offroad_alerts.py:104 -#, python-format -msgid "Close" -msgstr "إغلاق" - -#: selfdrive/ui/layouts/settings/software.py:49 -#, python-format -msgid "Current Version" -msgstr "الإصدار الحالي" - -#: selfdrive/ui/layouts/settings/software.py:110 -#, python-format -msgid "DOWNLOAD" -msgstr "تنزيل" - -#: selfdrive/ui/layouts/onboarding.py:115 -#, python-format -msgid "Decline" -msgstr "رفض" - -#: selfdrive/ui/layouts/onboarding.py:148 -#, python-format -msgid "Decline, uninstall openpilot" -msgstr "رفض، وإلغاء تثبيت openpilot" - -#: selfdrive/ui/layouts/settings/settings.py:67 -msgid "Developer" -msgstr "المطور" - -#: selfdrive/ui/layouts/settings/settings.py:62 -msgid "Device" -msgstr "الجهاز" - -#: selfdrive/ui/layouts/settings/toggles.py:58 -#, python-format -msgid "Disengage on Accelerator Pedal" -msgstr "فصل عند الضغط على دواسة الوقود" - -#: selfdrive/ui/layouts/settings/device.py:184 -#, python-format -msgid "Disengage to Power Off" -msgstr "افصل لإيقاف التشغيل" - -#: selfdrive/ui/layouts/settings/device.py:172 -#, python-format -msgid "Disengage to Reboot" -msgstr "افصل لإعادة التشغيل" - -#: selfdrive/ui/layouts/settings/device.py:103 -#, python-format -msgid "Disengage to Reset Calibration" -msgstr "افصل لإعادة ضبط المعايرة" - -#: selfdrive/ui/layouts/settings/toggles.py:32 -msgid "Display speed in km/h instead of mph." -msgstr "عرض السرعة بالكيلومتر/ساعة بدلاً من الميل/ساعة." - -#: selfdrive/ui/layouts/settings/device.py:59 -#, python-format -msgid "Dongle ID" -msgstr "معرّف الدونجل" - -#: selfdrive/ui/layouts/settings/software.py:50 -#, python-format -msgid "Download" -msgstr "تنزيل" - -#: selfdrive/ui/layouts/settings/device.py:62 -#, python-format -msgid "Driver Camera" -msgstr "كاميرا السائق" - -#: selfdrive/ui/layouts/settings/toggles.py:96 -#, python-format -msgid "Driving Personality" -msgstr "شخصية القيادة" - -#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139 -#, python-format -msgid "EDIT" -msgstr "تعديل" - -#: selfdrive/ui/layouts/sidebar.py:138 -msgid "ERROR" -msgstr "خطأ" - -#: selfdrive/ui/layouts/sidebar.py:45 -msgid "ETH" -msgstr "ETH" - -#: selfdrive/ui/widgets/exp_mode_button.py:50 -#, python-format -msgid "EXPERIMENTAL MODE ON" -msgstr "وضع التجربة مُفعل" - -#: selfdrive/ui/layouts/settings/developer.py:166 -#: selfdrive/ui/layouts/settings/toggles.py:228 -#, python-format -msgid "Enable" -msgstr "تمكين" - -#: selfdrive/ui/layouts/settings/developer.py:39 -#, python-format -msgid "Enable ADB" -msgstr "تمكين ADB" - -#: selfdrive/ui/layouts/settings/toggles.py:64 -#, python-format -msgid "Enable Lane Departure Warnings" -msgstr "تمكين تحذيرات مغادرة المسار" - -#: system/ui/widgets/network.py:129 -#, python-format -msgid "Enable Roaming" -msgstr "تمكين التجوال" - -#: selfdrive/ui/layouts/settings/developer.py:48 -#, python-format -msgid "Enable SSH" -msgstr "تمكين SSH" - -#: system/ui/widgets/network.py:120 -#, python-format -msgid "Enable Tethering" -msgstr "تمكين الربط" - -#: selfdrive/ui/layouts/settings/toggles.py:30 -msgid "Enable driver monitoring even when openpilot is not engaged." -msgstr "تمكين مراقبة السائق حتى عندما لا يكون openpilot مُشغلاً." - -#: selfdrive/ui/layouts/settings/toggles.py:46 -#, python-format -msgid "Enable openpilot" -msgstr "تمكين openpilot" - -#: selfdrive/ui/layouts/settings/toggles.py:189 -#, python-format -msgid "" -"Enable the openpilot longitudinal control (alpha) toggle to allow " -"Experimental mode." -msgstr "فعّل تبديل التحكم الطولي (ألفا) لـ openpilot للسماح بوضع التجربة." - -#: system/ui/widgets/network.py:204 -#, python-format -msgid "Enter APN" -msgstr "أدخل APN" - -#: system/ui/widgets/network.py:241 -#, python-format -msgid "Enter SSID" -msgstr "أدخل SSID" - -#: system/ui/widgets/network.py:254 -#, python-format -msgid "Enter new tethering password" -msgstr "أدخل كلمة مرور الربط الجديدة" - -#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314 -#, python-format -msgid "Enter password" -msgstr "أدخل كلمة المرور" - -#: selfdrive/ui/widgets/ssh_key.py:89 -#, python-format -msgid "Enter your GitHub username" -msgstr "أدخل اسم مستخدم GitHub الخاص بك" - -#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160 -#, python-format -msgid "Error" -msgstr "خطأ" - -#: selfdrive/ui/layouts/settings/toggles.py:52 -#, python-format -msgid "Experimental Mode" -msgstr "وضع التجربة" - -#: selfdrive/ui/layouts/settings/toggles.py:181 -#, python-format -msgid "" -"Experimental mode is currently unavailable on this car since the car's stock " -"ACC is used for longitudinal control." -msgstr "" -"وضع التجربة غير متاح حالياً في هذه السيارة لأن نظام ACC الأصلي يُستخدم للتحكم " -"الطولي." - -#: system/ui/widgets/network.py:373 -#, python-format -msgid "FORGETTING..." -msgstr "جارٍ النسيان..." - -#: selfdrive/ui/widgets/setup.py:44 -#, python-format -msgid "Finish Setup" -msgstr "إنهاء الإعداد" - -#: selfdrive/ui/layouts/settings/settings.py:66 -msgid "Firehose" -msgstr "Firehose" - -#: selfdrive/ui/layouts/settings/firehose.py:18 -msgid "Firehose Mode" -msgstr "وضع Firehose" - -#: selfdrive/ui/layouts/settings/firehose.py:25 -msgid "" -"For maximum effectiveness, bring your device inside and connect to a good " -"USB-C adapter and Wi-Fi weekly.\n" -"\n" -"Firehose Mode can also work while you're driving if connected to a hotspot " -"or unlimited SIM card.\n" -"\n" -"\n" -"Frequently Asked Questions\n" -"\n" -"Does it matter how or where I drive? Nope, just drive as you normally " -"would.\n" -"\n" -"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a " -"subset of your segments.\n" -"\n" -"What's a good USB-C adapter? Any fast phone or laptop charger should be " -"fine.\n" -"\n" -"Does it matter which software I run? Yes, only upstream openpilot (and " -"particular forks) are able to be used for training." -msgstr "" -"لأقصى فعالية، أحضر جهازك إلى الداخل واتصل بمحوّل USB‑C جيد وبشبكة Wi‑Fi " -"أسبوعياً.\n" -"\n" -"يمكن أن يعمل وضع Firehose أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو " -"بشريحة غير محدودة.\n" -"\n" -"\n" -"الأسئلة الشائعة\n" -"\n" -"هل يهم كيف أو أين أقود؟ لا، قد بقدر المعتاد.\n" -"\n" -"هل يتم سحب كل مقاطعي في وضع Firehose؟ لا، نقوم بسحب مجموعة فرعية من " -"المقاطع.\n" -"\n" -"ما هو محول USB‑C الجيد؟ أي شاحن هاتف أو حاسب محمول سريع سيكون مناسباً.\n" -"\n" -"هل يهم أي برنامج أشغّل؟ نعم، فقط openpilot الأصلي (وبعض التفرعات المحددة) " -"يمكن استخدامه للتدريب." - -#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451 -#, python-format -msgid "Forget" -msgstr "نسيان" - -#: system/ui/widgets/network.py:319 -#, python-format -msgid "Forget Wi-Fi Network \"{}\"?" -msgstr "هل تريد نسيان شبكة Wi‑Fi \"{}\"؟" - -#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125 -msgid "GOOD" -msgstr "جيد" - -#: selfdrive/ui/widgets/pairing_dialog.py:128 -#, python-format -msgid "Go to https://connect.comma.ai on your phone" -msgstr "اذهب إلى https://connect.comma.ai على هاتفك" - -#: selfdrive/ui/layouts/sidebar.py:129 -msgid "HIGH" -msgstr "مرتفع" - -#: system/ui/widgets/network.py:155 -#, python-format -msgid "Hidden Network" -msgstr "شبكة مخفية" - -#: selfdrive/ui/layouts/settings/firehose.py:140 -#, python-format -msgid "INACTIVE: connect to an unmetered network" -msgstr "غير نشط: اتصل بشبكة غير محدودة التعرفة" - -#: selfdrive/ui/layouts/settings/software.py:53 -#: selfdrive/ui/layouts/settings/software.py:136 -#, python-format -msgid "INSTALL" -msgstr "تثبيت" - -#: system/ui/widgets/network.py:150 -#, python-format -msgid "IP Address" -msgstr "عنوان IP" - -#: selfdrive/ui/layouts/settings/software.py:53 -#, python-format -msgid "Install Update" -msgstr "تثبيت التحديث" - -#: selfdrive/ui/layouts/settings/developer.py:56 -#, python-format -msgid "Joystick Debug Mode" -msgstr "وضع تصحيح عصا التحكم" - -#: selfdrive/ui/widgets/ssh_key.py:29 -msgid "LOADING" -msgstr "جارٍ التحميل" - -#: selfdrive/ui/layouts/sidebar.py:48 -msgid "LTE" -msgstr "LTE" - -#: selfdrive/ui/layouts/settings/developer.py:64 -#, python-format -msgid "Longitudinal Maneuver Mode" -msgstr "وضع المناورة الطولية" - -#: selfdrive/ui/onroad/hud_renderer.py:148 -#, python-format -msgid "MAX" -msgstr "أقصى" - -#: selfdrive/ui/widgets/setup.py:75 -#, python-format -msgid "" -"Maximize your training data uploads to improve openpilot's driving models." -msgstr "زد من تحميل بيانات التدريب لتحسين نماذج قيادة openpilot." - -#: selfdrive/ui/layouts/settings/device.py:59 -#: selfdrive/ui/layouts/settings/device.py:60 -#, python-format -msgid "N/A" -msgstr "غير متوفر" - -#: selfdrive/ui/layouts/sidebar.py:142 -msgid "NO" -msgstr "لا" - -#: selfdrive/ui/layouts/settings/settings.py:63 -msgid "Network" -msgstr "الشبكة" - -#: selfdrive/ui/widgets/ssh_key.py:114 -#, python-format -msgid "No SSH keys found" -msgstr "لم يتم العثور على مفاتيح SSH" - -#: selfdrive/ui/widgets/ssh_key.py:126 -#, python-format -msgid "No SSH keys found for user '{}'" -msgstr "لم يتم العثور على مفاتيح SSH للمستخدم '{}'" - -#: selfdrive/ui/widgets/offroad_alerts.py:320 -#, python-format -msgid "No release notes available." -msgstr "لا توجد ملاحظات إصدار متاحة." - -#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134 -msgid "OFFLINE" -msgstr "غير متصل" - -#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93 -#: selfdrive/ui/layouts/sidebar.py:127 -#, python-format -msgid "OK" -msgstr "موافق" - -#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136 -#: selfdrive/ui/layouts/sidebar.py:144 -msgid "ONLINE" -msgstr "متصل" - -#: selfdrive/ui/widgets/setup.py:20 -#, python-format -msgid "Open" -msgstr "فتح" - -#: selfdrive/ui/layouts/settings/device.py:48 -#, python-format -msgid "PAIR" -msgstr "إقران" - -#: selfdrive/ui/layouts/sidebar.py:142 -msgid "PANDA" -msgstr "PANDA" - -#: selfdrive/ui/layouts/settings/device.py:62 -#, python-format -msgid "PREVIEW" -msgstr "معاينة" - -#: selfdrive/ui/widgets/prime.py:44 -#, python-format -msgid "PRIME FEATURES:" -msgstr "ميزات PRIME:" - -#: selfdrive/ui/layouts/settings/device.py:48 -#, python-format -msgid "Pair Device" -msgstr "إقران الجهاز" - -#: selfdrive/ui/widgets/setup.py:19 -#, python-format -msgid "Pair device" -msgstr "إقران الجهاز" - -#: selfdrive/ui/widgets/pairing_dialog.py:103 -#, python-format -msgid "Pair your device to your comma account" -msgstr "قم بإقران جهازك بحساب comma" - -#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24 -#, python-format -msgid "" -"Pair your device with comma connect (connect.comma.ai) and claim your comma " -"prime offer." -msgstr "" -"أقرِن جهازك مع comma connect (connect.comma.ai) واحصل على عرض comma prime." - -#: selfdrive/ui/widgets/setup.py:91 -#, python-format -msgid "Please connect to Wi-Fi to complete initial pairing" -msgstr "يرجى الاتصال بشبكة Wi‑Fi لإكمال الاقتران الأولي" - -#: selfdrive/ui/layouts/settings/device.py:55 -#: selfdrive/ui/layouts/settings/device.py:187 -#, python-format -msgid "Power Off" -msgstr "إيقاف التشغيل" - -#: system/ui/widgets/network.py:144 -#, python-format -msgid "Prevent large data uploads when on a metered Wi-Fi connection" -msgstr "منع رفع البيانات الكبيرة عند الاتصال بشبكة Wi‑Fi محدودة التعرفة" - -#: system/ui/widgets/network.py:135 -#, python-format -msgid "Prevent large data uploads when on a metered cellular connection" -msgstr "منع رفع البيانات الكبيرة عند الاتصال الخلوي محدود التعرفة" - -#: selfdrive/ui/layouts/settings/device.py:25 -msgid "" -"Preview the driver facing camera to ensure that driver monitoring has good " -"visibility. (vehicle must be off)" -msgstr "" -"عاين كاميرا مواجهة السائق للتأكد من أن مراقبة السائق تتم برؤية جيدة. (يجب أن " -"تكون المركبة متوقفة)" - -#: selfdrive/ui/widgets/pairing_dialog.py:161 -#, python-format -msgid "QR Code Error" -msgstr "خطأ في رمز QR" - -#: selfdrive/ui/widgets/ssh_key.py:31 -msgid "REMOVE" -msgstr "إزالة" - -#: selfdrive/ui/layouts/settings/device.py:51 -#, python-format -msgid "RESET" -msgstr "إعادة ضبط" - -#: selfdrive/ui/layouts/settings/device.py:65 -#, python-format -msgid "REVIEW" -msgstr "مراجعة" - -#: selfdrive/ui/layouts/settings/device.py:55 -#: selfdrive/ui/layouts/settings/device.py:175 -#, python-format -msgid "Reboot" -msgstr "إعادة التشغيل" - -#: selfdrive/ui/onroad/alert_renderer.py:66 -#, python-format -msgid "Reboot Device" -msgstr "إعادة تشغيل الجهاز" - -#: selfdrive/ui/widgets/offroad_alerts.py:112 -#, python-format -msgid "Reboot and Update" -msgstr "إعادة التشغيل والتحديث" - -#: selfdrive/ui/layouts/settings/toggles.py:27 -msgid "" -"Receive alerts to steer back into the lane when your vehicle drifts over a " -"detected lane line without a turn signal activated while driving over 31 mph " -"(50 km/h)." -msgstr "" -"استقبال تنبيهات للتوجيه للعودة إلى المسار عند انحراف المركبة فوق خط المسار " -"المُكتشف بدون إشارة انعطاف مفعّلة أثناء القيادة فوق 31 ميل/س (50 كم/س)." - -#: selfdrive/ui/layouts/settings/toggles.py:76 -#, python-format -msgid "Record and Upload Driver Camera" -msgstr "تسجيل ورفع فيديو كاميرا السائق" - -#: selfdrive/ui/layouts/settings/toggles.py:82 -#, python-format -msgid "Record and Upload Microphone Audio" -msgstr "تسجيل ورفع صوت الميكروفون" - -#: selfdrive/ui/layouts/settings/toggles.py:33 -msgid "" -"Record and store microphone audio while driving. The audio will be included " -"in the dashcam video in comma connect." -msgstr "" -"تسجيل وتخزين صوت الميكروفون أثناء القيادة. سيُدرج الصوت في فيديو الكاميرا " -"الأمامية في comma connect." - -#: selfdrive/ui/layouts/settings/device.py:67 -#, python-format -msgid "Regulatory" -msgstr "لوائح" - -#: selfdrive/ui/layouts/settings/toggles.py:98 -#, python-format -msgid "Relaxed" -msgstr "مسترخٍ" - -#: selfdrive/ui/widgets/prime.py:47 -#, python-format -msgid "Remote access" -msgstr "وصول عن بُعد" - -#: selfdrive/ui/widgets/prime.py:47 -#, python-format -msgid "Remote snapshots" -msgstr "لقطات عن بُعد" - -#: selfdrive/ui/widgets/ssh_key.py:123 -#, python-format -msgid "Request timed out" -msgstr "انتهت مهلة الطلب" - -#: selfdrive/ui/layouts/settings/device.py:119 -#, python-format -msgid "Reset" -msgstr "إعادة ضبط" - -#: selfdrive/ui/layouts/settings/device.py:51 -#, python-format -msgid "Reset Calibration" -msgstr "إعادة ضبط المعايرة" - -#: selfdrive/ui/layouts/settings/device.py:65 -#, python-format -msgid "Review Training Guide" -msgstr "مراجعة دليل التدريب" - -#: selfdrive/ui/layouts/settings/device.py:27 -msgid "Review the rules, features, and limitations of openpilot" -msgstr "مراجعة قواعد وميزات وحدود openpilot" - -#: selfdrive/ui/layouts/settings/software.py:61 -#, python-format -msgid "SELECT" -msgstr "اختيار" - -#: selfdrive/ui/layouts/settings/developer.py:53 -#, python-format -msgid "SSH Keys" -msgstr "مفاتيح SSH" - -#: system/ui/widgets/network.py:310 -#, python-format -msgid "Scanning Wi-Fi networks..." -msgstr "جارٍ مسح شبكات Wi‑Fi..." - -#: system/ui/widgets/option_dialog.py:36 -#, python-format -msgid "Select" -msgstr "اختيار" - -#: selfdrive/ui/layouts/settings/software.py:183 -#, python-format -msgid "Select a branch" -msgstr "اختر فرعاً" - -#: selfdrive/ui/layouts/settings/device.py:91 -#, python-format -msgid "Select a language" -msgstr "اختر لغة" - -#: selfdrive/ui/layouts/settings/device.py:60 -#, python-format -msgid "Serial" -msgstr "الرقم التسلسلي" - -#: selfdrive/ui/widgets/offroad_alerts.py:106 -#, python-format -msgid "Snooze Update" -msgstr "تأجيل التحديث" - -#: selfdrive/ui/layouts/settings/settings.py:65 -msgid "Software" -msgstr "البرمجيات" - -#: selfdrive/ui/layouts/settings/toggles.py:98 -#, python-format -msgid "Standard" -msgstr "قياسي" - -#: selfdrive/ui/layouts/settings/toggles.py:22 -msgid "" -"Standard is recommended. In aggressive mode, openpilot will follow lead cars " -"closer and be more aggressive with the gas and brake. In relaxed mode " -"openpilot will stay further away from lead cars. On supported cars, you can " -"cycle through these personalities with your steering wheel distance button." -msgstr "" -"يوصى بالوضع القياسي. في الوضع العدواني، سيتبع openpilot السيارات الأمامية عن " -"قرب وسيكون أكثر شدة في الوقود والفرامل. في الوضع المسترخي سيبقى بعيداً أكثر " -"عن السيارات الأمامية. في السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات " -"بزر مسافة المقود." - -#: selfdrive/ui/onroad/alert_renderer.py:59 -#: selfdrive/ui/onroad/alert_renderer.py:65 -#, python-format -msgid "System Unresponsive" -msgstr "النظام لا يستجيب" - -#: selfdrive/ui/onroad/alert_renderer.py:58 -#, python-format -msgid "TAKE CONTROL IMMEDIATELY" -msgstr "تولَّ السيطرة فوراً" - -#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125 -#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129 -msgid "TEMP" -msgstr "الحرارة" - -#: selfdrive/ui/layouts/settings/software.py:61 -#, python-format -msgid "Target Branch" -msgstr "الفرع المستهدف" - -#: system/ui/widgets/network.py:124 -#, python-format -msgid "Tethering Password" -msgstr "كلمة مرور الربط" - -#: selfdrive/ui/layouts/settings/settings.py:64 -msgid "Toggles" -msgstr "مفاتيح التبديل" - -#: selfdrive/ui/layouts/settings/software.py:72 -#, python-format -msgid "UNINSTALL" -msgstr "إلغاء التثبيت" - -#: selfdrive/ui/layouts/home.py:155 -#, python-format -msgid "UPDATE" -msgstr "تحديث" - -#: selfdrive/ui/layouts/settings/software.py:72 -#: selfdrive/ui/layouts/settings/software.py:163 -#, python-format -msgid "Uninstall" -msgstr "إلغاء التثبيت" - -#: selfdrive/ui/layouts/sidebar.py:117 -msgid "Unknown" -msgstr "غير معروف" - -#: selfdrive/ui/layouts/settings/software.py:48 -#, python-format -msgid "Updates are only downloaded while the car is off." -msgstr "يتم تنزيل التحديثات فقط عندما تكون السيارة متوقفة." - -#: selfdrive/ui/widgets/prime.py:33 -#, python-format -msgid "Upgrade Now" -msgstr "الترقية الآن" - -#: selfdrive/ui/layouts/settings/toggles.py:31 -msgid "" -"Upload data from the driver facing camera and help improve the driver " -"monitoring algorithm." -msgstr "" -"ارفع بيانات من كاميرا مواجهة السائق وساعد في تحسين خوارزمية مراقبة السائق." - -#: selfdrive/ui/layouts/settings/toggles.py:88 -#, python-format -msgid "Use Metric System" -msgstr "استخدام النظام المتري" - -#: selfdrive/ui/layouts/settings/toggles.py:17 -msgid "" -"Use the openpilot system for adaptive cruise control and lane keep driver " -"assistance. Your attention is required at all times to use this feature." -msgstr "" -"استخدم نظام openpilot للتحكم الذكي بالسرعة والمساعدة على البقاء داخل المسار. " -"يتطلب استخدام هذه الميزة انتباهك الكامل في جميع الأوقات." - -#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144 -msgid "VEHICLE" -msgstr "المركبة" - -#: selfdrive/ui/layouts/settings/device.py:67 -#, python-format -msgid "VIEW" -msgstr "عرض" - -#: selfdrive/ui/onroad/alert_renderer.py:52 -#, python-format -msgid "Waiting to start" -msgstr "بانتظار البدء" - -#: selfdrive/ui/layouts/settings/developer.py:19 -msgid "" -"Warning: This grants SSH access to all public keys in your GitHub settings. " -"Never enter a GitHub username other than your own. A comma employee will " -"NEVER ask you to add their GitHub username." -msgstr "" -"تحذير: يمنح هذا وصول SSH إلى جميع المفاتيح العامة في إعدادات GitHub الخاصة " -"بك. لا تُدخل مطلقاً اسم مستخدم GitHub غير اسمك. لن يطلب منك موظف في comma أبداً " -"إضافة اسم مستخدمهم." - -#: selfdrive/ui/layouts/onboarding.py:111 -#, python-format -msgid "Welcome to openpilot" -msgstr "مرحباً بك في openpilot" - -#: selfdrive/ui/layouts/settings/toggles.py:20 -msgid "When enabled, pressing the accelerator pedal will disengage openpilot." -msgstr "عند التمكين، سيؤدي الضغط على دواسة الوقود إلى فصل openpilot." - -#: selfdrive/ui/layouts/sidebar.py:44 -msgid "Wi-Fi" -msgstr "Wi‑Fi" - -#: system/ui/widgets/network.py:144 -#, python-format -msgid "Wi-Fi Network Metered" -msgstr "شبكة Wi‑Fi محدودة التعرفة" - -#: system/ui/widgets/network.py:314 -#, python-format -msgid "Wrong password" -msgstr "كلمة مرور خاطئة" - -#: selfdrive/ui/layouts/onboarding.py:145 -#, python-format -msgid "You must accept the Terms and Conditions in order to use openpilot." -msgstr "يجب عليك قبول الشروط والأحكام لاستخدام openpilot." - -#: selfdrive/ui/layouts/onboarding.py:112 -#, python-format -msgid "" -"You must accept the Terms and Conditions to use openpilot. Read the latest " -"terms at https://comma.ai/terms before continuing." -msgstr "" -"يجب عليك قبول الشروط والأحكام لاستخدام openpilot. اقرأ أحدث الشروط على " -"https://comma.ai/terms قبل المتابعة." - -#: selfdrive/ui/onroad/driver_camera_dialog.py:34 -#, python-format -msgid "camera starting" -msgstr "بدء تشغيل الكاميرا" - -#: selfdrive/ui/widgets/prime.py:63 -#, python-format -msgid "comma prime" -msgstr "comma prime" - -#: system/ui/widgets/network.py:142 -#, python-format -msgid "default" -msgstr "افتراضي" - -#: selfdrive/ui/layouts/settings/device.py:133 -#, python-format -msgid "down" -msgstr "أسفل" - -#: selfdrive/ui/layouts/settings/software.py:106 -#, python-format -msgid "failed to check for update" -msgstr "فشل التحقق من وجود تحديث" - -#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314 -#, python-format -msgid "for \"{}\"" -msgstr "لـ \"{}\"" - -#: selfdrive/ui/onroad/hud_renderer.py:177 -#, python-format -msgid "km/h" -msgstr "كم/س" - -#: system/ui/widgets/network.py:204 -#, python-format -msgid "leave blank for automatic configuration" -msgstr "اتركه فارغاً للإعداد التلقائي" - -#: selfdrive/ui/layouts/settings/device.py:134 -#, python-format -msgid "left" -msgstr "يسار" - -#: system/ui/widgets/network.py:142 -#, python-format -msgid "metered" -msgstr "محدود التعرفة" - -#: selfdrive/ui/onroad/hud_renderer.py:177 -#, python-format -msgid "mph" -msgstr "ميل/س" - -#: selfdrive/ui/layouts/settings/software.py:20 -#, python-format -msgid "never" -msgstr "أبداً" - -#: selfdrive/ui/layouts/settings/software.py:31 -#, python-format -msgid "now" -msgstr "الآن" - -#: selfdrive/ui/layouts/settings/developer.py:71 -#, python-format -msgid "openpilot Longitudinal Control (Alpha)" -msgstr "التحكم الطولي لـ openpilot (ألفا)" - -#: selfdrive/ui/onroad/alert_renderer.py:51 -#, python-format -msgid "openpilot Unavailable" -msgstr "openpilot غير متاح" - -#: selfdrive/ui/layouts/settings/toggles.py:158 -#, python-format -msgid "" -"openpilot defaults to driving in chill mode. Experimental mode enables alpha-" -"level features that aren't ready for chill mode. Experimental features are " -"listed below:

End-to-End Longitudinal Control


Let the driving " -"model control the gas and brakes. openpilot will drive as it thinks a human " -"would, including stopping for red lights and stop signs. Since the driving " -"model decides the speed to drive, the set speed will only act as an upper " -"bound. This is an alpha quality feature; mistakes should be expected." -"

New Driving Visualization


The driving visualization will " -"transition to the road-facing wide-angle camera at low speeds to better show " -"some turns. The Experimental mode logo will also be shown in the top right " -"corner." -msgstr "" -"يعمل openpilot افتراضياً في وضع الهدوء. يفعّل وضع التجربة ميزات بمستوى ألفا " -"غير الجاهزة لوضع الهدوء. الميزات التجريبية مدرجة أدناه:

التحكم الطولي " -"من طرف لطرف


دع نموذج القيادة يتحكم في الوقود والفرامل. سيقود " -"openpilot كما يظن أن الإنسان سيقود، بما في ذلك التوقف عند الإشارات الحمراء " -"وعلامات التوقف. بما أن نموذج القيادة يقرر السرعة، فإن السرعة المضبوطة تعمل " -"كحد أعلى فقط. هذه ميزة بجودة ألفا؛ يُتوقع حدوث أخطاء.

تصوير قيادة " -"جديد


سينتقل عرض القيادة إلى الكاميرا الواسعة المواجهة للطريق عند " -"السرعات المنخفضة لإظهار بعض المنعطفات بشكل أفضل. كما سيظهر شعار وضع التجربة " -"في الزاوية العلوية اليمنى." - -#: selfdrive/ui/layouts/settings/device.py:165 -#, python-format -msgid "" -"openpilot is continuously calibrating, resetting is rarely required. " -"Resetting calibration will restart openpilot if the car is powered on." -msgstr "" -"يقوم openpilot بالمعايرة بشكل مستمر، ونادراً ما تتطلب إعادة الضبط. ستؤدي " -"إعادة ضبط المعايرة إلى إعادة تشغيل openpilot إذا كانت السيارة قيد التشغيل." - -#: selfdrive/ui/layouts/settings/firehose.py:20 -msgid "" -"openpilot learns to drive by watching humans, like you, drive.\n" -"\n" -"Firehose Mode allows you to maximize your training data uploads to improve " -"openpilot's driving models. More data means bigger models, which means " -"better Experimental Mode." -msgstr "" -"يتعلم openpilot القيادة بمشاهدة البشر، مثلك، يقودون.\n" -"\n" -"يتيح وضع Firehose زيادة تحميل بيانات التدريب لتحسين نماذج قيادة openpilot. " -"المزيد من البيانات يعني نماذج أكبر، مما يعني وضع تجربة أفضل." - -#: selfdrive/ui/layouts/settings/toggles.py:183 -#, python-format -msgid "openpilot longitudinal control may come in a future update." -msgstr "قد يأتي التحكم الطولي لـ openpilot في تحديث مستقبلي." - -#: selfdrive/ui/layouts/settings/device.py:26 -msgid "" -"openpilot requires the device to be mounted within 4° left or right and " -"within 5° up or 9° down." -msgstr "" -"يتطلب openpilot تركيب الجهاز ضمن 4° يساراً أو يميناً وضمن 5° للأعلى أو 9° " -"للأسفل." - -#: selfdrive/ui/layouts/settings/device.py:134 -#, python-format -msgid "right" -msgstr "يمين" - -#: system/ui/widgets/network.py:142 -#, python-format -msgid "unmetered" -msgstr "غير محدود" - -#: selfdrive/ui/layouts/settings/device.py:133 -#, python-format -msgid "up" -msgstr "أعلى" - -#: selfdrive/ui/layouts/settings/software.py:117 -#, python-format -msgid "up to date, last checked never" -msgstr "محدّث، آخر تحقق: أبداً" - -#: selfdrive/ui/layouts/settings/software.py:115 -#, python-format -msgid "up to date, last checked {}" -msgstr "محدّث، آخر تحقق {}" - -#: selfdrive/ui/layouts/settings/software.py:109 -#, python-format -msgid "update available" -msgstr "تحديث متاح" - -#: selfdrive/ui/layouts/home.py:169 -#, python-format -msgid "{} ALERT" -msgid_plural "{} ALERTS" -msgstr[0] "{} تنبيه" -msgstr[1] "{} تنبيه" -msgstr[2] "{} تنبيهان" -msgstr[3] "{} تنبيهات" -msgstr[4] "{} تنبيهات" -msgstr[5] "{} تنبيه" - -#: selfdrive/ui/layouts/settings/software.py:40 -#, python-format -msgid "{} day ago" -msgid_plural "{} days ago" -msgstr[0] "قبل {} يوم" -msgstr[1] "قبل {} يوم" -msgstr[2] "قبل {} يومين" -msgstr[3] "قبل {} أيام" -msgstr[4] "قبل {} أيام" -msgstr[5] "قبل {} يوم" - -#: selfdrive/ui/layouts/settings/software.py:37 -#, python-format -msgid "{} hour ago" -msgid_plural "{} hours ago" -msgstr[0] "قبل {} ساعة" -msgstr[1] "قبل {} ساعة" -msgstr[2] "قبل {} ساعتين" -msgstr[3] "قبل {} ساعات" -msgstr[4] "قبل {} ساعات" -msgstr[5] "قبل {} ساعة" - -#: selfdrive/ui/layouts/settings/software.py:34 -#, python-format -msgid "{} minute ago" -msgid_plural "{} minutes ago" -msgstr[0] "قبل {} دقيقة" -msgstr[1] "قبل {} دقيقة" -msgstr[2] "قبل {} دقيقتين" -msgstr[3] "قبل {} دقائق" -msgstr[4] "قبل {} دقائق" -msgstr[5] "قبل {} دقيقة" - -#: selfdrive/ui/layouts/settings/firehose.py:111 -#, python-format -msgid "{} segment of your driving is in the training dataset so far." -msgid_plural "{} segments of your driving is in the training dataset so far." -msgstr[0] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." -msgstr[1] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." -msgstr[2] "{} مقطعان من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." -msgstr[3] "{} مقاطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." -msgstr[4] "{} مقاطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." -msgstr[5] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن." - -#: selfdrive/ui/widgets/prime.py:62 -#, python-format -msgid "✓ SUBSCRIBED" -msgstr "✓ مشترك" - -#: selfdrive/ui/widgets/setup.py:22 -#, python-format -msgid "🔥 Firehose Mode 🔥" -msgstr "🔥 وضع Firehose 🔥" diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index 47e673ce89..99d3aafe3a 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -6,7 +6,6 @@ "Español": "es", "Türkçe": "tr", "Українська": "uk", - "العربية": "ar", "ไทย": "th", "中文（繁體）": "zh-CHT", "中文（简体）": "zh-CHS", diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py index 70de1e3d5c..ad2a5f9399 100644 --- a/system/ui/lib/multilang.py +++ b/system/ui/lib/multilang.py @@ -16,7 +16,6 @@ TRANSLATIONS_DIR = UI_DIR.joinpath("translations") LANGUAGES_FILE = TRANSLATIONS_DIR.joinpath("languages.json") UNIFONT_LANGUAGES = [ - "ar", "th", "zh-CHT", "zh-CHS", From 28795d3065a291d68b218739cb0508625beacc45 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 5 Feb 2026 16:30:03 -0500 Subject: [PATCH 12/65] bump opendbc (#37091) --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 7c78ee87b7..39ee861197 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 7c78ee87b7b54bb2179d86d5e28c1f65bbf96669 +Subproject commit 39ee861197edca894fc1b2e28d6fd1a38aea9ca1 From 7e959c5a3e7611a19b24c46729461805a5bb9f84 Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Thu, 5 Feb 2026 15:55:03 -0800 Subject: [PATCH 13/65] long_mpc: use log.capnp source enum instead of list (#37093) --- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 11 +++++++++-- selfdrive/controls/lib/longitudinal_planner.py | 5 +++-- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 9408132c5b..f6d2eba91f 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -217,7 +217,7 @@ class LongitudinalMpc: self.dt = dt self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset() - self.source = SOURCES[2] + self.source = log.LongitudinalPlan.LongitudinalPlanSource.cruise def reset(self): self.solver.reset() @@ -335,7 +335,14 @@ class LongitudinalMpc: cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) - self.source = SOURCES[np.argmin(x_obstacles[0])] + lead_idx = np.argmin(x_obstacles[0]) + match lead_idx: + case 0: + self.source = log.LongitudinalPlan.LongitudinalPlanSource.lead0 + case 1: + self.source = log.LongitudinalPlan.LongitudinalPlanSource.lead1 + case 2: + self.source = log.LongitudinalPlan.LongitudinalPlanSource.cruise self.yref[:,:] = 0.0 for i in range(N): diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c5c03eba18..47228ada40 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -3,13 +3,14 @@ import math import numpy as np import cereal.messaging as messaging +from cereal import log from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX from openpilot.common.constants import CV from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState -from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET @@ -156,7 +157,7 @@ class LongitudinalPlanner: output_a_target = min(output_a_target_e2e, output_a_target_mpc) self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc if output_a_target < output_a_target_mpc: - self.mpc.source = SOURCES[3] + self.mpc.source = log.LongitudinalPlan.LongitudinalPlanSource.e2e else: output_a_target = output_a_target_mpc self.output_should_stop = output_should_stop_mpc From 64f74dad2702a11b6ad2c38e3c3ffc228514adbc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 5 Feb 2026 16:23:28 -0800 Subject: [PATCH 14/65] Revert "long_mpc: use log.capnp source enum instead of list" (#37095) Revert "long_mpc: use log.capnp source enum instead of list (#37093)" This reverts commit 7e959c5a3e7611a19b24c46729461805a5bb9f84. --- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 11 ++--------- selfdrive/controls/lib/longitudinal_planner.py | 5 ++--- 2 files changed, 4 insertions(+), 12 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index f6d2eba91f..9408132c5b 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -217,7 +217,7 @@ class LongitudinalMpc: self.dt = dt self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset() - self.source = log.LongitudinalPlan.LongitudinalPlanSource.cruise + self.source = SOURCES[2] def reset(self): self.solver.reset() @@ -335,14 +335,7 @@ class LongitudinalMpc: cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) - lead_idx = np.argmin(x_obstacles[0]) - match lead_idx: - case 0: - self.source = log.LongitudinalPlan.LongitudinalPlanSource.lead0 - case 1: - self.source = log.LongitudinalPlan.LongitudinalPlanSource.lead1 - case 2: - self.source = log.LongitudinalPlan.LongitudinalPlanSource.cruise + self.source = SOURCES[np.argmin(x_obstacles[0])] self.yref[:,:] = 0.0 for i in range(N): diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 47228ada40..c5c03eba18 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -3,14 +3,13 @@ import math import numpy as np import cereal.messaging as messaging -from cereal import log from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX from openpilot.common.constants import CV from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState -from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET @@ -157,7 +156,7 @@ class LongitudinalPlanner: output_a_target = min(output_a_target_e2e, output_a_target_mpc) self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc if output_a_target < output_a_target_mpc: - self.mpc.source = log.LongitudinalPlan.LongitudinalPlanSource.e2e + self.mpc.source = SOURCES[3] else: output_a_target = output_a_target_mpc self.output_should_stop = output_should_stop_mpc From 2b8e887e442df39df3bb5b00aab07a9700ce50dd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 5 Feb 2026 23:39:22 -0800 Subject: [PATCH 15/65] mici setup: remove unused functions --- system/ui/mici_setup.py | 6 ------ 1 file changed, 6 deletions(-) diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py index fac26f06ea..91e5f0fb9c 100755 --- a/system/ui/mici_setup.py +++ b/system/ui/mici_setup.py @@ -590,15 +590,9 @@ class Setup(Widget): def _custom_software_warning_back_button_callback(self): self._set_state(SetupState.SOFTWARE_SELECTION) - def _custom_software_warning_continue_button_callback(self): - self._set_state(SetupState.CUSTOM_SOFTWARE) - def _getting_started_button_callback(self): self._set_state(SetupState.SOFTWARE_SELECTION) - def _software_selection_back_button_callback(self): - self._set_state(SetupState.GETTING_STARTED) - def _software_selection_continue_button_callback(self): self.use_openpilot() From f5b84e74f4ddd9814e80630ecb718fca5392b6c0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 5 Feb 2026 23:42:16 -0800 Subject: [PATCH 16/65] fix mici setup int enum --- system/ui/mici_setup.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py index 91e5f0fb9c..78b6b5cecb 100755 --- a/system/ui/mici_setup.py +++ b/system/ui/mici_setup.py @@ -94,12 +94,12 @@ class NetworkConnectivityMonitor: class SetupState(IntEnum): GETTING_STARTED = 0 NETWORK_SETUP = 1 - NETWORK_SETUP_CUSTOM_SOFTWARE = 8 - SOFTWARE_SELECTION = 2 - CUSTOM_SOFTWARE = 3 - DOWNLOADING = 4 - DOWNLOAD_FAILED = 5 - CUSTOM_SOFTWARE_WARNING = 6 + NETWORK_SETUP_CUSTOM_SOFTWARE = 2 + SOFTWARE_SELECTION = 3 + CUSTOM_SOFTWARE = 4 + DOWNLOADING = 5 + DOWNLOAD_FAILED = 6 + CUSTOM_SOFTWARE_WARNING = 7 class StartPage(Widget): From cb670c2c3dd1564e9dd5d0fc9a1b1e005dc8183c Mon Sep 17 00:00:00 2001 From: David <49467229+TheSecurityDev@users.noreply.github.com> Date: Fri, 6 Feb 2026 11:58:30 -0600 Subject: [PATCH 17/65] clips: improve overlays for mici (#37088) * adjust overlay sizes and wrap metadata text for mici * comment * adjust overlay rendering to dynamically calculate line height for wrapped metadata text * render time first so we can use width in margin calculation * update comment (to retry failed CI actually) * increase metadata size on mici --- tools/clip/run.py | 63 ++++++++++++++++++++++++++++++++++++----------- 1 file changed, 49 insertions(+), 14 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index f2b871be69..679bb241c1 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -238,25 +238,60 @@ def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, c rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color) -def render_overlays(rl, gui_app, font, font_scale, metadata, title, start_time, frame_idx, show_metadata, show_time): +def _wrap_text_by_delimiter(text: str, rl, font, font_size: int, font_scale: float, max_width: int, delimiter: str = ", ") -> list[str]: + """Wrap text by splitting on delimiter when it exceeds max_width.""" + words = text.split(delimiter) + lines: list[str] = [] + current_line: list[str] = [] + # Build lines word by word + for word in words: + current_line.append(word) + check_line = delimiter.join(current_line) + # Check if line exceeds max width + if rl.measure_text_ex(font, check_line, font_size * font_scale, 0).x > max_width: + current_line.pop() # Line is too long, move word to next line + if current_line: + lines.append(delimiter.join(current_line)) + current_line = [word] + # Add leftover words as last line + if current_line: + lines.append(delimiter.join(current_line)) + return lines + + +def render_overlays(rl, gui_app, font, font_scale, big, metadata, title, start_time, frame_idx, show_metadata, show_time): + metadata_size = 16 if big else 12 + title_size = 32 if big else 24 + time_size = 24 if big else 16 + + # Time overlay + time_width = 0 + if show_time: + t = start_time + frame_idx / FRAMERATE + time_text = f"{int(t) // 60:02d}:{int(t) % 60:02d}" + time_width = int(rl.measure_text_ex(font, time_text, time_size * font_scale, 0).x) + draw_text_box(rl, time_text, gui_app.width - time_width - 5, 0, time_size, gui_app, font, font_scale) + + # Metadata overlay (first 5 seconds) if show_metadata and metadata and frame_idx < FRAMERATE * 5: m = metadata text = ", ".join([f"openpilot v{m['version']}", f"route: {m['route']}", f"car: {m['car']}", f"origin: {m['origin']}", f"branch: {m['branch']}", f"commit: {m['commit']}", f"modified: {m['modified']}"]) - # Truncate if too wide (leave 20px margin on each side) - max_width = gui_app.width - 40 - while rl.measure_text_ex(font, text, 15 * font_scale, 0).x > max_width and len(text) > 20: - text = text[:-4] + "..." - draw_text_box(rl, text, 0, 8, 15, gui_app, font, font_scale, center=True) + # Wrap text if too wide (leave margin on each side) + margin = 2 * (time_width + 10 if show_time else 20) # leave enough margin for time overlay + max_width = gui_app.width - margin + lines = _wrap_text_by_delimiter(text, rl, font, metadata_size, font_scale, max_width) + # Draw wrapped metadata text + y_offset = 6 + for line in lines: + draw_text_box(rl, line, 0, y_offset, metadata_size, gui_app, font, font_scale, center=True) + line_height = int(rl.measure_text_ex(font, line, metadata_size * font_scale, 0).y) + 4 + y_offset += line_height + + # Title overlay if title: - draw_text_box(rl, title, 0, 60, 32, gui_app, font, font_scale, center=True) - - if show_time: - t = start_time + frame_idx / FRAMERATE - time_text = f"{int(t)//60:02d}:{int(t)%60:02d}" - time_width = int(rl.measure_text_ex(font, time_text, 24 * font_scale, 0).x) - draw_text_box(rl, time_text, gui_app.width - time_width - 45, 45, 24, gui_app, font, font_scale) + draw_text_box(rl, title, 0, 60, title_size, gui_app, font, font_scale, center=True) def clip(route: Route, output: str, start: int, end: int, headless: bool = True, big: bool = False, @@ -313,7 +348,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, ui_state.update() if should_render: road_view.render() - render_overlays(rl, gui_app, font, FONT_SCALE, metadata, title, start, frame_idx, show_metadata, show_time) + render_overlays(rl, gui_app, font, FONT_SCALE, big, metadata, title, start, frame_idx, show_metadata, show_time) frame_idx += 1 pbar.update(1) timer.lap("render") From 7099bd18e3ca5936cdd3c8de8a8c679cc7edb053 Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Fri, 6 Feb 2026 10:35:54 -0800 Subject: [PATCH 18/65] longitudinal mpc tuning: behind if main (#37099) --- .../mpc_longitudinal_tuning_report.py | 419 +++++++++--------- 1 file changed, 210 insertions(+), 209 deletions(-) diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py index 8c1a60f5b7..51e38112f7 100644 --- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py +++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py @@ -3,8 +3,8 @@ import sys import markdown import numpy as np import matplotlib.pyplot as plt -from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance +from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver TIME = 0 LEAD_DISTANCE= 2 @@ -21,7 +21,6 @@ axis_labels = ['Time (s)', 'Lead distance (m)' ] - def get_html_from_results(results, labels, AXIS): fig, ax = plt.subplots(figsize=(16, 8)) for idx, speed in enumerate(list(results.keys())): @@ -38,242 +37,244 @@ def get_html_from_results(results, labels, AXIS): plt.close(fig) return fig_buffer.getvalue() + '
' +def generate_mpc_tuning_report(): + htmls = [] -htmls = [] + results = {} + name = 'Resuming behind lead' + labels = [] + for lead_accel in np.linspace(1.0, 4.0, 4): + man = Maneuver( + '', + duration=11, + initial_speed=0.0, + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 10 * lead_accel], + cruise_values=[100, 100], + prob_lead_values=[1.0, 1.0], + breakpoints=[1., 11], + ) + valid, results[lead_accel] = man.evaluate() + labels.append(f'{lead_accel} m/s^2 lead acceleration') -results = {} -name = 'Resuming behind lead' -labels = [] -for lead_accel in np.linspace(1.0, 4.0, 4): - man = Maneuver( - '', - duration=11, - initial_speed=0.0, - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(0.0, 0.0), - speed_lead_values=[0.0, 10 * lead_accel], - cruise_values=[100, 100], - prob_lead_values=[1.0, 1.0], - breakpoints=[1., 11], - ) - valid, results[lead_accel] = man.evaluate() - labels.append(f'{lead_accel} m/s^2 lead acceleration') - -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) -results = {} -name = 'Approaching stopped car from 140m' -labels = [] -for speed in np.arange(0,45,5): - man = Maneuver( - name, - duration=30., - initial_speed=float(speed), - lead_relevancy=True, - initial_distance_lead=140., - speed_lead_values=[0.0, 0.], - breakpoints=[0., 30.], - ) - valid, results[speed] = man.evaluate() - results[speed][:,2] = results[speed][:,2] - results[speed][:,1] - labels.append(f'{speed} m/s approach speed') + results = {} + name = 'Approaching stopped car from 140m' + labels = [] + for speed in np.arange(0,45,5): + man = Maneuver( + name, + duration=30., + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=140., + speed_lead_values=[0.0, 0.], + breakpoints=[0., 30.], + ) + valid, results[speed] = man.evaluate() + results[speed][:,2] = results[speed][:,2] - results[speed][:,1] + labels.append(f'{speed} m/s approach speed') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_A)) -htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, D_REL)) -results = {} -name = 'Following 5s oscillating lead' -labels = [] -speed = np.int64(10) -for oscil in np.arange(0, 10, 1): - man = Maneuver( - '', - duration=30., - initial_speed=float(speed), - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(speed, speed), - speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil], - breakpoints=[0.,2., 5, 8, 15, 18, 25.], - ) - valid, results[oscil] = man.evaluate() - labels.append(f'{oscil} m/s oscilliation size') + results = {} + name = 'Following 5s (triangular) oscillating lead' + labels = [] + speed = np.int64(10) + for oscil in np.arange(0, 10, 1): + man = Maneuver( + '', + duration=30., + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(speed, speed), + speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil], + breakpoints=[0.,2., 5, 8, 15, 18, 25.], + ) + valid, results[oscil] = man.evaluate() + labels.append(f'{oscil} m/s oscillation size') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, D_REL)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) + results = {} + name = 'Speed profile when converging to steady state lead at 30m/s' + labels = [] + for distance in np.arange(20, 140, 10): + man = Maneuver( + '', + duration=50, + initial_speed=30.0, + lead_relevancy=True, + initial_distance_lead=distance, + speed_lead_values=[30.0], + breakpoints=[0.], + ) + valid, results[distance] = man.evaluate() + results[distance][:,2] = results[distance][:,2] - results[distance][:,1] + labels.append(f'{distance} m initial distance') -results = {} -name = 'Speed profile when converging to steady state lead at 30m/s' -labels = [] -for distance in np.arange(20, 140, 10): - man = Maneuver( - '', - duration=50, - initial_speed=30.0, - lead_relevancy=True, - initial_distance_lead=distance, - speed_lead_values=[30.0], - breakpoints=[0.], - ) - valid, results[distance] = man.evaluate() - results[distance][:,2] = results[distance][:,2] - results[distance][:,1] - labels.append(f'{distance} m initial distance') - -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, D_REL)) -results = {} -name = 'Speed profile when converging to steady state lead at 20m/s' -labels = [] -for distance in np.arange(20, 140, 10): - man = Maneuver( - '', - duration=50, - initial_speed=20.0, - lead_relevancy=True, - initial_distance_lead=distance, - speed_lead_values=[20.0], - breakpoints=[0.], - ) - valid, results[distance] = man.evaluate() - results[distance][:,2] = results[distance][:,2] - results[distance][:,1] - labels.append(f'{distance} m initial distance') + results = {} + name = 'Speed profile when converging to steady state lead at 20m/s' + labels = [] + for distance in np.arange(20, 140, 10): + man = Maneuver( + '', + duration=50, + initial_speed=20.0, + lead_relevancy=True, + initial_distance_lead=distance, + speed_lead_values=[20.0], + breakpoints=[0.], + ) + valid, results[distance] = man.evaluate() + results[distance][:,2] = results[distance][:,2] - results[distance][:,1] + labels.append(f'{distance} m initial distance') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, D_REL)) -results = {} -name = 'Following car at 30m/s that comes to a stop' -labels = [] -for stop_time in np.arange(4, 14, 1): - man = Maneuver( - '', - duration=50, - initial_speed=30.0, - lead_relevancy=True, - initial_distance_lead=60.0, - speed_lead_values=[30.0, 30.0, 0.0, 0.0], - breakpoints=[0., 20., 20 + stop_time, 30 + stop_time], - ) - valid, results[stop_time] = man.evaluate() - results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1] - labels.append(f'{stop_time} seconds stop time') + results = {} + name = 'Following car at 30m/s that comes to a stop' + labels = [] + for stop_time in np.arange(4, 14, 1): + man = Maneuver( + '', + duration=50, + initial_speed=30.0, + lead_relevancy=True, + initial_distance_lead=60.0, + speed_lead_values=[30.0, 30.0, 0.0, 0.0], + breakpoints=[0., 20., 20 + stop_time, 30 + stop_time], + ) + valid, results[stop_time] = man.evaluate() + results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1] + labels.append(f'{stop_time} seconds stop time') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_A)) -htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, D_REL)) -results = {} -name = 'Response to cut-in at half follow distance' -labels = [] -for speed in np.arange(0, 40, 5): - man = Maneuver( - '', - duration=10, - initial_speed=float(speed), - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(speed, speed)/2, - speed_lead_values=[speed, speed, speed], - cruise_values=[speed, speed, speed], - prob_lead_values=[0.0, 0.0, 1.0], - breakpoints=[0., 5.0, 5.01], - ) - valid, results[speed] = man.evaluate() - labels.append(f'{speed} m/s speed') + results = {} + name = 'Response to cut-in at half follow distance' + labels = [] + for speed in np.arange(0, 40, 5): + man = Maneuver( + '', + duration=10, + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(speed, speed)/2, + speed_lead_values=[speed, speed, speed], + cruise_values=[speed, speed, speed], + prob_lead_values=[0.0, 0.0, 1.0], + breakpoints=[0., 5.0, 5.01], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_A)) -htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(get_html_from_results(results, labels, D_REL)) -results = {} -name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed' -labels = [] -for speed in np.arange(0, 40, 5): - man = Maneuver( - '', - duration=50, - initial_speed=0.0, - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(0.0, 0.0), - speed_lead_values=[0.0, 0.0, speed], - prob_lead_values=[1.0, 1.0, 1.0], - breakpoints=[0., 1.0, speed/2], - ) - valid, results[speed] = man.evaluate() - labels.append(f'{speed} m/s speed') + results = {} + name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed' + labels = [] + for speed in np.arange(0, 40, 5): + man = Maneuver( + '', + duration=50, + initial_speed=0.0, + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 0.0, speed], + prob_lead_values=[1.0, 1.0, 1.0], + breakpoints=[0., 1.0, speed/2], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) -results = {} -name = 'From stop to cruise' -labels = [] -for speed in np.arange(0, 40, 5): - man = Maneuver( - '', - duration=50, - initial_speed=0.0, - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(0.0, 0.0), - speed_lead_values=[0.0, 0.0], - cruise_values=[0.0, speed], - prob_lead_values=[0.0, 0.0], - breakpoints=[1., 1.01], - ) - valid, results[speed] = man.evaluate() - labels.append(f'{speed} m/s speed') + results = {} + name = 'From stop to cruise' + labels = [] + for speed in np.arange(0, 40, 5): + man = Maneuver( + '', + duration=50, + initial_speed=0.0, + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 0.0], + cruise_values=[0.0, speed], + prob_lead_values=[0.0, 0.0], + breakpoints=[1., 1.01], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) -results = {} -name = 'From cruise to min' -labels = [] -for speed in np.arange(10, 40, 5): - man = Maneuver( - '', - duration=50, - initial_speed=float(speed), - lead_relevancy=True, - initial_distance_lead=desired_follow_distance(0.0, 0.0), - speed_lead_values=[0.0, 0.0], - cruise_values=[speed, 10.0], - prob_lead_values=[0.0, 0.0], - breakpoints=[1., 1.01], - ) - valid, results[speed] = man.evaluate() - labels.append(f'{speed} m/s speed') + results = {} + name = 'From cruise to min' + labels = [] + for speed in np.arange(10, 40, 5): + man = Maneuver( + '', + duration=50, + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(0.0, 0.0), + speed_lead_values=[0.0, 0.0], + cruise_values=[speed, 10.0], + prob_lead_values=[0.0, 0.0], + breakpoints=[1., 1.01], + ) + valid, results[speed] = man.evaluate() + labels.append(f'{speed} m/s speed') -htmls.append(markdown.markdown('# ' + name)) -htmls.append(get_html_from_results(results, labels, EGO_V)) -htmls.append(get_html_from_results(results, labels, EGO_A)) + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) -if len(sys.argv) < 2: - file_name = 'long_mpc_tune_report.html' -else: - file_name = sys.argv[1] + return htmls -with open(file_name, 'w') as f: - f.write(markdown.markdown('# MPC longitudinal tuning report')) +if __name__ == '__main__': + htmls = generate_mpc_tuning_report() -with open(file_name, 'a') as f: - for html in htmls: - f.write(html) + if len(sys.argv) < 2: + file_name = 'long_mpc_tune_report.html' + else: + file_name = sys.argv[1] + + with open(file_name, 'w') as f: + f.write(markdown.markdown('# MPC longitudinal tuning report')) + for html in htmls: + f.write(html) From 9755520b87fac634da3068561511b8df93626c9b Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Fri, 6 Feb 2026 11:30:49 -0800 Subject: [PATCH 19/65] longitudinal mpc tuning report: add sinusoidal oscillation scenario (#37100) --- .../mpc_longitudinal_tuning_report.py | 28 +++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py index 51e38112f7..547f45aa2e 100644 --- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py +++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py @@ -3,6 +3,7 @@ import sys import markdown import numpy as np import matplotlib.pyplot as plt +from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver @@ -108,6 +109,33 @@ def generate_mpc_tuning_report(): htmls.append(get_html_from_results(results, labels, EGO_A)) + results = {} + name = 'Following 5s (sinusoidal) oscillating lead' + labels = [] + speed = np.int64(10) + duration = float(30) + f_osc = 1. / 5 + for oscil in np.arange(0, 10, 1): + bps = DT_MDL * np.arange(int(duration / DT_MDL)) + lead_speeds = speed + oscil * np.sin(2 * np.pi * f_osc * bps) + man = Maneuver( + '', + duration=duration, + initial_speed=float(speed), + lead_relevancy=True, + initial_distance_lead=desired_follow_distance(speed, speed), + speed_lead_values=lead_speeds, + breakpoints=bps, + ) + valid, results[oscil] = man.evaluate() + labels.append(f'{oscil} m/s oscilliation size') + + htmls.append(markdown.markdown('# ' + name)) + htmls.append(get_html_from_results(results, labels, D_REL)) + htmls.append(get_html_from_results(results, labels, EGO_V)) + htmls.append(get_html_from_results(results, labels, EGO_A)) + + results = {} name = 'Speed profile when converging to steady state lead at 30m/s' labels = [] From 187d3a079c45b2221cb46744bff4defc224f1fc5 Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Fri, 6 Feb 2026 13:36:51 -0800 Subject: [PATCH 20/65] long_mpc: use log.capnp source enum (#37096) --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 7 ++++--- selfdrive/controls/lib/longitudinal_planner.py | 4 ++-- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 9408132c5b..e75705cb68 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -22,7 +22,8 @@ LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__)) EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code") JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json") -SOURCES = ['lead0', 'lead1', 'cruise', 'e2e'] +LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource +MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise) X_DIM = 3 U_DIM = 1 @@ -217,7 +218,7 @@ class LongitudinalMpc: self.dt = dt self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N) self.reset() - self.source = SOURCES[2] + self.source = LongitudinalPlanSource.cruise def reset(self): self.solver.reset() @@ -335,7 +336,7 @@ class LongitudinalMpc: cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) - self.source = SOURCES[np.argmin(x_obstacles[0])] + self.source = MPC_SOURCES[np.argmin(x_obstacles[0])] self.yref[:,:] = 0.0 for i in range(N): diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c5c03eba18..64de1a8fda 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -9,7 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import DT_MDL from openpilot.selfdrive.modeld.constants import ModelConstants from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState -from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES +from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET @@ -156,7 +156,7 @@ class LongitudinalPlanner: output_a_target = min(output_a_target_e2e, output_a_target_mpc) self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc if output_a_target < output_a_target_mpc: - self.mpc.source = SOURCES[3] + self.mpc.source = LongitudinalPlanSource.e2e else: output_a_target = output_a_target_mpc self.output_should_stop = output_should_stop_mpc From 593c3a0c8e69686ee821b2a0b2cfa9901b67dc27 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 6 Feb 2026 14:13:46 -0800 Subject: [PATCH 21/65] Calibrate in tg (#36621) * squash * bump tg * fix linmt * Ready to merge * cleaner * match modeld * more dead stuff --- selfdrive/modeld/SConscript | 49 ++--- selfdrive/modeld/compile_warp.py | 206 ++++++++++++++++++ selfdrive/modeld/dmonitoringmodeld.py | 27 ++- selfdrive/modeld/modeld.py | 47 ++-- selfdrive/modeld/models/commonmodel.cc | 64 ------ selfdrive/modeld/models/commonmodel.h | 97 --------- selfdrive/modeld/models/commonmodel.pxd | 27 --- selfdrive/modeld/models/commonmodel_pyx.pxd | 13 -- selfdrive/modeld/models/commonmodel_pyx.pyx | 74 ------- selfdrive/modeld/transforms/loadyuv.cc | 76 ------- selfdrive/modeld/transforms/loadyuv.cl | 47 ---- selfdrive/modeld/transforms/loadyuv.h | 20 -- selfdrive/modeld/transforms/transform.cc | 97 --------- selfdrive/modeld/transforms/transform.cl | 54 ----- selfdrive/modeld/transforms/transform.h | 25 --- selfdrive/test/process_replay/model_replay.py | 2 +- .../test/process_replay/process_replay.py | 15 +- 17 files changed, 280 insertions(+), 660 deletions(-) create mode 100755 selfdrive/modeld/compile_warp.py delete mode 100644 selfdrive/modeld/models/commonmodel.cc delete mode 100644 selfdrive/modeld/models/commonmodel.h delete mode 100644 selfdrive/modeld/models/commonmodel.pxd delete mode 100644 selfdrive/modeld/models/commonmodel_pyx.pxd delete mode 100644 selfdrive/modeld/models/commonmodel_pyx.pyx delete mode 100644 selfdrive/modeld/transforms/loadyuv.cc delete mode 100644 selfdrive/modeld/transforms/loadyuv.cl delete mode 100644 selfdrive/modeld/transforms/loadyuv.h delete mode 100644 selfdrive/modeld/transforms/transform.cc delete mode 100644 selfdrive/modeld/transforms/transform.cl delete mode 100644 selfdrive/modeld/transforms/transform.h diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 91f3597447..72d3f95c41 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,35 +1,10 @@ import os import glob -Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc') +Import('env', 'arch') lenv = env.Clone() -lenvCython = envCython.Clone() -libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread'] -frameworks = [] - -common_src = [ - "models/commonmodel.cc", - "transforms/loadyuv.cc", - "transforms/transform.cc", -] - -# OpenCL is a framework on Mac -if arch == "Darwin": - frameworks += ['OpenCL'] -else: - libs += ['OpenCL'] - -# Set path definitions -for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items(): - for xenv in (lenv, lenvCython): - xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') - -# Compile cython -cython_libs = envCython["LIBS"] + libs -commonmodel_lib = lenv.Library('commonmodel', common_src) -lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) -tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]) +tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x] # Get model metadata for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: @@ -38,22 +13,30 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd) +# compile warp +tg_flags = { + 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0', + 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env +}.get(arch, 'DEV=CPU CPU_LLVM=1') +image_flag = { + 'larch64': 'IMAGE=2', +}.get(arch, 'IMAGE=0') +script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)] +cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py ' +lenv.Command(fn + "warp_tinygrad.pkl", tinygrad_files + script_files, cmd) + def tg_compile(flags, model_name): pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' fn = File(f"models/{model_name}").abspath return lenv.Command( fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, - f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' + f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' ) # Compile small models for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: - flags = { - 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0', - 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env - }.get(arch, 'DEV=CPU CPU_LLVM=1') - tg_compile(flags, model_name) + tg_compile(tg_flags, model_name) # Compile BIG model if USB GPU is available if "USBGPU" in os.environ: diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py new file mode 100755 index 0000000000..5adb60e624 --- /dev/null +++ b/selfdrive/modeld/compile_warp.py @@ -0,0 +1,206 @@ +#!/usr/bin/env python3 +import time +import pickle +import numpy as np +from pathlib import Path +from tinygrad.tensor import Tensor +from tinygrad.helpers import Context +from tinygrad.device import Device +from tinygrad.engine.jit import TinyJit + +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info +from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE +from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye + +MODELS_DIR = Path(__file__).parent / 'models' + +CAMERA_CONFIGS = [ + (_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208 + (_os_fisheye.width, _os_fisheye.height), # mici: 1344x760 +] + +UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32) +UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX) + +IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2) + + +def warp_pkl_path(w, h): + return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' + + +def dm_warp_pkl_path(w, h): + return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl' + + +def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, ratio): + w_dst, h_dst = dst_shape + h_src, w_src = src_shape + + x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst) + y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst) + ones = Tensor.ones_like(x) + dst_coords = x.reshape(1, -1).cat(y.reshape(1, -1)).cat(ones.reshape(1, -1)) + + src_coords = M_inv @ dst_coords + src_coords = src_coords / src_coords[2:3, :] + + x_nn_clipped = Tensor.round(src_coords[0]).clip(0, w_src - 1).cast('int') + y_nn_clipped = Tensor.round(src_coords[1]).clip(0, h_src - 1).cast('int') + idx = y_nn_clipped * w_src + (y_nn_clipped * ratio).cast('int') * stride_pad + x_nn_clipped + + sampled = src_flat[idx] + return sampled + + +def frames_to_tensor(frames, model_w, model_h): + H = (frames.shape[0] * 2) // 3 + W = frames.shape[1] + in_img1 = Tensor.cat(frames[0:H:2, 0::2], + frames[1:H:2, 0::2], + frames[0:H:2, 1::2], + frames[1:H:2, 1::2], + frames[H:H+H//4].reshape((H//2, W//2)), + frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2)) + return in_img1 + + +def make_frame_prepare(cam_w, cam_h, model_w, model_h): + stride, y_height, _, _ = get_nv12_info(cam_w, cam_h) + uv_offset = stride * y_height + stride_pad = stride - cam_w + + def frame_prepare_tinygrad(input_frame, M_inv): + tg_scale = Tensor(UV_SCALE_MATRIX) + M_inv_uv = tg_scale @ M_inv @ Tensor(UV_SCALE_MATRIX_INV) + with Context(SPLIT_REDUCEOP=0): + y = warp_perspective_tinygrad(input_frame[:cam_h*stride], + M_inv, (model_w, model_h), + (cam_h, cam_w), stride_pad, 1).realize() + u = warp_perspective_tinygrad(input_frame[uv_offset:uv_offset + (cam_h//4)*stride], + M_inv_uv, (model_w//2, model_h//2), + (cam_h//2, cam_w//2), stride_pad, 0.5).realize() + v = warp_perspective_tinygrad(input_frame[uv_offset + (cam_h//4)*stride:uv_offset + (cam_h//2)*stride], + M_inv_uv, (model_w//2, model_h//2), + (cam_h//2, cam_w//2), stride_pad, 0.5).realize() + yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w)) + tensor = frames_to_tensor(yuv, model_w, model_h) + return tensor + return frame_prepare_tinygrad + + +def make_update_img_input(frame_prepare, model_w, model_h): + def update_img_input_tinygrad(tensor, frame, M_inv): + M_inv = M_inv.to(Device.DEFAULT) + new_img = frame_prepare(frame, M_inv) + full_buffer = tensor[6:].cat(new_img, dim=0).contiguous() + return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2) + return update_img_input_tinygrad + + +def make_update_both_imgs(frame_prepare, model_w, model_h): + update_img = make_update_img_input(frame_prepare, model_w, model_h) + + def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv, + calib_big_img_buffer, new_big_img, M_inv_big): + calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv) + calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big) + return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair + return update_both_imgs_tinygrad + + +def make_warp_dm(cam_w, cam_h, dm_w, dm_h): + stride, y_height, _, _ = get_nv12_info(cam_w, cam_h) + stride_pad = stride - cam_w + + def warp_dm(input_frame, M_inv): + M_inv = M_inv.to(Device.DEFAULT) + with Context(SPLIT_REDUCEOP=0): + result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad, 1).reshape(-1, dm_h * dm_w) + return result + return warp_dm + + +def compile_modeld_warp(cam_w, cam_h): + model_w, model_h = MEDMODEL_INPUT_SIZE + _, _, _, yuv_size = get_nv12_info(cam_w, cam_h) + + print(f"Compiling modeld warp for {cam_w}x{cam_h}...") + + frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h) + update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h) + update_img_jit = TinyJit(update_both_imgs, prune=True) + + full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize() + big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize() + full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8) + big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8) + + for i in range(10): + new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8) + img_inputs = [full_buffer, + Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(), + Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] + new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8) + big_img_inputs = [big_full_buffer, + Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(), + Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] + inputs = img_inputs + big_img_inputs + Device.default.synchronize() + + inputs_np = [x.numpy() for x in inputs] + inputs_np[0] = full_buffer_np + inputs_np[3] = big_full_buffer_np + + st = time.perf_counter() + out = update_img_jit(*inputs) + full_buffer = out[0].contiguous().realize().clone() + big_full_buffer = out[2].contiguous().realize().clone() + mt = time.perf_counter() + Device.default.synchronize() + et = time.perf_counter() + print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") + + pkl_path = warp_pkl_path(cam_w, cam_h) + with open(pkl_path, "wb") as f: + pickle.dump(update_img_jit, f) + print(f" Saved to {pkl_path}") + + jit = pickle.load(open(pkl_path, "rb")) + jit(*inputs) + + +def compile_dm_warp(cam_w, cam_h): + dm_w, dm_h = DM_INPUT_SIZE + _, _, _, yuv_size = get_nv12_info(cam_w, cam_h) + + print(f"Compiling DM warp for {cam_w}x{cam_h}...") + + warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h) + warp_dm_jit = TinyJit(warp_dm, prune=True) + + for i in range(10): + inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'), + Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] + Device.default.synchronize() + st = time.perf_counter() + warp_dm_jit(*inputs) + mt = time.perf_counter() + Device.default.synchronize() + et = time.perf_counter() + print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") + + pkl_path = dm_warp_pkl_path(cam_w, cam_h) + with open(pkl_path, "wb") as f: + pickle.dump(warp_dm_jit, f) + print(f" Saved to {pkl_path}") + + +def run_and_save_pickle(): + for cam_w, cam_h in CAMERA_CONFIGS: + compile_modeld_warp(cam_w, cam_h) + compile_dm_warp(cam_w, cam_h) + + +if __name__ == "__main__": + run_and_save_pickle() diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index fca762c69b..f12c13081b 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -3,7 +3,6 @@ import os from openpilot.system.hardware import TICI os.environ['DEV'] = 'QCOM' if TICI else 'CPU' from tinygrad.tensor import Tensor -from tinygrad.dtype import dtypes import time import pickle import numpy as np @@ -12,19 +11,19 @@ from pathlib import Path from cereal import messaging from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from msgq.visionipc.visionipc_pyx import CLContext from openpilot.common.swaglog import cloudlog from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import dmonitoringmodel_intrinsics from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye -from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp -from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl' METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl' - +MODELS_DIR = Path(__file__).parent / 'models' class ModelState: inputs: dict[str, np.ndarray] @@ -36,12 +35,15 @@ class ModelState: self.input_shapes = model_metadata['input_shapes'] self.output_slices = model_metadata['output_slices'] - self.frame = MonitoringModelFrame(cl_ctx) self.numpy_inputs = { 'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32), } + self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)} + self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()} + self.frame_buf_params = None self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} + self.image_warp = None with open(MODEL_PKL_PATH, "rb") as f: self.model_run = pickle.load(f) @@ -50,14 +52,15 @@ class ModelState: t1 = time.perf_counter() - input_img_cl = self.frame.prepare(buf, transform.flatten()) - if TICI: - # The imgs tensors are backed by opencl memory, only need init once - if 'input_img' not in self.tensor_inputs: - self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, self.input_shapes['input_img'], dtype=dtypes.uint8) - else: - self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize() + if self.image_warp is None: + self.frame_buf_params = get_nv12_info(buf.width, buf.height) + warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl' + with open(warp_path, "rb") as f: + self.image_warp = pickle.load(f) + self.warp_inputs['frame'] = Tensor.from_blob(buf.data.ctypes.data, (self.frame_buf_params[3],), dtype='uint8').realize() + self.warp_inputs_np['transform'][:] = transform[:] + self.tensor_inputs['input_img'] = self.image_warp(self.warp_inputs['frame'], self.warp_inputs['transform']).realize() output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy() diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1f347dc32a..d9445c8d33 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -7,7 +7,6 @@ if USBGPU: os.environ['DEV'] = 'AMD' os.environ['AMD_IFACE'] = 'USB' from tinygrad.tensor import Tensor -from tinygrad.dtype import dtypes import time import pickle import numpy as np @@ -16,20 +15,20 @@ from cereal import car, log from pathlib import Path from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf +from msgq.visionipc.visionipc_pyx import CLContext from opendbc.car.car_helpers import get_demo_car_params from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.transformations.camera import DEVICE_CAMERAS +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.common.transformations.model import get_warp_matrix from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan -from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext -from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address PROCESS_NAME = "selfdrive.modeld.modeld" @@ -39,11 +38,15 @@ VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl' POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' +MODELS_DIR = Path(__file__).parent / 'models' LAT_SMOOTH_SECONDS = 0.0 LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 +IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256) +assert IMG_QUEUE_SHAPE[0] == 30 + def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: @@ -136,7 +139,6 @@ class InputQueues: return out class ModelState: - frames: dict[str, DrivingModelFrame] inputs: dict[str, np.ndarray] output: np.ndarray prev_desire: np.ndarray # for tracking the rising edge of the pulse @@ -155,7 +157,6 @@ class ModelState: self.policy_output_slices = policy_metadata['output_slices'] policy_output_size = policy_metadata['output_shapes']['outputs'][1] - self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names} self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) # policy inputs @@ -166,11 +167,17 @@ class ModelState: self.full_input_queues.reset() # img buffers are managed in openCL transform code - self.vision_inputs: dict[str, Tensor] = {} + self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(), + 'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),} + self.full_frames : dict[str, Tensor] = {} + self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues} + self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()} self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) self.parser = Parser() + self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {} + self.update_imgs = None with open(VISION_PKL_PATH, "rb") as f: self.vision_run = pickle.load(f) @@ -188,23 +195,28 @@ class ModelState: inputs['desire_pulse'][0] = 0 new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) self.prev_desire[:] = inputs['desire_pulse'] + if self.update_imgs is None: + for key in bufs.keys(): + w, h = bufs[key].width, bufs[key].height + self.frame_buf_params[key] = get_nv12_info(w, h) + warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' + with open(warp_path, "rb") as f: + self.update_imgs = pickle.load(f) - imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} - if TICI and not USBGPU: - # The imgs tensors are backed by opencl memory, only need init once - for key in imgs_cl: - if key not in self.vision_inputs: - self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8) - else: - for key in imgs_cl: - frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key]) - self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize() + for key in bufs.keys(): + self.full_frames[key] = Tensor.from_blob(bufs[key].data.ctypes.data, (self.frame_buf_params[key][3],), dtype='uint8').realize() + self.transforms_np[key][:,:] = transforms[key][:,:] + + out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'], + self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img']) + self.img_queues['img'], self.img_queues['big_img'], = out[0].realize(), out[2].realize() + vision_inputs = {'img': out[1], 'big_img': out[3]} if prepare_only: return None - self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy() + self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy() vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices)) self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire}) @@ -214,7 +226,6 @@ class ModelState: self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) - combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()]) diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc deleted file mode 100644 index d3341e76ec..0000000000 --- a/selfdrive/modeld/models/commonmodel.cc +++ /dev/null @@ -1,64 +0,0 @@ -#include "selfdrive/modeld/models/commonmodel.h" - -#include -#include - -#include "common/clutil.h" - -DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) { - input_frames = std::make_unique(buf_size); - temporal_skip = _temporal_skip; - input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); - img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err)); - region.origin = temporal_skip * frame_size_bytes; - region.size = frame_size_bytes; - last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); - - loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT); - init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); -} - -cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { - run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); - - for (int i = 0; i < temporal_skip; i++) { - CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); - } - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); - - copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes); - copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes); - - // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready. - clFinish(q); - return &input_frames_cl; -} - -DrivingModelFrame::~DrivingModelFrame() { - deinit_transform(); - loadyuv_destroy(&loadyuv); - CL_CHECK(clReleaseMemObject(input_frames_cl)); - CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl)); - CL_CHECK(clReleaseMemObject(last_img_cl)); - CL_CHECK(clReleaseCommandQueue(q)); -} - - -MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) { - input_frames = std::make_unique(buf_size); - input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); - - init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); -} - -cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { - run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); - clFinish(q); - return &y_cl; -} - -MonitoringModelFrame::~MonitoringModelFrame() { - deinit_transform(); - CL_CHECK(clReleaseMemObject(input_frame_cl)); - CL_CHECK(clReleaseCommandQueue(q)); -} diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h deleted file mode 100644 index 176d7eb6dc..0000000000 --- a/selfdrive/modeld/models/commonmodel.h +++ /dev/null @@ -1,97 +0,0 @@ -#pragma once - -#include -#include -#include - -#include - -#define CL_USE_DEPRECATED_OPENCL_1_2_APIS -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include "common/mat.h" -#include "selfdrive/modeld/transforms/loadyuv.h" -#include "selfdrive/modeld/transforms/transform.h" - -class ModelFrame { -public: - ModelFrame(cl_device_id device_id, cl_context context) { - q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); - } - virtual ~ModelFrame() {} - virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; } - uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) { - CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr)); - clFinish(q); - return &input_frames[0]; - } - - int MODEL_WIDTH; - int MODEL_HEIGHT; - int MODEL_FRAME_SIZE; - int buf_size; - -protected: - cl_mem y_cl, u_cl, v_cl; - Transform transform; - cl_command_queue q; - std::unique_ptr input_frames; - - void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) { - y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err)); - u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err)); - v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err)); - transform_init(&transform, context, device_id); - } - - void deinit_transform() { - transform_destroy(&transform); - CL_CHECK(clReleaseMemObject(v_cl)); - CL_CHECK(clReleaseMemObject(u_cl)); - CL_CHECK(clReleaseMemObject(y_cl)); - } - - void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { - transform_queue(&transform, q, - yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, - y_cl, u_cl, v_cl, model_width, model_height, projection); - } -}; - -class DrivingModelFrame : public ModelFrame { -public: - DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip); - ~DrivingModelFrame(); - cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); - - const int MODEL_WIDTH = 512; - const int MODEL_HEIGHT = 256; - const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; - const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart - const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); - -private: - LoadYUVState loadyuv; - cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl; - cl_buffer_region region; - int temporal_skip; -}; - -class MonitoringModelFrame : public ModelFrame { -public: - MonitoringModelFrame(cl_device_id device_id, cl_context context); - ~MonitoringModelFrame(); - cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); - - const int MODEL_WIDTH = 1440; - const int MODEL_HEIGHT = 960; - const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT; - const int buf_size = MODEL_FRAME_SIZE; - -private: - cl_mem input_frame_cl; -}; diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd deleted file mode 100644 index 4ac64d9172..0000000000 --- a/selfdrive/modeld/models/commonmodel.pxd +++ /dev/null @@ -1,27 +0,0 @@ -# distutils: language = c++ - -from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem - -cdef extern from "common/mat.h": - cdef struct mat3: - float v[9] - -cdef extern from "common/clutil.h": - cdef unsigned long CL_DEVICE_TYPE_DEFAULT - cl_device_id cl_get_device_id(unsigned long) - cl_context cl_create_context(cl_device_id) - void cl_release_context(cl_context) - -cdef extern from "selfdrive/modeld/models/commonmodel.h": - cppclass ModelFrame: - int buf_size - unsigned char * buffer_from_cl(cl_mem*, int); - cl_mem * prepare(cl_mem, int, int, int, int, mat3) - - cppclass DrivingModelFrame: - int buf_size - DrivingModelFrame(cl_device_id, cl_context, int) - - cppclass MonitoringModelFrame: - int buf_size - MonitoringModelFrame(cl_device_id, cl_context) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd deleted file mode 100644 index 0bb798625b..0000000000 --- a/selfdrive/modeld/models/commonmodel_pyx.pxd +++ /dev/null @@ -1,13 +0,0 @@ -# distutils: language = c++ - -from msgq.visionipc.visionipc cimport cl_mem -from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext - -cdef class CLContext(BaseCLContext): - pass - -cdef class CLMem: - cdef cl_mem * mem - - @staticmethod - cdef create(void*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx deleted file mode 100644 index 5b7d11bc71..0000000000 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ /dev/null @@ -1,74 +0,0 @@ -# distutils: language = c++ -# cython: c_string_encoding=ascii, language_level=3 - -import numpy as np -cimport numpy as cnp -from libc.string cimport memcpy -from libc.stdint cimport uintptr_t - -from msgq.visionipc.visionipc cimport cl_mem -from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext -from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context -from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame - - -cdef class CLContext(BaseCLContext): - def __cinit__(self): - self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) - self.context = cl_create_context(self.device_id) - - def __dealloc__(self): - if self.context: - cl_release_context(self.context) - -cdef class CLMem: - @staticmethod - cdef create(void * cmem): - mem = CLMem() - mem.mem = cmem - return mem - - @property - def mem_address(self): - return (self.mem) - -def cl_from_visionbuf(VisionBuf buf): - return CLMem.create(&buf.buf.buf_cl) - - -cdef class ModelFrame: - cdef cppModelFrame * frame - cdef int buf_size - - def __dealloc__(self): - del self.frame - - def prepare(self, VisionBuf buf, float[:] projection): - cdef mat3 cprojection - memcpy(cprojection.v, &projection[0], 9*sizeof(float)) - cdef cl_mem * data - data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection) - return CLMem.create(data) - - def buffer_from_cl(self, CLMem in_frames): - cdef unsigned char * data2 - data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size) - return np.asarray( data2) - - -cdef class DrivingModelFrame(ModelFrame): - cdef cppDrivingModelFrame * _frame - - def __cinit__(self, CLContext context, int temporal_skip): - self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip) - self.frame = (self._frame) - self.buf_size = self._frame.buf_size - -cdef class MonitoringModelFrame(ModelFrame): - cdef cppMonitoringModelFrame * _frame - - def __cinit__(self, CLContext context): - self._frame = new cppMonitoringModelFrame(context.device_id, context.context) - self.frame = (self._frame) - self.buf_size = self._frame.buf_size - diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc deleted file mode 100644 index c93f5cd038..0000000000 --- a/selfdrive/modeld/transforms/loadyuv.cc +++ /dev/null @@ -1,76 +0,0 @@ -#include "selfdrive/modeld/transforms/loadyuv.h" - -#include -#include -#include - -void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) { - memset(s, 0, sizeof(*s)); - - s->width = width; - s->height = height; - - char args[1024]; - snprintf(args, sizeof(args), - "-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, LOADYUV_PATH, args); - - s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err)); - s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err)); - s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err)); - - // done with this - CL_CHECK(clReleaseProgram(prg)); -} - -void loadyuv_destroy(LoadYUVState* s) { - CL_CHECK(clReleaseKernel(s->loadys_krnl)); - CL_CHECK(clReleaseKernel(s->loaduv_krnl)); - CL_CHECK(clReleaseKernel(s->copy_krnl)); -} - -void loadyuv_queue(LoadYUVState* s, cl_command_queue q, - cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl) { - cl_int global_out_off = 0; - - CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl)); - CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off)); - - const size_t loadys_work_size = (s->width*s->height)/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL, - &loadys_work_size, NULL, 0, 0, NULL)); - - const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8; - global_out_off += (s->width*s->height); - - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); - - CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, - &loaduv_work_size, NULL, 0, 0, NULL)); - - global_out_off += (s->width/2)*(s->height/2); - - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); - - CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, - &loaduv_work_size, NULL, 0, 0, NULL)); -} - -void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, - size_t src_offset, size_t dst_offset, size_t size) { - CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset)); - const size_t copy_work_size = size/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, - ©_work_size, NULL, 0, 0, NULL)); -} \ No newline at end of file diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl deleted file mode 100644 index 970187a6d7..0000000000 --- a/selfdrive/modeld/transforms/loadyuv.cl +++ /dev/null @@ -1,47 +0,0 @@ -#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) - -__kernel void loadys(__global uchar8 const * const Y, - __global uchar * out, - int out_offset) -{ - const int gid = get_global_id(0); - const int ois = gid * 8; - const int oy = ois / TRANSFORMED_WIDTH; - const int ox = ois % TRANSFORMED_WIDTH; - - const uchar8 ys = Y[gid]; - - // 02 - // 13 - - __global uchar* outy0; - __global uchar* outy1; - if ((oy & 1) == 0) { - outy0 = out + out_offset; //y0 - outy1 = out + out_offset + UV_SIZE*2; //y2 - } else { - outy0 = out + out_offset + UV_SIZE; //y1 - outy1 = out + out_offset + UV_SIZE*3; //y3 - } - - vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); - vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); -} - -__kernel void loaduv(__global uchar8 const * const in, - __global uchar8 * out, - int out_offset) -{ - const int gid = get_global_id(0); - const uchar8 inv = in[gid]; - out[gid + out_offset / 8] = inv; -} - -__kernel void copy(__global uchar8 * in, - __global uchar8 * out, - int in_offset, - int out_offset) -{ - const int gid = get_global_id(0); - out[gid + out_offset / 8] = in[gid + in_offset / 8]; -} diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h deleted file mode 100644 index 659059cd25..0000000000 --- a/selfdrive/modeld/transforms/loadyuv.h +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once - -#include "common/clutil.h" - -typedef struct { - int width, height; - cl_kernel loadys_krnl, loaduv_krnl, copy_krnl; -} LoadYUVState; - -void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height); - -void loadyuv_destroy(LoadYUVState* s); - -void loadyuv_queue(LoadYUVState* s, cl_command_queue q, - cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl); - - -void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, - size_t src_offset, size_t dst_offset, size_t size); \ No newline at end of file diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc deleted file mode 100644 index 305643cf42..0000000000 --- a/selfdrive/modeld/transforms/transform.cc +++ /dev/null @@ -1,97 +0,0 @@ -#include "selfdrive/modeld/transforms/transform.h" - -#include -#include - -#include "common/clutil.h" - -void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) { - memset(s, 0, sizeof(*s)); - - cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, ""); - 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)); -} - -void transform_destroy(Transform* s) { - CL_CHECK(clReleaseMemObject(s->m_y_cl)); - CL_CHECK(clReleaseMemObject(s->m_uv_cl)); - CL_CHECK(clReleaseKernel(s->krnl)); -} - -void transform_queue(Transform* s, - cl_command_queue q, - cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset, - cl_mem out_y, cl_mem out_u, cl_mem out_v, - int out_width, int out_height, - const mat3& projection) { - const int zero = 0; - - // sampled using pixel center origin - // (because that's how fastcv and opencv does it) - - mat3 projection_y = projection; - - // in and out uv is half the size of y. - mat3 projection_uv = transform_scale_buffer(projection, 0.5); - - CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL)); - CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL)); - - const int in_y_width = in_width; - const int in_y_height = in_height; - const int in_y_px_stride = 1; - const int in_uv_width = in_width/2; - const int in_uv_height = in_height/2; - const int in_uv_px_stride = 2; - const int in_u_offset = in_uv_offset; - const int in_v_offset = in_uv_offset + 1; - - const int out_y_width = out_width; - const int out_y_height = out_height; - const int out_uv_width = out_width/2; - const int out_uv_height = out_height/2; - - CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src - CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset - CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows - CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst - CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset - CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows - CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols - CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M - - const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height}; - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_y, NULL, 0, 0, NULL)); - - const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height}; - - CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset - CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows - CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst - CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset - CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows - CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols - CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); -} diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl deleted file mode 100644 index 2ca25920cd..0000000000 --- a/selfdrive/modeld/transforms/transform.cl +++ /dev/null @@ -1,54 +0,0 @@ -#define INTER_BITS 5 -#define INTER_TAB_SIZE (1 << INTER_BITS) -#define INTER_SCALE 1.f / INTER_TAB_SIZE - -#define INTER_REMAP_COEF_BITS 15 -#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS) - -__kernel void warpPerspective(__global const uchar * src, - int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols, - __global uchar * dst, - int dst_row_stride, int dst_offset, int dst_rows, int dst_cols, - __constant float * M) -{ - int dx = get_global_id(0); - int dy = get_global_id(1); - - if (dx < dst_cols && dy < dst_rows) - { - float X0 = M[0] * dx + M[1] * dy + M[2]; - float Y0 = M[3] * dx + M[4] * dy + M[5]; - float W = M[6] * dx + M[7] * dy + M[8]; - W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f; - int X = rint(X0 * W), Y = rint(Y0 * W); - - int sx = convert_short_sat(X >> INTER_BITS); - int sy = convert_short_sat(Y >> INTER_BITS); - - short sx_clamp = clamp(sx, 0, src_cols - 1); - short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1); - short sy_clamp = clamp(sy, 0, src_rows - 1); - short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1); - int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); - int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); - int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); - int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); - - short ay = (short)(Y & (INTER_TAB_SIZE - 1)); - short ax = (short)(X & (INTER_TAB_SIZE - 1)); - float taby = 1.f/INTER_TAB_SIZE*ay; - float tabx = 1.f/INTER_TAB_SIZE*ax; - - int dst_index = mad24(dy, dst_row_stride, dst_offset + dx); - - int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); - int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE ); - int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); - int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE ); - - int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3; - - uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS); - dst[dst_index] = pix; - } -} diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h deleted file mode 100644 index 771a7054b3..0000000000 --- a/selfdrive/modeld/transforms/transform.h +++ /dev/null @@ -1,25 +0,0 @@ -#pragma once - -#define CL_USE_DEPRECATED_OPENCL_1_2_APIS -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include "common/mat.h" - -typedef struct { - cl_kernel krnl; - cl_mem m_y_cl, m_uv_cl; -} Transform; - -void transform_init(Transform* s, cl_context ctx, cl_device_id device_id); - -void transform_destroy(Transform* transform); - -void transform_queue(Transform* s, cl_command_queue q, - cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset, - cl_mem out_y, cl_mem out_u, cl_mem out_v, - int out_width, int out_height, - const mat3& projection); diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 9ba599bac9..c242328400 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -34,7 +34,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN) EXEC_TIMINGS = [ # model, instant max, average max - ("modelV2", 0.035, 0.025), + ("modelV2", 0.035, 0.028), ("driverStateV2", 0.02, 0.015), ] diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 8af72e5f4e..5143334bc6 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -4,6 +4,7 @@ import time import copy import heapq import signal +import numpy as np from collections import Counter from dataclasses import dataclass, field from itertools import islice @@ -23,6 +24,7 @@ from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all @@ -203,7 +205,8 @@ class ProcessContainer: if meta.camera_state in self.cfg.vision_pubs: assert frs[meta.camera_state].pix_fmt == 'nv12' frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h) - vipc_server.create_buffers(meta.stream, 2, *frame_size) + stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1]) + vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height) vipc_server.start_listener() self.vipc_server = vipc_server @@ -300,7 +303,15 @@ class ProcessContainer: camera_meta = meta_from_camera_state(m.which()) assert frs is not None img = frs[m.which()].get(camera_state.frameId) - self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(), + + h, w = frs[m.which()].h, frs[m.which()].w + stride, y_height, _, yuv_size = get_nv12_info(w, h) + uv_offset = stride * y_height + padded_img = np.zeros((yuv_size), dtype=np.uint8).reshape((-1, stride)) + padded_img[:h, :w] = img[:h * w].reshape((-1, w)) + padded_img[uv_offset // stride:uv_offset // stride + h // 2, :w] = img[h * w:].reshape((-1, w)) + + self.vipc_server.send(camera_meta.stream, padded_img.flatten().tobytes(), camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof) self.msg_queue = [] From 12597856dae9442357c45dd9857542ca6b4b8ada Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Fri, 6 Feb 2026 14:26:20 -0800 Subject: [PATCH 22/65] long mpc: state name before subscript (#37101) --- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index e75705cb68..efdef9dd71 100755 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -108,10 +108,10 @@ def gen_long_model(): a_min = SX.sym('a_min') a_max = SX.sym('a_max') x_obstacle = SX.sym('x_obstacle') - prev_a = SX.sym('prev_a') + a_prev = SX.sym('a_prev') lead_t_follow = SX.sym('lead_t_follow') lead_danger_factor = SX.sym('lead_danger_factor') - model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor) + model.p = vertcat(a_min, a_max, x_obstacle, a_prev, lead_t_follow, lead_danger_factor) # dynamics model f_expl = vertcat(v_ego, a_ego, j_ego) @@ -143,7 +143,7 @@ def gen_long_ocp(): a_min, a_max = ocp.model.p[0], ocp.model.p[1] x_obstacle = ocp.model.p[2] - prev_a = ocp.model.p[3] + a_prev = ocp.model.p[3] lead_t_follow = ocp.model.p[4] lead_danger_factor = ocp.model.p[5] @@ -160,7 +160,7 @@ def gen_long_ocp(): x_ego, v_ego, a_ego, - a_ego - prev_a, + a_ego - a_prev, j_ego] ocp.model.cost_y_expr = vertcat(*costs) ocp.model.cost_y_expr_e = vertcat(*costs[:-1]) @@ -228,7 +228,7 @@ class LongitudinalMpc: self.v_solution = np.zeros(N+1) self.a_solution = np.zeros(N+1) self.j_solution = np.zeros(N) - self.prev_a = np.array(self.a_solution) + self.a_prev = np.array(self.a_solution) self.yref = np.zeros((N+1, COST_DIM)) for i in range(N): @@ -346,7 +346,7 @@ class LongitudinalMpc: self.params[:,0] = ACCEL_MIN self.params[:,1] = ACCEL_MAX self.params[:,2] = np.min(x_obstacles, axis=1) - self.params[:,3] = np.copy(self.prev_a) + self.params[:,3] = np.copy(self.a_prev) self.params[:,4] = t_follow self.params[:,5] = LEAD_DANGER_FACTOR @@ -378,7 +378,7 @@ class LongitudinalMpc: self.a_solution = self.x_sol[:,2] self.j_solution = self.u_sol[:,0] - self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution) + self.a_prev = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution) t = time.monotonic() if self.solution_status != 0: From 96fded03992bd418099e0c19bb404d371b14966c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 6 Feb 2026 15:13:08 -0800 Subject: [PATCH 23/65] clip: clean up imports (#37104) * wtf is this * don't break import timing * they are the same * clean up * good catch --- tools/clip/run.py | 32 +++++++++++++++++--------------- 1 file changed, 17 insertions(+), 15 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 679bb241c1..13f591eb41 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -226,11 +226,11 @@ def load_route_metadata(route): } -def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, center=False): +def draw_text_box(text, x, y, size, gui_app, font, color=None, center=False): + import pyray as rl + from openpilot.system.ui.lib.text_measure import measure_text_cached box_color, text_color = rl.Color(0, 0, 0, 85), color or rl.WHITE - # measure_text_ex is NOT auto-scaled, so multiply by font_scale - # draw_text_ex IS auto-scaled, so pass size directly - text_size = rl.measure_text_ex(font, text, size * font_scale, 0) + text_size = measure_text_cached(font, text, size) text_width, text_height = int(text_size.x), int(text_size.y) if center: x = (gui_app.width - text_width) // 2 @@ -238,7 +238,8 @@ def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, c rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color) -def _wrap_text_by_delimiter(text: str, rl, font, font_size: int, font_scale: float, max_width: int, delimiter: str = ", ") -> list[str]: +def _wrap_text_by_delimiter(text: str, font, font_size: int, max_width: int, delimiter: str = ", ") -> list[str]: + from openpilot.system.ui.lib.text_measure import measure_text_cached """Wrap text by splitting on delimiter when it exceeds max_width.""" words = text.split(delimiter) lines: list[str] = [] @@ -248,7 +249,7 @@ def _wrap_text_by_delimiter(text: str, rl, font, font_size: int, font_scale: flo current_line.append(word) check_line = delimiter.join(current_line) # Check if line exceeds max width - if rl.measure_text_ex(font, check_line, font_size * font_scale, 0).x > max_width: + if measure_text_cached(font, check_line, font_size).x > max_width: current_line.pop() # Line is too long, move word to next line if current_line: lines.append(delimiter.join(current_line)) @@ -259,7 +260,8 @@ def _wrap_text_by_delimiter(text: str, rl, font, font_size: int, font_scale: flo return lines -def render_overlays(rl, gui_app, font, font_scale, big, metadata, title, start_time, frame_idx, show_metadata, show_time): +def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx, show_metadata, show_time): + from openpilot.system.ui.lib.text_measure import measure_text_cached metadata_size = 16 if big else 12 title_size = 32 if big else 24 time_size = 24 if big else 16 @@ -269,8 +271,8 @@ def render_overlays(rl, gui_app, font, font_scale, big, metadata, title, start_t if show_time: t = start_time + frame_idx / FRAMERATE time_text = f"{int(t) // 60:02d}:{int(t) % 60:02d}" - time_width = int(rl.measure_text_ex(font, time_text, time_size * font_scale, 0).x) - draw_text_box(rl, time_text, gui_app.width - time_width - 5, 0, time_size, gui_app, font, font_scale) + time_width = int(measure_text_cached(font, time_text, time_size).x) + draw_text_box(time_text, gui_app.width - time_width - 5, 0, time_size, gui_app, font) # Metadata overlay (first 5 seconds) if show_metadata and metadata and frame_idx < FRAMERATE * 5: @@ -280,18 +282,18 @@ def render_overlays(rl, gui_app, font, font_scale, big, metadata, title, start_t # Wrap text if too wide (leave margin on each side) margin = 2 * (time_width + 10 if show_time else 20) # leave enough margin for time overlay max_width = gui_app.width - margin - lines = _wrap_text_by_delimiter(text, rl, font, metadata_size, font_scale, max_width) + lines = _wrap_text_by_delimiter(text, font, metadata_size, max_width) # Draw wrapped metadata text y_offset = 6 for line in lines: - draw_text_box(rl, line, 0, y_offset, metadata_size, gui_app, font, font_scale, center=True) - line_height = int(rl.measure_text_ex(font, line, metadata_size * font_scale, 0).y) + 4 + draw_text_box(line, 0, y_offset, metadata_size, gui_app, font, center=True) + line_height = int(measure_text_cached(font, line, metadata_size).y) + 4 y_offset += line_height # Title overlay if title: - draw_text_box(rl, title, 0, 60, title_size, gui_app, font, font_scale, center=True) + draw_text_box(title, 0, 60, title_size, gui_app, font, center=True) def clip(route: Route, output: str, start: int, end: int, headless: bool = True, big: bool = False, @@ -304,7 +306,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, else: from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView # type: ignore[assignment] from openpilot.selfdrive.ui.ui_state import ui_state - from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE + from openpilot.system.ui.lib.application import gui_app, FontWeight timer.lap("import") logger.info(f"Clipping {route.name.canonical_name}, {start}s-{end}s ({duration}s)") @@ -348,7 +350,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True, ui_state.update() if should_render: road_view.render() - render_overlays(rl, gui_app, font, FONT_SCALE, big, metadata, title, start, frame_idx, show_metadata, show_time) + render_overlays(gui_app, font, big, metadata, title, start, frame_idx, show_metadata, show_time) frame_idx += 1 pbar.update(1) timer.lap("render") From 4ce701150a3f932aca210e3ff372ffcdb2a23e83 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 6 Feb 2026 16:06:16 -0800 Subject: [PATCH 24/65] rm common/mat.h --- common/mat.h | 85 ---------------------------------------------------- 1 file changed, 85 deletions(-) delete mode 100644 common/mat.h diff --git a/common/mat.h b/common/mat.h deleted file mode 100644 index 8e10d61971..0000000000 --- a/common/mat.h +++ /dev/null @@ -1,85 +0,0 @@ -#pragma once - -typedef struct vec3 { - float v[3]; -} vec3; - -typedef struct vec4 { - float v[4]; -} vec4; - -typedef struct mat3 { - float v[3*3]; -} mat3; - -typedef struct mat4 { - float v[4*4]; -} mat4; - -static inline mat3 matmul3(const mat3 &a, const mat3 &b) { - mat3 ret = {{0.0}}; - for (int r=0; r<3; r++) { - for (int c=0; c<3; c++) { - float v = 0.0; - for (int k=0; k<3; k++) { - v += a.v[r*3+k] * b.v[k*3+c]; - } - ret.v[r*3+c] = v; - } - } - return ret; -} - -static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) { - vec3 ret = {{0.0}}; - for (int r=0; r<3; r++) { - for (int c=0; c<3; c++) { - ret.v[r] += a.v[r*3+c] * b.v[c]; - } - } - return ret; -} - -static inline mat4 matmul(const mat4 &a, const mat4 &b) { - mat4 ret = {{0.0}}; - for (int r=0; r<4; r++) { - for (int c=0; c<4; c++) { - float v = 0.0; - for (int k=0; k<4; k++) { - v += a.v[r*4+k] * b.v[k*4+c]; - } - ret.v[r*4+c] = v; - } - } - return ret; -} - -static inline vec4 matvecmul(const mat4 &a, const vec4 &b) { - vec4 ret = {{0.0}}; - for (int r=0; r<4; r++) { - for (int c=0; c<4; c++) { - ret.v[r] += a.v[r*4+c] * b.v[c]; - } - } - return ret; -} - -// scales the input and output space of a transformation matrix -// that assumes pixel-center origin. -static inline mat3 transform_scale_buffer(const mat3 &in, float s) { - // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s - - mat3 transform_out = {{ - 1.0f/s, 0.0f, 0.5f, - 0.0f, 1.0f/s, 0.5f, - 0.0f, 0.0f, 1.0f, - }}; - - mat3 transform_in = {{ - s, 0.0f, -0.5f*s, - 0.0f, s, -0.5f*s, - 0.0f, 0.0f, 1.0f, - }}; - - return matmul3(transform_in, matmul3(in, transform_out)); -} From d5cbb89d84212bfd99d5fdd8b19f76d90b4f40e0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 6 Feb 2026 16:36:47 -0800 Subject: [PATCH 25/65] Remove all the OpenCL (#37105) * Remove all the OpenCL * lil more * bump msgq --- Dockerfile.openpilot_base | 37 - SConstruct | 1 - common/SConscript | 1 - common/clutil.cc | 98 -- common/clutil.h | 28 - msgq_repo | 2 +- selfdrive/modeld/dmonitoringmodeld.py | 8 +- selfdrive/modeld/modeld.py | 14 +- selfdrive/modeld/runners/tinygrad_helpers.py | 8 - system/camerad/SConscript | 2 +- system/camerad/cameras/camera_common.cc | 5 +- system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 22 +- system/camerad/cameras/spectra.cc | 4 +- system/camerad/cameras/spectra.h | 2 +- system/loggerd/SConscript | 5 +- third_party/opencl/include/CL/cl.h | 1452 ----------------- third_party/opencl/include/CL/cl_d3d10.h | 131 -- third_party/opencl/include/CL/cl_d3d11.h | 131 -- .../opencl/include/CL/cl_dx9_media_sharing.h | 132 -- third_party/opencl/include/CL/cl_egl.h | 136 -- third_party/opencl/include/CL/cl_ext.h | 391 ----- third_party/opencl/include/CL/cl_ext_qcom.h | 255 --- third_party/opencl/include/CL/cl_gl.h | 167 -- third_party/opencl/include/CL/cl_gl_ext.h | 74 - third_party/opencl/include/CL/cl_platform.h | 1333 --------------- third_party/opencl/include/CL/opencl.h | 59 - tools/cabana/SConscript | 2 - tools/install_ubuntu_dependencies.sh | 3 - tools/replay/SConscript | 5 - tools/webcam/README.md | 4 - 31 files changed, 22 insertions(+), 4492 deletions(-) delete mode 100644 common/clutil.cc delete mode 100644 common/clutil.h delete mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py delete mode 100644 third_party/opencl/include/CL/cl.h delete mode 100644 third_party/opencl/include/CL/cl_d3d10.h delete mode 100644 third_party/opencl/include/CL/cl_d3d11.h delete mode 100644 third_party/opencl/include/CL/cl_dx9_media_sharing.h delete mode 100644 third_party/opencl/include/CL/cl_egl.h delete mode 100644 third_party/opencl/include/CL/cl_ext.h delete mode 100644 third_party/opencl/include/CL/cl_ext_qcom.h delete mode 100644 third_party/opencl/include/CL/cl_gl.h delete mode 100644 third_party/opencl/include/CL/cl_gl_ext.h delete mode 100644 third_party/opencl/include/CL/cl_platform.h delete mode 100644 third_party/opencl/include/CL/opencl.h diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 44d8d95e95..8a60412993 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -18,43 +18,6 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \ cd /usr/lib/gcc/arm-none-eabi/* && \ rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp -# Add OpenCL -RUN apt-get update && apt-get install -y --no-install-recommends \ - apt-utils \ - alien \ - unzip \ - tar \ - curl \ - xz-utils \ - dbus \ - gcc-arm-none-eabi \ - tmux \ - vim \ - libx11-6 \ - wget \ - && rm -rf /var/lib/apt/lists/* - -RUN mkdir -p /tmp/opencl-driver-intel && \ - cd /tmp/opencl-driver-intel && \ - wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ - wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \ - mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ - cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ - tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ - mkdir -p /etc/OpenCL/vendors && \ - echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \ - cd /opt/intel && \ - tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - mkdir -p /etc/ld.so.conf.d && \ - echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \ - ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \ - cd / && \ - rm -rf /tmp/opencl-driver-intel - ENV NVIDIA_VISIBLE_DEVICES=all ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute ENV QTWEBENGINE_DISABLE_SANDBOX=1 diff --git a/SConstruct b/SConstruct index ca5b7b6cb7..4f04be624c 100644 --- a/SConstruct +++ b/SConstruct @@ -94,7 +94,6 @@ env = Environment( # Arch-specific flags and paths if arch == "larch64": - env.Append(CPPPATH=["#third_party/opencl/include"]) env.Append(LIBPATH=[ "/usr/local/lib", "/system/vendor/lib64", diff --git a/common/SConscript b/common/SConscript index 1c68cf05c7..15a0e5eff1 100644 --- a/common/SConscript +++ b/common/SConscript @@ -5,7 +5,6 @@ common_libs = [ 'swaglog.cc', 'util.cc', 'ratekeeper.cc', - 'clutil.cc', ] _common = env.Library('common', common_libs, LIBS="json11") diff --git a/common/clutil.cc b/common/clutil.cc deleted file mode 100644 index f8381a7e09..0000000000 --- a/common/clutil.cc +++ /dev/null @@ -1,98 +0,0 @@ -#include "common/clutil.h" - -#include -#include -#include - -#include "common/util.h" -#include "common/swaglog.h" - -namespace { // helper functions - -template -std::string get_info(Func get_info_func, Id id, Name param_name) { - size_t size = 0; - CL_CHECK(get_info_func(id, param_name, 0, NULL, &size)); - std::string info(size, '\0'); - CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL)); - return info; -} -inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); } -inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); } - -void cl_print_info(cl_platform_id platform, cl_device_id device) { - size_t work_group_size = 0; - cl_device_type device_type = 0; - clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL); - clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL); - const char *type_str = "Other..."; - switch (device_type) { - case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break; - case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break; - case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break; - } - - LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str()); - LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str()); - LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str()); - LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str()); - LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str()); - LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str()); - LOGD("max work group size: %zu", work_group_size); - LOGD("type = %d, %s", (int)device_type, type_str); -} - -void cl_print_build_errors(cl_program program, cl_device_id device) { - cl_build_status status; - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL); - size_t log_size; - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size); - std::string log(log_size, '\0'); - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL); - - LOGE("build failed; status=%d, log: %s", status, log.c_str()); -} - -} // namespace - -cl_device_id cl_get_device_id(cl_device_type device_type) { - cl_uint num_platforms = 0; - CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms)); - std::unique_ptr platform_ids = std::make_unique(num_platforms); - CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL)); - - for (size_t i = 0; i < num_platforms; ++i) { - LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str()); - - // Get first device - if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) { - cl_print_info(platform_ids[i], device_id); - return device_id; - } - } - LOGE("No valid openCL platform found"); - assert(0); - return nullptr; -} - -cl_context cl_create_context(cl_device_id device_id) { - return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); -} - -void cl_release_context(cl_context context) { - clReleaseContext(context); -} - -cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) { - return cl_program_from_source(ctx, device_id, util::read_file(path), args); -} - -cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) { - const char *csrc = src.c_str(); - cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err)); - if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) { - cl_print_build_errors(prg, device_id); - assert(0); - } - return prg; -} diff --git a/common/clutil.h b/common/clutil.h deleted file mode 100644 index b364e79d45..0000000000 --- a/common/clutil.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include - -#define CL_CHECK(_expr) \ - do { \ - assert(CL_SUCCESS == (_expr)); \ - } while (0) - -#define CL_CHECK_ERR(_expr) \ - ({ \ - cl_int err = CL_INVALID_VALUE; \ - __typeof__(_expr) _ret = _expr; \ - assert(_ret&& err == CL_SUCCESS); \ - _ret; \ - }) - -cl_device_id cl_get_device_id(cl_device_type device_type); -cl_context cl_create_context(cl_device_id device_id); -void cl_release_context(cl_context context); -cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr); -cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args); diff --git a/msgq_repo b/msgq_repo index 20f2493855..f9ebdca885 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 20f2493855ef32339b80f0ad76b3cb82210dc474 +Subproject commit f9ebdca885cfe25295d09de9fd57023a10758de5 diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index f12c13081b..7d4df713c7 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -11,7 +11,6 @@ from pathlib import Path from cereal import messaging from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from msgq.visionipc.visionipc_pyx import CLContext from openpilot.common.swaglog import cloudlog from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import dmonitoringmodel_intrinsics @@ -29,7 +28,7 @@ class ModelState: inputs: dict[str, np.ndarray] output: np.ndarray - def __init__(self, cl_ctx): + def __init__(self): with open(METADATA_PATH, 'rb') as f: model_metadata = pickle.load(f) self.input_shapes = model_metadata['input_shapes'] @@ -110,12 +109,11 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t def main(): config_realtime_process(7, 5) - cl_context = CLContext() - model = ModelState(cl_context) + model = ModelState() cloudlog.warning("models loaded, dmonitoringmodeld starting") cloudlog.warning("connecting to driver stream") - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context) + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True) while not vipc_client.connect(False): time.sleep(0.1) assert vipc_client.is_connected() diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index d9445c8d33..7fae365109 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -15,7 +15,6 @@ from cereal import car, log from pathlib import Path from cereal.messaging import PubMaster, SubMaster from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from msgq.visionipc.visionipc_pyx import CLContext from opendbc.car.car_helpers import get_demo_car_params from openpilot.common.swaglog import cloudlog from openpilot.common.params import Params @@ -143,7 +142,7 @@ class ModelState: output: np.ndarray prev_desire: np.ndarray # for tracking the rising edge of the pulse - def __init__(self, context: CLContext): + def __init__(self): with open(VISION_METADATA_PATH, 'rb') as f: vision_metadata = pickle.load(f) self.vision_input_shapes = vision_metadata['input_shapes'] @@ -166,7 +165,6 @@ class ModelState: self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape}) self.full_input_queues.reset() - # img buffers are managed in openCL transform code self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(), 'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),} self.full_frames : dict[str, Tensor] = {} @@ -242,10 +240,8 @@ def main(demo=False): config_realtime_process(7, 54) st = time.monotonic() - cloudlog.warning("setting up CL context") - cl_context = CLContext() - cloudlog.warning("CL context ready; loading model") - model = ModelState(cl_context) + cloudlog.warning("loading model") + model = ModelState() cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting") # visionipc clients @@ -258,8 +254,8 @@ def main(demo=False): time.sleep(.1) vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD - vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) - vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False) cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") while not vipc_client_main.connect(False): diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py deleted file mode 100644 index 776381341c..0000000000 --- a/selfdrive/modeld/runners/tinygrad_helpers.py +++ /dev/null @@ -1,8 +0,0 @@ - -from tinygrad.tensor import Tensor -from tinygrad.helpers import to_mv - -def qcom_tensor_from_opencl_address(opencl_address, shape, dtype): - cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0] - rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer. - return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM') diff --git a/system/camerad/SConscript b/system/camerad/SConscript index e288c6d8b0..c28330b32c 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') -libs = [common, 'OpenCL', messaging, visionipc] +libs = [common, messaging, visionipc] if arch != "Darwin": camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 88bca7f775..329192b63a 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -7,7 +7,7 @@ #include "system/camerad/cameras/spectra.h" -void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { +void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { vipc_server = v; stream_type = type; frame_buf_count = frame_cnt; @@ -21,9 +21,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; for (int i = 0; i < frame_buf_count; i++) { camera_bufs_raw[i].allocate(raw_frame_size); - camera_bufs_raw[i].init_cl(device_id, context); } - LOGD("allocated %d CL buffers", frame_buf_count); + LOGD("allocated %d buffers", frame_buf_count); } vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index c26859cbc4..7f35e06a83 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -36,7 +36,7 @@ public: CameraBuf() = default; ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); + void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); void sendFrameToVipc(); }; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index d741e13cf3..6a7f599ab6 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -12,16 +12,8 @@ #include #include -#ifdef __TICI__ -#include "CL/cl_ext_qcom.h" -#else -#define CL_PRIORITY_HINT_HIGH_QCOM NULL -#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL -#endif - #include "media/cam_sensor_cmn_header.h" -#include "common/clutil.h" #include "common/params.h" #include "common/swaglog.h" @@ -57,7 +49,7 @@ public: CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {}; ~CameraState(); - void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); + void init(VisionIpcServer *v); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); void set_camera_exposure(float grey_frac); void set_exposure_rect(); @@ -68,8 +60,8 @@ public: } }; -void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { - camera.camera_open(v, device_id, ctx); +void CameraState::init(VisionIpcServer *v) { + camera.camera_open(v); if (!camera.enabled) return; @@ -257,11 +249,7 @@ void CameraState::sendState() { void camerad_thread() { // TODO: centralize enabled handling - cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); - const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0}; - cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err)); - - VisionIpcServer v("camerad", device_id, ctx); + VisionIpcServer v("camerad"); // *** initial ISP init *** SpectraMaster m; @@ -271,7 +259,7 @@ void camerad_thread() { std::vector> cams; for (const auto &config : ALL_CAMERA_CONFIGS) { auto cam = std::make_unique(&m, config); - cam->init(&v, device_id, ctx); + cam->init(&v); cams.emplace_back(std::move(cam)); } diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 5c3e7a9d23..73e0a78da3 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -274,7 +274,7 @@ int SpectraCamera::clear_req_queue() { return ret; } -void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { +void SpectraCamera::camera_open(VisionIpcServer *v) { if (!openSensor()) { return; } @@ -296,7 +296,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c linkDevices(); LOGD("camera init %d", cc.camera_num); - buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type); + buf.init(this, v, ife_buf_depth, cc.stream_type); camera_map_bufs(); clearAndRequeue(1); } diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 13cb13f98f..a02b8a6cac 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -113,7 +113,7 @@ public: SpectraCamera(SpectraMaster *master, const CameraConfig &config); ~SpectraCamera(); - void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); + void camera_open(VisionIpcServer *v); bool handle_camera_event(const cam_req_mgr_message *event_data); void camera_close(); void camera_map_bufs(); diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index cf169f4dc6..cc8ef7c88f 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -2,16 +2,13 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') libs = [common, messaging, visionipc, 'avformat', 'avcodec', 'avutil', - 'yuv', 'OpenCL', 'pthread', 'zstd'] + 'yuv', 'pthread', 'zstd'] src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc'] if arch != "larch64": src += ['encoder/ffmpeg_encoder.cc'] if arch == "Darwin": - # fix OpenCL - del libs[libs.index('OpenCL')] - env['FRAMEWORKS'] = ['OpenCL'] # exclude v4l del src[src.index('encoder/v4l_encoder.cc')] diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h deleted file mode 100644 index 0086319f5f..0000000000 --- a/third_party/opencl/include/CL/cl.h +++ /dev/null @@ -1,1452 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -#ifndef __OPENCL_CL_H -#define __OPENCL_CL_H - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -/******************************************************************************/ - -typedef struct _cl_platform_id * cl_platform_id; -typedef struct _cl_device_id * cl_device_id; -typedef struct _cl_context * cl_context; -typedef struct _cl_command_queue * cl_command_queue; -typedef struct _cl_mem * cl_mem; -typedef struct _cl_program * cl_program; -typedef struct _cl_kernel * cl_kernel; -typedef struct _cl_event * cl_event; -typedef struct _cl_sampler * cl_sampler; - -typedef cl_uint cl_bool; /* WARNING! Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ -typedef cl_ulong cl_bitfield; -typedef cl_bitfield cl_device_type; -typedef cl_uint cl_platform_info; -typedef cl_uint cl_device_info; -typedef cl_bitfield cl_device_fp_config; -typedef cl_uint cl_device_mem_cache_type; -typedef cl_uint cl_device_local_mem_type; -typedef cl_bitfield cl_device_exec_capabilities; -typedef cl_bitfield cl_device_svm_capabilities; -typedef cl_bitfield cl_command_queue_properties; -typedef intptr_t cl_device_partition_property; -typedef cl_bitfield cl_device_affinity_domain; - -typedef intptr_t cl_context_properties; -typedef cl_uint cl_context_info; -typedef cl_bitfield cl_queue_properties; -typedef cl_uint cl_command_queue_info; -typedef cl_uint cl_channel_order; -typedef cl_uint cl_channel_type; -typedef cl_bitfield cl_mem_flags; -typedef cl_bitfield cl_svm_mem_flags; -typedef cl_uint cl_mem_object_type; -typedef cl_uint cl_mem_info; -typedef cl_bitfield cl_mem_migration_flags; -typedef cl_uint cl_image_info; -typedef cl_uint cl_buffer_create_type; -typedef cl_uint cl_addressing_mode; -typedef cl_uint cl_filter_mode; -typedef cl_uint cl_sampler_info; -typedef cl_bitfield cl_map_flags; -typedef intptr_t cl_pipe_properties; -typedef cl_uint cl_pipe_info; -typedef cl_uint cl_program_info; -typedef cl_uint cl_program_build_info; -typedef cl_uint cl_program_binary_type; -typedef cl_int cl_build_status; -typedef cl_uint cl_kernel_info; -typedef cl_uint cl_kernel_arg_info; -typedef cl_uint cl_kernel_arg_address_qualifier; -typedef cl_uint cl_kernel_arg_access_qualifier; -typedef cl_bitfield cl_kernel_arg_type_qualifier; -typedef cl_uint cl_kernel_work_group_info; -typedef cl_uint cl_kernel_sub_group_info; -typedef cl_uint cl_event_info; -typedef cl_uint cl_command_type; -typedef cl_uint cl_profiling_info; -typedef cl_bitfield cl_sampler_properties; -typedef cl_uint cl_kernel_exec_info; - -typedef struct _cl_image_format { - cl_channel_order image_channel_order; - cl_channel_type image_channel_data_type; -} cl_image_format; - -typedef struct _cl_image_desc { - cl_mem_object_type image_type; - size_t image_width; - size_t image_height; - size_t image_depth; - size_t image_array_size; - size_t image_row_pitch; - size_t image_slice_pitch; - cl_uint num_mip_levels; - cl_uint num_samples; -#ifdef __GNUC__ - __extension__ /* Prevents warnings about anonymous union in -pedantic builds */ -#endif - union { - cl_mem buffer; - cl_mem mem_object; - }; -} cl_image_desc; - -typedef struct _cl_buffer_region { - size_t origin; - size_t size; -} cl_buffer_region; - - -/******************************************************************************/ - -/* Error Codes */ -#define CL_SUCCESS 0 -#define CL_DEVICE_NOT_FOUND -1 -#define CL_DEVICE_NOT_AVAILABLE -2 -#define CL_COMPILER_NOT_AVAILABLE -3 -#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4 -#define CL_OUT_OF_RESOURCES -5 -#define CL_OUT_OF_HOST_MEMORY -6 -#define CL_PROFILING_INFO_NOT_AVAILABLE -7 -#define CL_MEM_COPY_OVERLAP -8 -#define CL_IMAGE_FORMAT_MISMATCH -9 -#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10 -#define CL_BUILD_PROGRAM_FAILURE -11 -#define CL_MAP_FAILURE -12 -#define CL_MISALIGNED_SUB_BUFFER_OFFSET -13 -#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14 -#define CL_COMPILE_PROGRAM_FAILURE -15 -#define CL_LINKER_NOT_AVAILABLE -16 -#define CL_LINK_PROGRAM_FAILURE -17 -#define CL_DEVICE_PARTITION_FAILED -18 -#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE -19 - -#define CL_INVALID_VALUE -30 -#define CL_INVALID_DEVICE_TYPE -31 -#define CL_INVALID_PLATFORM -32 -#define CL_INVALID_DEVICE -33 -#define CL_INVALID_CONTEXT -34 -#define CL_INVALID_QUEUE_PROPERTIES -35 -#define CL_INVALID_COMMAND_QUEUE -36 -#define CL_INVALID_HOST_PTR -37 -#define CL_INVALID_MEM_OBJECT -38 -#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39 -#define CL_INVALID_IMAGE_SIZE -40 -#define CL_INVALID_SAMPLER -41 -#define CL_INVALID_BINARY -42 -#define CL_INVALID_BUILD_OPTIONS -43 -#define CL_INVALID_PROGRAM -44 -#define CL_INVALID_PROGRAM_EXECUTABLE -45 -#define CL_INVALID_KERNEL_NAME -46 -#define CL_INVALID_KERNEL_DEFINITION -47 -#define CL_INVALID_KERNEL -48 -#define CL_INVALID_ARG_INDEX -49 -#define CL_INVALID_ARG_VALUE -50 -#define CL_INVALID_ARG_SIZE -51 -#define CL_INVALID_KERNEL_ARGS -52 -#define CL_INVALID_WORK_DIMENSION -53 -#define CL_INVALID_WORK_GROUP_SIZE -54 -#define CL_INVALID_WORK_ITEM_SIZE -55 -#define CL_INVALID_GLOBAL_OFFSET -56 -#define CL_INVALID_EVENT_WAIT_LIST -57 -#define CL_INVALID_EVENT -58 -#define CL_INVALID_OPERATION -59 -#define CL_INVALID_GL_OBJECT -60 -#define CL_INVALID_BUFFER_SIZE -61 -#define CL_INVALID_MIP_LEVEL -62 -#define CL_INVALID_GLOBAL_WORK_SIZE -63 -#define CL_INVALID_PROPERTY -64 -#define CL_INVALID_IMAGE_DESCRIPTOR -65 -#define CL_INVALID_COMPILER_OPTIONS -66 -#define CL_INVALID_LINKER_OPTIONS -67 -#define CL_INVALID_DEVICE_PARTITION_COUNT -68 -#define CL_INVALID_PIPE_SIZE -69 -#define CL_INVALID_DEVICE_QUEUE -70 - -/* OpenCL Version */ -#define CL_VERSION_1_0 1 -#define CL_VERSION_1_1 1 -#define CL_VERSION_1_2 1 -#define CL_VERSION_2_0 1 -#define CL_VERSION_2_1 1 - -/* cl_bool */ -#define CL_FALSE 0 -#define CL_TRUE 1 -#define CL_BLOCKING CL_TRUE -#define CL_NON_BLOCKING CL_FALSE - -/* cl_platform_info */ -#define CL_PLATFORM_PROFILE 0x0900 -#define CL_PLATFORM_VERSION 0x0901 -#define CL_PLATFORM_NAME 0x0902 -#define CL_PLATFORM_VENDOR 0x0903 -#define CL_PLATFORM_EXTENSIONS 0x0904 -#define CL_PLATFORM_HOST_TIMER_RESOLUTION 0x0905 - -/* cl_device_type - bitfield */ -#define CL_DEVICE_TYPE_DEFAULT (1 << 0) -#define CL_DEVICE_TYPE_CPU (1 << 1) -#define CL_DEVICE_TYPE_GPU (1 << 2) -#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3) -#define CL_DEVICE_TYPE_CUSTOM (1 << 4) -#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF - -/* cl_device_info */ -#define CL_DEVICE_TYPE 0x1000 -#define CL_DEVICE_VENDOR_ID 0x1001 -#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002 -#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003 -#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004 -#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B -#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C -#define CL_DEVICE_ADDRESS_BITS 0x100D -#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E -#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F -#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010 -#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011 -#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012 -#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013 -#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014 -#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015 -#define CL_DEVICE_IMAGE_SUPPORT 0x1016 -#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017 -#define CL_DEVICE_MAX_SAMPLERS 0x1018 -#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019 -#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A -#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B -#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C -#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D -#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E -#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F -#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020 -#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021 -#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022 -#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023 -#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024 -#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025 -#define CL_DEVICE_ENDIAN_LITTLE 0x1026 -#define CL_DEVICE_AVAILABLE 0x1027 -#define CL_DEVICE_COMPILER_AVAILABLE 0x1028 -#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029 -#define CL_DEVICE_QUEUE_PROPERTIES 0x102A /* deprecated */ -#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES 0x102A -#define CL_DEVICE_NAME 0x102B -#define CL_DEVICE_VENDOR 0x102C -#define CL_DRIVER_VERSION 0x102D -#define CL_DEVICE_PROFILE 0x102E -#define CL_DEVICE_VERSION 0x102F -#define CL_DEVICE_EXTENSIONS 0x1030 -#define CL_DEVICE_PLATFORM 0x1031 -#define CL_DEVICE_DOUBLE_FP_CONFIG 0x1032 -/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */ -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF 0x1034 -#define CL_DEVICE_HOST_UNIFIED_MEMORY 0x1035 /* deprecated */ -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR 0x1036 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT 0x1037 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT 0x1038 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG 0x1039 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT 0x103A -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE 0x103B -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF 0x103C -#define CL_DEVICE_OPENCL_C_VERSION 0x103D -#define CL_DEVICE_LINKER_AVAILABLE 0x103E -#define CL_DEVICE_BUILT_IN_KERNELS 0x103F -#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE 0x1040 -#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE 0x1041 -#define CL_DEVICE_PARENT_DEVICE 0x1042 -#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES 0x1043 -#define CL_DEVICE_PARTITION_PROPERTIES 0x1044 -#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN 0x1045 -#define CL_DEVICE_PARTITION_TYPE 0x1046 -#define CL_DEVICE_REFERENCE_COUNT 0x1047 -#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC 0x1048 -#define CL_DEVICE_PRINTF_BUFFER_SIZE 0x1049 -#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT 0x104A -#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT 0x104B -#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS 0x104C -#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE 0x104D -#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES 0x104E -#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE 0x104F -#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE 0x1050 -#define CL_DEVICE_MAX_ON_DEVICE_QUEUES 0x1051 -#define CL_DEVICE_MAX_ON_DEVICE_EVENTS 0x1052 -#define CL_DEVICE_SVM_CAPABILITIES 0x1053 -#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE 0x1054 -#define CL_DEVICE_MAX_PIPE_ARGS 0x1055 -#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS 0x1056 -#define CL_DEVICE_PIPE_MAX_PACKET_SIZE 0x1057 -#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT 0x1058 -#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT 0x1059 -#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT 0x105A -#define CL_DEVICE_IL_VERSION 0x105B -#define CL_DEVICE_MAX_NUM_SUB_GROUPS 0x105C -#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D - -/* cl_device_fp_config - bitfield */ -#define CL_FP_DENORM (1 << 0) -#define CL_FP_INF_NAN (1 << 1) -#define CL_FP_ROUND_TO_NEAREST (1 << 2) -#define CL_FP_ROUND_TO_ZERO (1 << 3) -#define CL_FP_ROUND_TO_INF (1 << 4) -#define CL_FP_FMA (1 << 5) -#define CL_FP_SOFT_FLOAT (1 << 6) -#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT (1 << 7) - -/* cl_device_mem_cache_type */ -#define CL_NONE 0x0 -#define CL_READ_ONLY_CACHE 0x1 -#define CL_READ_WRITE_CACHE 0x2 - -/* cl_device_local_mem_type */ -#define CL_LOCAL 0x1 -#define CL_GLOBAL 0x2 - -/* cl_device_exec_capabilities - bitfield */ -#define CL_EXEC_KERNEL (1 << 0) -#define CL_EXEC_NATIVE_KERNEL (1 << 1) - -/* cl_command_queue_properties - bitfield */ -#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0) -#define CL_QUEUE_PROFILING_ENABLE (1 << 1) -#define CL_QUEUE_ON_DEVICE (1 << 2) -#define CL_QUEUE_ON_DEVICE_DEFAULT (1 << 3) - -/* cl_context_info */ -#define CL_CONTEXT_REFERENCE_COUNT 0x1080 -#define CL_CONTEXT_DEVICES 0x1081 -#define CL_CONTEXT_PROPERTIES 0x1082 -#define CL_CONTEXT_NUM_DEVICES 0x1083 - -/* cl_context_properties */ -#define CL_CONTEXT_PLATFORM 0x1084 -#define CL_CONTEXT_INTEROP_USER_SYNC 0x1085 - -/* cl_device_partition_property */ -#define CL_DEVICE_PARTITION_EQUALLY 0x1086 -#define CL_DEVICE_PARTITION_BY_COUNTS 0x1087 -#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END 0x0 -#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN 0x1088 - -/* cl_device_affinity_domain */ -#define CL_DEVICE_AFFINITY_DOMAIN_NUMA (1 << 0) -#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE (1 << 1) -#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE (1 << 2) -#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE (1 << 3) -#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE (1 << 4) -#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5) - -/* cl_device_svm_capabilities */ -#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER (1 << 0) -#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER (1 << 1) -#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM (1 << 2) -#define CL_DEVICE_SVM_ATOMICS (1 << 3) - -/* cl_command_queue_info */ -#define CL_QUEUE_CONTEXT 0x1090 -#define CL_QUEUE_DEVICE 0x1091 -#define CL_QUEUE_REFERENCE_COUNT 0x1092 -#define CL_QUEUE_PROPERTIES 0x1093 -#define CL_QUEUE_SIZE 0x1094 -#define CL_QUEUE_DEVICE_DEFAULT 0x1095 - -/* cl_mem_flags and cl_svm_mem_flags - bitfield */ -#define CL_MEM_READ_WRITE (1 << 0) -#define CL_MEM_WRITE_ONLY (1 << 1) -#define CL_MEM_READ_ONLY (1 << 2) -#define CL_MEM_USE_HOST_PTR (1 << 3) -#define CL_MEM_ALLOC_HOST_PTR (1 << 4) -#define CL_MEM_COPY_HOST_PTR (1 << 5) -/* reserved (1 << 6) */ -#define CL_MEM_HOST_WRITE_ONLY (1 << 7) -#define CL_MEM_HOST_READ_ONLY (1 << 8) -#define CL_MEM_HOST_NO_ACCESS (1 << 9) -#define CL_MEM_SVM_FINE_GRAIN_BUFFER (1 << 10) /* used by cl_svm_mem_flags only */ -#define CL_MEM_SVM_ATOMICS (1 << 11) /* used by cl_svm_mem_flags only */ -#define CL_MEM_KERNEL_READ_AND_WRITE (1 << 12) - -/* cl_mem_migration_flags - bitfield */ -#define CL_MIGRATE_MEM_OBJECT_HOST (1 << 0) -#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED (1 << 1) - -/* cl_channel_order */ -#define CL_R 0x10B0 -#define CL_A 0x10B1 -#define CL_RG 0x10B2 -#define CL_RA 0x10B3 -#define CL_RGB 0x10B4 -#define CL_RGBA 0x10B5 -#define CL_BGRA 0x10B6 -#define CL_ARGB 0x10B7 -#define CL_INTENSITY 0x10B8 -#define CL_LUMINANCE 0x10B9 -#define CL_Rx 0x10BA -#define CL_RGx 0x10BB -#define CL_RGBx 0x10BC -#define CL_DEPTH 0x10BD -#define CL_DEPTH_STENCIL 0x10BE -#define CL_sRGB 0x10BF -#define CL_sRGBx 0x10C0 -#define CL_sRGBA 0x10C1 -#define CL_sBGRA 0x10C2 -#define CL_ABGR 0x10C3 - -/* cl_channel_type */ -#define CL_SNORM_INT8 0x10D0 -#define CL_SNORM_INT16 0x10D1 -#define CL_UNORM_INT8 0x10D2 -#define CL_UNORM_INT16 0x10D3 -#define CL_UNORM_SHORT_565 0x10D4 -#define CL_UNORM_SHORT_555 0x10D5 -#define CL_UNORM_INT_101010 0x10D6 -#define CL_SIGNED_INT8 0x10D7 -#define CL_SIGNED_INT16 0x10D8 -#define CL_SIGNED_INT32 0x10D9 -#define CL_UNSIGNED_INT8 0x10DA -#define CL_UNSIGNED_INT16 0x10DB -#define CL_UNSIGNED_INT32 0x10DC -#define CL_HALF_FLOAT 0x10DD -#define CL_FLOAT 0x10DE -#define CL_UNORM_INT24 0x10DF -#define CL_UNORM_INT_101010_2 0x10E0 - -/* cl_mem_object_type */ -#define CL_MEM_OBJECT_BUFFER 0x10F0 -#define CL_MEM_OBJECT_IMAGE2D 0x10F1 -#define CL_MEM_OBJECT_IMAGE3D 0x10F2 -#define CL_MEM_OBJECT_IMAGE2D_ARRAY 0x10F3 -#define CL_MEM_OBJECT_IMAGE1D 0x10F4 -#define CL_MEM_OBJECT_IMAGE1D_ARRAY 0x10F5 -#define CL_MEM_OBJECT_IMAGE1D_BUFFER 0x10F6 -#define CL_MEM_OBJECT_PIPE 0x10F7 - -/* cl_mem_info */ -#define CL_MEM_TYPE 0x1100 -#define CL_MEM_FLAGS 0x1101 -#define CL_MEM_SIZE 0x1102 -#define CL_MEM_HOST_PTR 0x1103 -#define CL_MEM_MAP_COUNT 0x1104 -#define CL_MEM_REFERENCE_COUNT 0x1105 -#define CL_MEM_CONTEXT 0x1106 -#define CL_MEM_ASSOCIATED_MEMOBJECT 0x1107 -#define CL_MEM_OFFSET 0x1108 -#define CL_MEM_USES_SVM_POINTER 0x1109 - -/* cl_image_info */ -#define CL_IMAGE_FORMAT 0x1110 -#define CL_IMAGE_ELEMENT_SIZE 0x1111 -#define CL_IMAGE_ROW_PITCH 0x1112 -#define CL_IMAGE_SLICE_PITCH 0x1113 -#define CL_IMAGE_WIDTH 0x1114 -#define CL_IMAGE_HEIGHT 0x1115 -#define CL_IMAGE_DEPTH 0x1116 -#define CL_IMAGE_ARRAY_SIZE 0x1117 -#define CL_IMAGE_BUFFER 0x1118 -#define CL_IMAGE_NUM_MIP_LEVELS 0x1119 -#define CL_IMAGE_NUM_SAMPLES 0x111A - -/* cl_pipe_info */ -#define CL_PIPE_PACKET_SIZE 0x1120 -#define CL_PIPE_MAX_PACKETS 0x1121 - -/* cl_addressing_mode */ -#define CL_ADDRESS_NONE 0x1130 -#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131 -#define CL_ADDRESS_CLAMP 0x1132 -#define CL_ADDRESS_REPEAT 0x1133 -#define CL_ADDRESS_MIRRORED_REPEAT 0x1134 - -/* cl_filter_mode */ -#define CL_FILTER_NEAREST 0x1140 -#define CL_FILTER_LINEAR 0x1141 - -/* cl_sampler_info */ -#define CL_SAMPLER_REFERENCE_COUNT 0x1150 -#define CL_SAMPLER_CONTEXT 0x1151 -#define CL_SAMPLER_NORMALIZED_COORDS 0x1152 -#define CL_SAMPLER_ADDRESSING_MODE 0x1153 -#define CL_SAMPLER_FILTER_MODE 0x1154 -#define CL_SAMPLER_MIP_FILTER_MODE 0x1155 -#define CL_SAMPLER_LOD_MIN 0x1156 -#define CL_SAMPLER_LOD_MAX 0x1157 - -/* cl_map_flags - bitfield */ -#define CL_MAP_READ (1 << 0) -#define CL_MAP_WRITE (1 << 1) -#define CL_MAP_WRITE_INVALIDATE_REGION (1 << 2) - -/* cl_program_info */ -#define CL_PROGRAM_REFERENCE_COUNT 0x1160 -#define CL_PROGRAM_CONTEXT 0x1161 -#define CL_PROGRAM_NUM_DEVICES 0x1162 -#define CL_PROGRAM_DEVICES 0x1163 -#define CL_PROGRAM_SOURCE 0x1164 -#define CL_PROGRAM_BINARY_SIZES 0x1165 -#define CL_PROGRAM_BINARIES 0x1166 -#define CL_PROGRAM_NUM_KERNELS 0x1167 -#define CL_PROGRAM_KERNEL_NAMES 0x1168 -#define CL_PROGRAM_IL 0x1169 - -/* cl_program_build_info */ -#define CL_PROGRAM_BUILD_STATUS 0x1181 -#define CL_PROGRAM_BUILD_OPTIONS 0x1182 -#define CL_PROGRAM_BUILD_LOG 0x1183 -#define CL_PROGRAM_BINARY_TYPE 0x1184 -#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185 - -/* cl_program_binary_type */ -#define CL_PROGRAM_BINARY_TYPE_NONE 0x0 -#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT 0x1 -#define CL_PROGRAM_BINARY_TYPE_LIBRARY 0x2 -#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE 0x4 - -/* cl_build_status */ -#define CL_BUILD_SUCCESS 0 -#define CL_BUILD_NONE -1 -#define CL_BUILD_ERROR -2 -#define CL_BUILD_IN_PROGRESS -3 - -/* cl_kernel_info */ -#define CL_KERNEL_FUNCTION_NAME 0x1190 -#define CL_KERNEL_NUM_ARGS 0x1191 -#define CL_KERNEL_REFERENCE_COUNT 0x1192 -#define CL_KERNEL_CONTEXT 0x1193 -#define CL_KERNEL_PROGRAM 0x1194 -#define CL_KERNEL_ATTRIBUTES 0x1195 -#define CL_KERNEL_MAX_NUM_SUB_GROUPS 0x11B9 -#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS 0x11BA - -/* cl_kernel_arg_info */ -#define CL_KERNEL_ARG_ADDRESS_QUALIFIER 0x1196 -#define CL_KERNEL_ARG_ACCESS_QUALIFIER 0x1197 -#define CL_KERNEL_ARG_TYPE_NAME 0x1198 -#define CL_KERNEL_ARG_TYPE_QUALIFIER 0x1199 -#define CL_KERNEL_ARG_NAME 0x119A - -/* cl_kernel_arg_address_qualifier */ -#define CL_KERNEL_ARG_ADDRESS_GLOBAL 0x119B -#define CL_KERNEL_ARG_ADDRESS_LOCAL 0x119C -#define CL_KERNEL_ARG_ADDRESS_CONSTANT 0x119D -#define CL_KERNEL_ARG_ADDRESS_PRIVATE 0x119E - -/* cl_kernel_arg_access_qualifier */ -#define CL_KERNEL_ARG_ACCESS_READ_ONLY 0x11A0 -#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY 0x11A1 -#define CL_KERNEL_ARG_ACCESS_READ_WRITE 0x11A2 -#define CL_KERNEL_ARG_ACCESS_NONE 0x11A3 - -/* cl_kernel_arg_type_qualifer */ -#define CL_KERNEL_ARG_TYPE_NONE 0 -#define CL_KERNEL_ARG_TYPE_CONST (1 << 0) -#define CL_KERNEL_ARG_TYPE_RESTRICT (1 << 1) -#define CL_KERNEL_ARG_TYPE_VOLATILE (1 << 2) -#define CL_KERNEL_ARG_TYPE_PIPE (1 << 3) - -/* cl_kernel_work_group_info */ -#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0 -#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1 -#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2 -#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3 -#define CL_KERNEL_PRIVATE_MEM_SIZE 0x11B4 -#define CL_KERNEL_GLOBAL_WORK_SIZE 0x11B5 - -/* cl_kernel_sub_group_info */ -#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE 0x2033 -#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE 0x2034 -#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT 0x11B8 - -/* cl_kernel_exec_info */ -#define CL_KERNEL_EXEC_INFO_SVM_PTRS 0x11B6 -#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM 0x11B7 - -/* cl_event_info */ -#define CL_EVENT_COMMAND_QUEUE 0x11D0 -#define CL_EVENT_COMMAND_TYPE 0x11D1 -#define CL_EVENT_REFERENCE_COUNT 0x11D2 -#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3 -#define CL_EVENT_CONTEXT 0x11D4 - -/* cl_command_type */ -#define CL_COMMAND_NDRANGE_KERNEL 0x11F0 -#define CL_COMMAND_TASK 0x11F1 -#define CL_COMMAND_NATIVE_KERNEL 0x11F2 -#define CL_COMMAND_READ_BUFFER 0x11F3 -#define CL_COMMAND_WRITE_BUFFER 0x11F4 -#define CL_COMMAND_COPY_BUFFER 0x11F5 -#define CL_COMMAND_READ_IMAGE 0x11F6 -#define CL_COMMAND_WRITE_IMAGE 0x11F7 -#define CL_COMMAND_COPY_IMAGE 0x11F8 -#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9 -#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA -#define CL_COMMAND_MAP_BUFFER 0x11FB -#define CL_COMMAND_MAP_IMAGE 0x11FC -#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD -#define CL_COMMAND_MARKER 0x11FE -#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x11FF -#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1200 -#define CL_COMMAND_READ_BUFFER_RECT 0x1201 -#define CL_COMMAND_WRITE_BUFFER_RECT 0x1202 -#define CL_COMMAND_COPY_BUFFER_RECT 0x1203 -#define CL_COMMAND_USER 0x1204 -#define CL_COMMAND_BARRIER 0x1205 -#define CL_COMMAND_MIGRATE_MEM_OBJECTS 0x1206 -#define CL_COMMAND_FILL_BUFFER 0x1207 -#define CL_COMMAND_FILL_IMAGE 0x1208 -#define CL_COMMAND_SVM_FREE 0x1209 -#define CL_COMMAND_SVM_MEMCPY 0x120A -#define CL_COMMAND_SVM_MEMFILL 0x120B -#define CL_COMMAND_SVM_MAP 0x120C -#define CL_COMMAND_SVM_UNMAP 0x120D - -/* command execution status */ -#define CL_COMPLETE 0x0 -#define CL_RUNNING 0x1 -#define CL_SUBMITTED 0x2 -#define CL_QUEUED 0x3 - -/* cl_buffer_create_type */ -#define CL_BUFFER_CREATE_TYPE_REGION 0x1220 - -/* cl_profiling_info */ -#define CL_PROFILING_COMMAND_QUEUED 0x1280 -#define CL_PROFILING_COMMAND_SUBMIT 0x1281 -#define CL_PROFILING_COMMAND_START 0x1282 -#define CL_PROFILING_COMMAND_END 0x1283 -#define CL_PROFILING_COMMAND_COMPLETE 0x1284 - -/********************************************************************************************************/ - -/* Platform API */ -extern CL_API_ENTRY cl_int CL_API_CALL -clGetPlatformIDs(cl_uint /* num_entries */, - cl_platform_id * /* platforms */, - cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetPlatformInfo(cl_platform_id /* platform */, - cl_platform_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Device APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceIDs(cl_platform_id /* platform */, - cl_device_type /* device_type */, - cl_uint /* num_entries */, - cl_device_id * /* devices */, - cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceInfo(cl_device_id /* device */, - cl_device_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clCreateSubDevices(cl_device_id /* in_device */, - const cl_device_partition_property * /* properties */, - cl_uint /* num_devices */, - cl_device_id * /* out_devices */, - cl_uint * /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetDefaultDeviceCommandQueue(cl_context /* context */, - cl_device_id /* device */, - cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_2_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceAndHostTimer(cl_device_id /* device */, - cl_ulong* /* device_timestamp */, - cl_ulong* /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetHostTimer(cl_device_id /* device */, - cl_ulong * /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1; - - -/* Context APIs */ -extern CL_API_ENTRY cl_context CL_API_CALL -clCreateContext(const cl_context_properties * /* properties */, - cl_uint /* num_devices */, - const cl_device_id * /* devices */, - void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *), - void * /* user_data */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_context CL_API_CALL -clCreateContextFromType(const cl_context_properties * /* properties */, - cl_device_type /* device_type */, - void (CL_CALLBACK * /* pfn_notify*/ )(const char *, const void *, size_t, void *), - void * /* user_data */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetContextInfo(cl_context /* context */, - cl_context_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Command Queue APIs */ -extern CL_API_ENTRY cl_command_queue CL_API_CALL -clCreateCommandQueueWithProperties(cl_context /* context */, - cl_device_id /* device */, - const cl_queue_properties * /* properties */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetCommandQueueInfo(cl_command_queue /* command_queue */, - cl_command_queue_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Memory Object APIs */ -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateBuffer(cl_context /* context */, - cl_mem_flags /* flags */, - size_t /* size */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateSubBuffer(cl_mem /* buffer */, - cl_mem_flags /* flags */, - cl_buffer_create_type /* buffer_create_type */, - const void * /* buffer_create_info */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateImage(cl_context /* context */, - cl_mem_flags /* flags */, - const cl_image_format * /* image_format */, - const cl_image_desc * /* image_desc */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreatePipe(cl_context /* context */, - cl_mem_flags /* flags */, - cl_uint /* pipe_packet_size */, - cl_uint /* pipe_max_packets */, - const cl_pipe_properties * /* properties */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetSupportedImageFormats(cl_context /* context */, - cl_mem_flags /* flags */, - cl_mem_object_type /* image_type */, - cl_uint /* num_entries */, - cl_image_format * /* image_formats */, - cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetMemObjectInfo(cl_mem /* memobj */, - cl_mem_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetImageInfo(cl_mem /* image */, - cl_image_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetPipeInfo(cl_mem /* pipe */, - cl_pipe_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0; - - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetMemObjectDestructorCallback(cl_mem /* memobj */, - void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), - void * /*user_data */ ) CL_API_SUFFIX__VERSION_1_1; - -/* SVM Allocation APIs */ -extern CL_API_ENTRY void * CL_API_CALL -clSVMAlloc(cl_context /* context */, - cl_svm_mem_flags /* flags */, - size_t /* size */, - cl_uint /* alignment */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY void CL_API_CALL -clSVMFree(cl_context /* context */, - void * /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0; - -/* Sampler APIs */ -extern CL_API_ENTRY cl_sampler CL_API_CALL -clCreateSamplerWithProperties(cl_context /* context */, - const cl_sampler_properties * /* normalized_coords */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetSamplerInfo(cl_sampler /* sampler */, - cl_sampler_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Program Object APIs */ -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithSource(cl_context /* context */, - cl_uint /* count */, - const char ** /* strings */, - const size_t * /* lengths */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithBinary(cl_context /* context */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const size_t * /* lengths */, - const unsigned char ** /* binaries */, - cl_int * /* binary_status */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithBuiltInKernels(cl_context /* context */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* kernel_names */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithIL(cl_context /* context */, - const void* /* il */, - size_t /* length */, - cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1; - - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clBuildProgram(cl_program /* program */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* options */, - void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), - void * /* user_data */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clCompileProgram(cl_program /* program */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* options */, - cl_uint /* num_input_headers */, - const cl_program * /* input_headers */, - const char ** /* header_include_names */, - void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), - void * /* user_data */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_program CL_API_CALL -clLinkProgram(cl_context /* context */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* options */, - cl_uint /* num_input_programs */, - const cl_program * /* input_programs */, - void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), - void * /* user_data */, - cl_int * /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2; - - -extern CL_API_ENTRY cl_int CL_API_CALL -clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetProgramInfo(cl_program /* program */, - cl_program_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetProgramBuildInfo(cl_program /* program */, - cl_device_id /* device */, - cl_program_build_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Kernel Object APIs */ -extern CL_API_ENTRY cl_kernel CL_API_CALL -clCreateKernel(cl_program /* program */, - const char * /* kernel_name */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clCreateKernelsInProgram(cl_program /* program */, - cl_uint /* num_kernels */, - cl_kernel * /* kernels */, - cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_kernel CL_API_CALL -clCloneKernel(cl_kernel /* source_kernel */, - cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetKernelArg(cl_kernel /* kernel */, - cl_uint /* arg_index */, - size_t /* arg_size */, - const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetKernelArgSVMPointer(cl_kernel /* kernel */, - cl_uint /* arg_index */, - const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetKernelExecInfo(cl_kernel /* kernel */, - cl_kernel_exec_info /* param_name */, - size_t /* param_value_size */, - const void * /* param_value */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelInfo(cl_kernel /* kernel */, - cl_kernel_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelArgInfo(cl_kernel /* kernel */, - cl_uint /* arg_indx */, - cl_kernel_arg_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelWorkGroupInfo(cl_kernel /* kernel */, - cl_device_id /* device */, - cl_kernel_work_group_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelSubGroupInfo(cl_kernel /* kernel */, - cl_device_id /* device */, - cl_kernel_sub_group_info /* param_name */, - size_t /* input_value_size */, - const void* /*input_value */, - size_t /* param_value_size */, - void* /* param_value */, - size_t* /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1; - - -/* Event Object APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clWaitForEvents(cl_uint /* num_events */, - const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetEventInfo(cl_event /* event */, - cl_event_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_event CL_API_CALL -clCreateUserEvent(cl_context /* context */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetUserEventStatus(cl_event /* event */, - cl_int /* execution_status */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetEventCallback( cl_event /* event */, - cl_int /* command_exec_callback_type */, - void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *), - void * /* user_data */) CL_API_SUFFIX__VERSION_1_1; - -/* Profiling APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clGetEventProfilingInfo(cl_event /* event */, - cl_profiling_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Flush and Finish APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -/* Enqueued Commands APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReadBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_read */, - size_t /* offset */, - size_t /* size */, - void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReadBufferRect(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_read */, - const size_t * /* buffer_offset */, - const size_t * /* host_offset */, - const size_t * /* region */, - size_t /* buffer_row_pitch */, - size_t /* buffer_slice_pitch */, - size_t /* host_row_pitch */, - size_t /* host_slice_pitch */, - void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueWriteBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_write */, - size_t /* offset */, - size_t /* size */, - const void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueWriteBufferRect(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_write */, - const size_t * /* buffer_offset */, - const size_t * /* host_offset */, - const size_t * /* region */, - size_t /* buffer_row_pitch */, - size_t /* buffer_slice_pitch */, - size_t /* host_row_pitch */, - size_t /* host_slice_pitch */, - const void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueFillBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - const void * /* pattern */, - size_t /* pattern_size */, - size_t /* offset */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyBuffer(cl_command_queue /* command_queue */, - cl_mem /* src_buffer */, - cl_mem /* dst_buffer */, - size_t /* src_offset */, - size_t /* dst_offset */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyBufferRect(cl_command_queue /* command_queue */, - cl_mem /* src_buffer */, - cl_mem /* dst_buffer */, - const size_t * /* src_origin */, - const size_t * /* dst_origin */, - const size_t * /* region */, - size_t /* src_row_pitch */, - size_t /* src_slice_pitch */, - size_t /* dst_row_pitch */, - size_t /* dst_slice_pitch */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReadImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - cl_bool /* blocking_read */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - size_t /* row_pitch */, - size_t /* slice_pitch */, - void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueWriteImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - cl_bool /* blocking_write */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - size_t /* input_row_pitch */, - size_t /* input_slice_pitch */, - const void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueFillImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - const void * /* fill_color */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyImage(cl_command_queue /* command_queue */, - cl_mem /* src_image */, - cl_mem /* dst_image */, - const size_t * /* src_origin[3] */, - const size_t * /* dst_origin[3] */, - const size_t * /* region[3] */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */, - cl_mem /* src_image */, - cl_mem /* dst_buffer */, - const size_t * /* src_origin[3] */, - const size_t * /* region[3] */, - size_t /* dst_offset */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */, - cl_mem /* src_buffer */, - cl_mem /* dst_image */, - size_t /* src_offset */, - const size_t * /* dst_origin[3] */, - const size_t * /* region[3] */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY void * CL_API_CALL -clEnqueueMapBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_map */, - cl_map_flags /* map_flags */, - size_t /* offset */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY void * CL_API_CALL -clEnqueueMapImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - cl_bool /* blocking_map */, - cl_map_flags /* map_flags */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - size_t * /* image_row_pitch */, - size_t * /* image_slice_pitch */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueUnmapMemObject(cl_command_queue /* command_queue */, - cl_mem /* memobj */, - void * /* mapped_ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueMigrateMemObjects(cl_command_queue /* command_queue */, - cl_uint /* num_mem_objects */, - const cl_mem * /* mem_objects */, - cl_mem_migration_flags /* flags */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueNDRangeKernel(cl_command_queue /* command_queue */, - cl_kernel /* kernel */, - cl_uint /* work_dim */, - const size_t * /* global_work_offset */, - const size_t * /* global_work_size */, - const size_t * /* local_work_size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueNativeKernel(cl_command_queue /* command_queue */, - void (CL_CALLBACK * /*user_func*/)(void *), - void * /* args */, - size_t /* cb_args */, - cl_uint /* num_mem_objects */, - const cl_mem * /* mem_list */, - const void ** /* args_mem_loc */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueMarkerWithWaitList(cl_command_queue /* command_queue */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueBarrierWithWaitList(cl_command_queue /* command_queue */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMFree(cl_command_queue /* command_queue */, - cl_uint /* num_svm_pointers */, - void *[] /* svm_pointers[] */, - void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */, - cl_uint /* num_svm_pointers */, - void *[] /* svm_pointers[] */, - void * /* user_data */), - void * /* user_data */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMemcpy(cl_command_queue /* command_queue */, - cl_bool /* blocking_copy */, - void * /* dst_ptr */, - const void * /* src_ptr */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMemFill(cl_command_queue /* command_queue */, - void * /* svm_ptr */, - const void * /* pattern */, - size_t /* pattern_size */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMap(cl_command_queue /* command_queue */, - cl_bool /* blocking_map */, - cl_map_flags /* flags */, - void * /* svm_ptr */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMUnmap(cl_command_queue /* command_queue */, - void * /* svm_ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMigrateMem(cl_command_queue /* command_queue */, - cl_uint /* num_svm_pointers */, - const void ** /* svm_pointers */, - const size_t * /* sizes */, - cl_mem_migration_flags /* flags */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_1; - - -/* Extension function access - * - * Returns the extension function address for the given function name, - * or NULL if a valid function can not be found. The client must - * check to make sure the address is not NULL, before using or - * calling the returned function address. - */ -extern CL_API_ENTRY void * CL_API_CALL -clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */, - const char * /* func_name */) CL_API_SUFFIX__VERSION_1_2; - - -/* Deprecated OpenCL 1.1 APIs */ -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateImage2D(cl_context /* context */, - cl_mem_flags /* flags */, - const cl_image_format * /* image_format */, - size_t /* image_width */, - size_t /* image_height */, - size_t /* image_row_pitch */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateImage3D(cl_context /* context */, - cl_mem_flags /* flags */, - const cl_image_format * /* image_format */, - size_t /* image_width */, - size_t /* image_height */, - size_t /* image_depth */, - size_t /* image_row_pitch */, - size_t /* image_slice_pitch */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clEnqueueMarker(cl_command_queue /* command_queue */, - cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clEnqueueWaitForEvents(cl_command_queue /* command_queue */, - cl_uint /* num_events */, - const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL -clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -/* Deprecated OpenCL 2.0 APIs */ -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL -clCreateCommandQueue(cl_context /* context */, - cl_device_id /* device */, - cl_command_queue_properties /* properties */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; - - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL -clCreateSampler(cl_context /* context */, - cl_bool /* normalized_coords */, - cl_addressing_mode /* addressing_mode */, - cl_filter_mode /* filter_mode */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL -clEnqueueTask(cl_command_queue /* command_queue */, - cl_kernel /* kernel */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_H */ - diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h deleted file mode 100644 index d5960a43f7..0000000000 --- a/third_party/opencl/include/CL/cl_d3d10.h +++ /dev/null @@ -1,131 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_CL_D3D10_H -#define __OPENCL_CL_D3D10_H - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/****************************************************************************** - * cl_khr_d3d10_sharing */ -#define cl_khr_d3d10_sharing 1 - -typedef cl_uint cl_d3d10_device_source_khr; -typedef cl_uint cl_d3d10_device_set_khr; - -/******************************************************************************/ - -/* Error Codes */ -#define CL_INVALID_D3D10_DEVICE_KHR -1002 -#define CL_INVALID_D3D10_RESOURCE_KHR -1003 -#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR -1004 -#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR -1005 - -/* cl_d3d10_device_source_nv */ -#define CL_D3D10_DEVICE_KHR 0x4010 -#define CL_D3D10_DXGI_ADAPTER_KHR 0x4011 - -/* cl_d3d10_device_set_nv */ -#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR 0x4012 -#define CL_ALL_DEVICES_FOR_D3D10_KHR 0x4013 - -/* cl_context_info */ -#define CL_CONTEXT_D3D10_DEVICE_KHR 0x4014 -#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C - -/* cl_mem_info */ -#define CL_MEM_D3D10_RESOURCE_KHR 0x4015 - -/* cl_image_info */ -#define CL_IMAGE_D3D10_SUBRESOURCE_KHR 0x4016 - -/* cl_command_type */ -#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR 0x4017 -#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR 0x4018 - -/******************************************************************************/ - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)( - cl_platform_id platform, - cl_d3d10_device_source_khr d3d_device_source, - void * d3d_object, - cl_d3d10_device_set_khr d3d_device_set, - cl_uint num_entries, - cl_device_id * devices, - cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D10Buffer * resource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D10Texture2D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D10Texture3D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_0; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_D3D10_H */ - diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h deleted file mode 100644 index 39f9072398..0000000000 --- a/third_party/opencl/include/CL/cl_d3d11.h +++ /dev/null @@ -1,131 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_CL_D3D11_H -#define __OPENCL_CL_D3D11_H - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/****************************************************************************** - * cl_khr_d3d11_sharing */ -#define cl_khr_d3d11_sharing 1 - -typedef cl_uint cl_d3d11_device_source_khr; -typedef cl_uint cl_d3d11_device_set_khr; - -/******************************************************************************/ - -/* Error Codes */ -#define CL_INVALID_D3D11_DEVICE_KHR -1006 -#define CL_INVALID_D3D11_RESOURCE_KHR -1007 -#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR -1008 -#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR -1009 - -/* cl_d3d11_device_source */ -#define CL_D3D11_DEVICE_KHR 0x4019 -#define CL_D3D11_DXGI_ADAPTER_KHR 0x401A - -/* cl_d3d11_device_set */ -#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR 0x401B -#define CL_ALL_DEVICES_FOR_D3D11_KHR 0x401C - -/* cl_context_info */ -#define CL_CONTEXT_D3D11_DEVICE_KHR 0x401D -#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D - -/* cl_mem_info */ -#define CL_MEM_D3D11_RESOURCE_KHR 0x401E - -/* cl_image_info */ -#define CL_IMAGE_D3D11_SUBRESOURCE_KHR 0x401F - -/* cl_command_type */ -#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR 0x4020 -#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR 0x4021 - -/******************************************************************************/ - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)( - cl_platform_id platform, - cl_d3d11_device_source_khr d3d_device_source, - void * d3d_object, - cl_d3d11_device_set_khr d3d_device_set, - cl_uint num_entries, - cl_device_id * devices, - cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D11Buffer * resource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D11Texture2D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D11Texture3D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_D3D11_H */ - diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h deleted file mode 100644 index 2729e8b9e8..0000000000 --- a/third_party/opencl/include/CL/cl_dx9_media_sharing.h +++ /dev/null @@ -1,132 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H -#define __OPENCL_CL_DX9_MEDIA_SHARING_H - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/******************************************************************************/ -/* cl_khr_dx9_media_sharing */ -#define cl_khr_dx9_media_sharing 1 - -typedef cl_uint cl_dx9_media_adapter_type_khr; -typedef cl_uint cl_dx9_media_adapter_set_khr; - -#if defined(_WIN32) -#include -typedef struct _cl_dx9_surface_info_khr -{ - IDirect3DSurface9 *resource; - HANDLE shared_handle; -} cl_dx9_surface_info_khr; -#endif - - -/******************************************************************************/ - -/* Error Codes */ -#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR -1010 -#define CL_INVALID_DX9_MEDIA_SURFACE_KHR -1011 -#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR -1012 -#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR -1013 - -/* cl_media_adapter_type_khr */ -#define CL_ADAPTER_D3D9_KHR 0x2020 -#define CL_ADAPTER_D3D9EX_KHR 0x2021 -#define CL_ADAPTER_DXVA_KHR 0x2022 - -/* cl_media_adapter_set_khr */ -#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2023 -#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2024 - -/* cl_context_info */ -#define CL_CONTEXT_ADAPTER_D3D9_KHR 0x2025 -#define CL_CONTEXT_ADAPTER_D3D9EX_KHR 0x2026 -#define CL_CONTEXT_ADAPTER_DXVA_KHR 0x2027 - -/* cl_mem_info */ -#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR 0x2028 -#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR 0x2029 - -/* cl_image_info */ -#define CL_IMAGE_DX9_MEDIA_PLANE_KHR 0x202A - -/* cl_command_type */ -#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR 0x202B -#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR 0x202C - -/******************************************************************************/ - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)( - cl_platform_id platform, - cl_uint num_media_adapters, - cl_dx9_media_adapter_type_khr * media_adapter_type, - void * media_adapters, - cl_dx9_media_adapter_set_khr media_adapter_set, - cl_uint num_entries, - cl_device_id * devices, - cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)( - cl_context context, - cl_mem_flags flags, - cl_dx9_media_adapter_type_khr adapter_type, - void * surface_info, - cl_uint plane, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_DX9_MEDIA_SHARING_H */ - diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h deleted file mode 100644 index a765bd5266..0000000000 --- a/third_party/opencl/include/CL/cl_egl.h +++ /dev/null @@ -1,136 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -#ifndef __OPENCL_CL_EGL_H -#define __OPENCL_CL_EGL_H - -#ifdef __APPLE__ - -#else -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - - -/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */ -#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR 0x202F -#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR 0x202D -#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR 0x202E - -/* Error type for clCreateFromEGLImageKHR */ -#define CL_INVALID_EGL_OBJECT_KHR -1093 -#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR -1092 - -/* CLeglImageKHR is an opaque handle to an EGLImage */ -typedef void* CLeglImageKHR; - -/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */ -typedef void* CLeglDisplayKHR; - -/* CLeglSyncKHR is an opaque handle to an EGLSync object */ -typedef void* CLeglSyncKHR; - -/* properties passed to clCreateFromEGLImageKHR */ -typedef intptr_t cl_egl_image_properties_khr; - - -#define cl_khr_egl_image 1 - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromEGLImageKHR(cl_context /* context */, - CLeglDisplayKHR /* egldisplay */, - CLeglImageKHR /* eglimage */, - cl_mem_flags /* flags */, - const cl_egl_image_properties_khr * /* properties */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)( - cl_context context, - CLeglDisplayKHR egldisplay, - CLeglImageKHR eglimage, - cl_mem_flags flags, - const cl_egl_image_properties_khr * properties, - cl_int * errcode_ret); - - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event); - - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event); - - -#define cl_khr_egl_event 1 - -extern CL_API_ENTRY cl_event CL_API_CALL -clCreateEventFromEGLSyncKHR(cl_context /* context */, - CLeglSyncKHR /* sync */, - CLeglDisplayKHR /* display */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)( - cl_context context, - CLeglSyncKHR sync, - CLeglDisplayKHR display, - cl_int * errcode_ret); - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_EGL_H */ diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h deleted file mode 100644 index 7941583895..0000000000 --- a/third_party/opencl/include/CL/cl_ext.h +++ /dev/null @@ -1,391 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */ - -/* cl_ext.h contains OpenCL extensions which don't have external */ -/* (OpenGL, D3D) dependencies. */ - -#ifndef __CL_EXT_H -#define __CL_EXT_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef __APPLE__ - #include - #include -#else - #include -#endif - -/* cl_khr_fp16 extension - no extension #define since it has no functions */ -#define CL_DEVICE_HALF_FP_CONFIG 0x1033 - -/* Memory object destruction - * - * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR - * - * Registers a user callback function that will be called when the memory object is deleted and its resources - * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback - * stack associated with memobj. The registered user callback functions are called in the reverse order in - * which they were registered. The user callback functions are called and then the memory object is deleted - * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be - * notified when the memory referenced by host_ptr, specified when the memory object is created and used as - * the storage bits for the memory object, can be reused or freed. - * - * The application may not call CL api's with the cl_mem object passed to the pfn_notify. - * - * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS) - * before using. - */ -#define cl_APPLE_SetMemObjectDestructor 1 -cl_int CL_API_ENTRY clSetMemObjectDestructorAPPLE( cl_mem /* memobj */, - void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), - void * /*user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - - -/* Context Logging Functions - * - * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext(). - * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS) - * before using. - * - * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger - */ -#define cl_APPLE_ContextLoggingFunctions 1 -extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE( const char * /* errstr */, - const void * /* private_info */, - size_t /* cb */, - void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - -/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */ -extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE( const char * /* errstr */, - const void * /* private_info */, - size_t /* cb */, - void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - -/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */ -extern void CL_API_ENTRY clLogMessagesToStderrAPPLE( const char * /* errstr */, - const void * /* private_info */, - size_t /* cb */, - void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - - -/************************ -* cl_khr_icd extension * -************************/ -#define cl_khr_icd 1 - -/* cl_platform_info */ -#define CL_PLATFORM_ICD_SUFFIX_KHR 0x0920 - -/* Additional Error Codes */ -#define CL_PLATFORM_NOT_FOUND_KHR -1001 - -extern CL_API_ENTRY cl_int CL_API_CALL -clIcdGetPlatformIDsKHR(cl_uint /* num_entries */, - cl_platform_id * /* platforms */, - cl_uint * /* num_platforms */); - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)( - cl_uint /* num_entries */, - cl_platform_id * /* platforms */, - cl_uint * /* num_platforms */); - - -/* Extension: cl_khr_image2D_buffer - * - * This extension allows a 2D image to be created from a cl_mem buffer without a copy. - * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t. - * Both the sampler and sampler-less read_image built-in functions are supported for 2D images - * and 2D images created from a buffer. Similarly, the write_image built-ins are also supported - * for 2D images created from a buffer. - * - * When the 2D image from buffer is created, the client must specify the width, - * height, image format (i.e. channel order and channel data type) and optionally the row pitch - * - * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels. - * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels. - */ - -/************************************* - * cl_khr_initalize_memory extension * - *************************************/ - -#define CL_CONTEXT_MEMORY_INITIALIZE_KHR 0x2030 - - -/************************************** - * cl_khr_terminate_context extension * - **************************************/ - -#define CL_DEVICE_TERMINATE_CAPABILITY_KHR 0x2031 -#define CL_CONTEXT_TERMINATE_KHR 0x2032 - -#define cl_khr_terminate_context 1 -extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2; - - -/* - * Extension: cl_khr_spir - * - * This extension adds support to create an OpenCL program object from a - * Standard Portable Intermediate Representation (SPIR) instance - */ - -#define CL_DEVICE_SPIR_VERSIONS 0x40E0 -#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE 0x40E1 - - -/****************************************** -* cl_nv_device_attribute_query extension * -******************************************/ -/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */ -#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV 0x4000 -#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV 0x4001 -#define CL_DEVICE_REGISTERS_PER_BLOCK_NV 0x4002 -#define CL_DEVICE_WARP_SIZE_NV 0x4003 -#define CL_DEVICE_GPU_OVERLAP_NV 0x4004 -#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV 0x4005 -#define CL_DEVICE_INTEGRATED_MEMORY_NV 0x4006 - -/********************************* -* cl_amd_device_attribute_query * -*********************************/ -#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD 0x4036 - -/********************************* -* cl_arm_printf extension -*********************************/ -#define CL_PRINTF_CALLBACK_ARM 0x40B0 -#define CL_PRINTF_BUFFERSIZE_ARM 0x40B1 - -#ifdef CL_VERSION_1_1 - /*********************************** - * cl_ext_device_fission extension * - ***********************************/ - #define cl_ext_device_fission 1 - - extern CL_API_ENTRY cl_int CL_API_CALL - clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef CL_API_ENTRY cl_int - (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - extern CL_API_ENTRY cl_int CL_API_CALL - clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef CL_API_ENTRY cl_int - (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef cl_ulong cl_device_partition_property_ext; - extern CL_API_ENTRY cl_int CL_API_CALL - clCreateSubDevicesEXT( cl_device_id /*in_device*/, - const cl_device_partition_property_ext * /* properties */, - cl_uint /*num_entries*/, - cl_device_id * /*out_devices*/, - cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef CL_API_ENTRY cl_int - ( CL_API_CALL * clCreateSubDevicesEXT_fn)( cl_device_id /*in_device*/, - const cl_device_partition_property_ext * /* properties */, - cl_uint /*num_entries*/, - cl_device_id * /*out_devices*/, - cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - /* cl_device_partition_property_ext */ - #define CL_DEVICE_PARTITION_EQUALLY_EXT 0x4050 - #define CL_DEVICE_PARTITION_BY_COUNTS_EXT 0x4051 - #define CL_DEVICE_PARTITION_BY_NAMES_EXT 0x4052 - #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT 0x4053 - - /* clDeviceGetInfo selectors */ - #define CL_DEVICE_PARENT_DEVICE_EXT 0x4054 - #define CL_DEVICE_PARTITION_TYPES_EXT 0x4055 - #define CL_DEVICE_AFFINITY_DOMAINS_EXT 0x4056 - #define CL_DEVICE_REFERENCE_COUNT_EXT 0x4057 - #define CL_DEVICE_PARTITION_STYLE_EXT 0x4058 - - /* error codes */ - #define CL_DEVICE_PARTITION_FAILED_EXT -1057 - #define CL_INVALID_PARTITION_COUNT_EXT -1058 - #define CL_INVALID_PARTITION_NAME_EXT -1059 - - /* CL_AFFINITY_DOMAINs */ - #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT 0x1 - #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT 0x2 - #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT 0x3 - #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT 0x4 - #define CL_AFFINITY_DOMAIN_NUMA_EXT 0x10 - #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT 0x100 - - /* cl_device_partition_property_ext list terminators */ - #define CL_PROPERTIES_LIST_END_EXT ((cl_device_partition_property_ext) 0) - #define CL_PARTITION_BY_COUNTS_LIST_END_EXT ((cl_device_partition_property_ext) 0) - #define CL_PARTITION_BY_NAMES_LIST_END_EXT ((cl_device_partition_property_ext) 0 - 1) - -/********************************* -* cl_qcom_ext_host_ptr extension -*********************************/ - -#define CL_MEM_EXT_HOST_PTR_QCOM (1 << 29) - -#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM 0x40A0 -#define CL_DEVICE_PAGE_SIZE_QCOM 0x40A1 -#define CL_IMAGE_ROW_ALIGNMENT_QCOM 0x40A2 -#define CL_IMAGE_SLICE_ALIGNMENT_QCOM 0x40A3 -#define CL_MEM_HOST_UNCACHED_QCOM 0x40A4 -#define CL_MEM_HOST_WRITEBACK_QCOM 0x40A5 -#define CL_MEM_HOST_WRITETHROUGH_QCOM 0x40A6 -#define CL_MEM_HOST_WRITE_COMBINING_QCOM 0x40A7 - -typedef cl_uint cl_image_pitch_info_qcom; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceImageInfoQCOM(cl_device_id device, - size_t image_width, - size_t image_height, - const cl_image_format *image_format, - cl_image_pitch_info_qcom param_name, - size_t param_value_size, - void *param_value, - size_t *param_value_size_ret); - -typedef struct _cl_mem_ext_host_ptr -{ - /* Type of external memory allocation. */ - /* Legal values will be defined in layered extensions. */ - cl_uint allocation_type; - - /* Host cache policy for this external memory allocation. */ - cl_uint host_cache_policy; - -} cl_mem_ext_host_ptr; - -/********************************* -* cl_qcom_ion_host_ptr extension -*********************************/ - -#define CL_MEM_ION_HOST_PTR_QCOM 0x40A8 - -typedef struct _cl_mem_ion_host_ptr -{ - /* Type of external memory allocation. */ - /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */ - cl_mem_ext_host_ptr ext_host_ptr; - - /* ION file descriptor */ - int ion_filedesc; - - /* Host pointer to the ION allocated memory */ - void* ion_hostptr; - -} cl_mem_ion_host_ptr; - -#endif /* CL_VERSION_1_1 */ - - -#ifdef CL_VERSION_2_0 -/********************************* -* cl_khr_sub_groups extension -*********************************/ -#define cl_khr_sub_groups 1 - -typedef cl_uint cl_kernel_sub_group_info_khr; - -/* cl_khr_sub_group_info */ -#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR 0x2033 -#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR 0x2034 - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */, - cl_device_id /*in_device*/, - cl_kernel_sub_group_info_khr /* param_name */, - size_t /*input_value_size*/, - const void * /*input_value*/, - size_t /*param_value_size*/, - void* /*param_value*/, - size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED; - -typedef CL_API_ENTRY cl_int - ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */, - cl_device_id /*in_device*/, - cl_kernel_sub_group_info_khr /* param_name */, - size_t /*input_value_size*/, - const void * /*input_value*/, - size_t /*param_value_size*/, - void* /*param_value*/, - size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED; -#endif /* CL_VERSION_2_0 */ - -#ifdef CL_VERSION_2_1 -/********************************* -* cl_khr_priority_hints extension -*********************************/ -#define cl_khr_priority_hints 1 - -typedef cl_uint cl_queue_priority_khr; - -/* cl_command_queue_properties */ -#define CL_QUEUE_PRIORITY_KHR 0x1096 - -/* cl_queue_priority_khr */ -#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0) -#define CL_QUEUE_PRIORITY_MED_KHR (1<<1) -#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2) - -#endif /* CL_VERSION_2_1 */ - -#ifdef CL_VERSION_2_1 -/********************************* -* cl_khr_throttle_hints extension -*********************************/ -#define cl_khr_throttle_hints 1 - -typedef cl_uint cl_queue_throttle_khr; - -/* cl_command_queue_properties */ -#define CL_QUEUE_THROTTLE_KHR 0x1097 - -/* cl_queue_throttle_khr */ -#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0) -#define CL_QUEUE_THROTTLE_MED_KHR (1<<1) -#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2) - -#endif /* CL_VERSION_2_1 */ - -#ifdef __cplusplus -} -#endif - - -#endif /* __CL_EXT_H */ diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h deleted file mode 100644 index 6328a1cd93..0000000000 --- a/third_party/opencl/include/CL/cl_ext_qcom.h +++ /dev/null @@ -1,255 +0,0 @@ -/* 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 -#include -#include - -#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 */ diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h deleted file mode 100644 index 945daa83d7..0000000000 --- a/third_party/opencl/include/CL/cl_gl.h +++ /dev/null @@ -1,167 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -#ifndef __OPENCL_CL_GL_H -#define __OPENCL_CL_GL_H - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -typedef cl_uint cl_gl_object_type; -typedef cl_uint cl_gl_texture_info; -typedef cl_uint cl_gl_platform_info; -typedef struct __GLsync *cl_GLsync; - -/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken */ -#define CL_GL_OBJECT_BUFFER 0x2000 -#define CL_GL_OBJECT_TEXTURE2D 0x2001 -#define CL_GL_OBJECT_TEXTURE3D 0x2002 -#define CL_GL_OBJECT_RENDERBUFFER 0x2003 -#define CL_GL_OBJECT_TEXTURE2D_ARRAY 0x200E -#define CL_GL_OBJECT_TEXTURE1D 0x200F -#define CL_GL_OBJECT_TEXTURE1D_ARRAY 0x2010 -#define CL_GL_OBJECT_TEXTURE_BUFFER 0x2011 - -/* cl_gl_texture_info */ -#define CL_GL_TEXTURE_TARGET 0x2004 -#define CL_GL_MIPMAP_LEVEL 0x2005 -#define CL_GL_NUM_SAMPLES 0x2012 - - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromGLBuffer(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLuint /* bufobj */, - int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromGLTexture(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLenum /* target */, - cl_GLint /* miplevel */, - cl_GLuint /* texture */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromGLRenderbuffer(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLuint /* renderbuffer */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetGLObjectInfo(cl_mem /* memobj */, - cl_gl_object_type * /* gl_object_type */, - cl_GLuint * /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetGLTextureInfo(cl_mem /* memobj */, - cl_gl_texture_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueAcquireGLObjects(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReleaseGLObjects(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - - -/* Deprecated OpenCL 1.1 APIs */ -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateFromGLTexture2D(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLenum /* target */, - cl_GLint /* miplevel */, - cl_GLuint /* texture */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateFromGLTexture3D(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLenum /* target */, - cl_GLint /* miplevel */, - cl_GLuint /* texture */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -/* cl_khr_gl_sharing extension */ - -#define cl_khr_gl_sharing 1 - -typedef cl_uint cl_gl_context_info; - -/* Additional Error Codes */ -#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR -1000 - -/* cl_gl_context_info */ -#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR 0x2006 -#define CL_DEVICES_FOR_GL_CONTEXT_KHR 0x2007 - -/* Additional cl_context_properties */ -#define CL_GL_CONTEXT_KHR 0x2008 -#define CL_EGL_DISPLAY_KHR 0x2009 -#define CL_GLX_DISPLAY_KHR 0x200A -#define CL_WGL_HDC_KHR 0x200B -#define CL_CGL_SHAREGROUP_KHR 0x200C - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetGLContextInfoKHR(const cl_context_properties * /* properties */, - cl_gl_context_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)( - const cl_context_properties * properties, - cl_gl_context_info param_name, - size_t param_value_size, - void * param_value, - size_t * param_value_size_ret); - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_GL_H */ diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h deleted file mode 100644 index e3c14c6408..0000000000 --- a/third_party/opencl/include/CL/cl_gl_ext.h +++ /dev/null @@ -1,74 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have */ -/* OpenGL dependencies. */ - -#ifndef __OPENCL_CL_GL_EXT_H -#define __OPENCL_CL_GL_EXT_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef __APPLE__ - #include -#else - #include -#endif - -/* - * For each extension, follow this template - * cl_VEN_extname extension */ -/* #define cl_VEN_extname 1 - * ... define new types, if any - * ... define new tokens, if any - * ... define new APIs, if any - * - * If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header - * This allows us to avoid having to decide whether to include GL headers or GLES here. - */ - -/* - * cl_khr_gl_event extension - * See section 9.9 in the OpenCL 1.1 spec for more information - */ -#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR 0x200D - -extern CL_API_ENTRY cl_event CL_API_CALL -clCreateEventFromGLsyncKHR(cl_context /* context */, - cl_GLsync /* cl_GLsync */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_GL_EXT_H */ diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h deleted file mode 100644 index 4e334a2918..0000000000 --- a/third_party/opencl/include/CL/cl_platform.h +++ /dev/null @@ -1,1333 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */ - -#ifndef __CL_PLATFORM_H -#define __CL_PLATFORM_H - -#ifdef __APPLE__ - /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */ - #include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -#if defined(_WIN32) - #define CL_API_ENTRY - #define CL_API_CALL __stdcall - #define CL_CALLBACK __stdcall -#else - #define CL_API_ENTRY - #define CL_API_CALL - #define CL_CALLBACK -#endif - -/* - * Deprecation flags refer to the last version of the header in which the - * feature was not deprecated. - * - * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without - * deprecation but is deprecated in versions later than 1.1. - */ - -#ifdef __APPLE__ - #define CL_EXTENSION_WEAK_LINK __attribute__((weak_import)) - #define CL_API_SUFFIX__VERSION_1_0 AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_0 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER - #define CL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define GCL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7 - - #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8 - #else - #warning This path should never happen outside of internal operating system development. AvailabilityMacros do not function correctly here! - #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #endif -#else - #define CL_EXTENSION_WEAK_LINK - #define CL_API_SUFFIX__VERSION_1_0 - #define CL_EXT_SUFFIX__VERSION_1_0 - #define CL_API_SUFFIX__VERSION_1_1 - #define CL_EXT_SUFFIX__VERSION_1_1 - #define CL_API_SUFFIX__VERSION_1_2 - #define CL_EXT_SUFFIX__VERSION_1_2 - #define CL_API_SUFFIX__VERSION_2_0 - #define CL_EXT_SUFFIX__VERSION_2_0 - #define CL_API_SUFFIX__VERSION_2_1 - #define CL_EXT_SUFFIX__VERSION_2_1 - - #ifdef __GNUC__ - #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #endif - #elif _WIN32 - #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated) - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated) - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated) - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated) - #endif - #else - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #endif -#endif - -#if (defined (_WIN32) && defined(_MSC_VER)) - -/* scalar types */ -typedef signed __int8 cl_char; -typedef unsigned __int8 cl_uchar; -typedef signed __int16 cl_short; -typedef unsigned __int16 cl_ushort; -typedef signed __int32 cl_int; -typedef unsigned __int32 cl_uint; -typedef signed __int64 cl_long; -typedef unsigned __int64 cl_ulong; - -typedef unsigned __int16 cl_half; -typedef float cl_float; -typedef double cl_double; - -/* Macro names and corresponding values defined by OpenCL */ -#define CL_CHAR_BIT 8 -#define CL_SCHAR_MAX 127 -#define CL_SCHAR_MIN (-127-1) -#define CL_CHAR_MAX CL_SCHAR_MAX -#define CL_CHAR_MIN CL_SCHAR_MIN -#define CL_UCHAR_MAX 255 -#define CL_SHRT_MAX 32767 -#define CL_SHRT_MIN (-32767-1) -#define CL_USHRT_MAX 65535 -#define CL_INT_MAX 2147483647 -#define CL_INT_MIN (-2147483647-1) -#define CL_UINT_MAX 0xffffffffU -#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) -#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) -#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) - -#define CL_FLT_DIG 6 -#define CL_FLT_MANT_DIG 24 -#define CL_FLT_MAX_10_EXP +38 -#define CL_FLT_MAX_EXP +128 -#define CL_FLT_MIN_10_EXP -37 -#define CL_FLT_MIN_EXP -125 -#define CL_FLT_RADIX 2 -#define CL_FLT_MAX 340282346638528859811704183484516925440.0f -#define CL_FLT_MIN 1.175494350822287507969e-38f -#define CL_FLT_EPSILON 0x1.0p-23f - -#define CL_DBL_DIG 15 -#define CL_DBL_MANT_DIG 53 -#define CL_DBL_MAX_10_EXP +308 -#define CL_DBL_MAX_EXP +1024 -#define CL_DBL_MIN_10_EXP -307 -#define CL_DBL_MIN_EXP -1021 -#define CL_DBL_RADIX 2 -#define CL_DBL_MAX 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0 -#define CL_DBL_MIN 2.225073858507201383090e-308 -#define CL_DBL_EPSILON 2.220446049250313080847e-16 - -#define CL_M_E 2.718281828459045090796 -#define CL_M_LOG2E 1.442695040888963387005 -#define CL_M_LOG10E 0.434294481903251816668 -#define CL_M_LN2 0.693147180559945286227 -#define CL_M_LN10 2.302585092994045901094 -#define CL_M_PI 3.141592653589793115998 -#define CL_M_PI_2 1.570796326794896557999 -#define CL_M_PI_4 0.785398163397448278999 -#define CL_M_1_PI 0.318309886183790691216 -#define CL_M_2_PI 0.636619772367581382433 -#define CL_M_2_SQRTPI 1.128379167095512558561 -#define CL_M_SQRT2 1.414213562373095145475 -#define CL_M_SQRT1_2 0.707106781186547572737 - -#define CL_M_E_F 2.71828174591064f -#define CL_M_LOG2E_F 1.44269502162933f -#define CL_M_LOG10E_F 0.43429449200630f -#define CL_M_LN2_F 0.69314718246460f -#define CL_M_LN10_F 2.30258512496948f -#define CL_M_PI_F 3.14159274101257f -#define CL_M_PI_2_F 1.57079637050629f -#define CL_M_PI_4_F 0.78539818525314f -#define CL_M_1_PI_F 0.31830987334251f -#define CL_M_2_PI_F 0.63661974668503f -#define CL_M_2_SQRTPI_F 1.12837922573090f -#define CL_M_SQRT2_F 1.41421353816986f -#define CL_M_SQRT1_2_F 0.70710676908493f - -#define CL_NAN (CL_INFINITY - CL_INFINITY) -#define CL_HUGE_VALF ((cl_float) 1e50) -#define CL_HUGE_VAL ((cl_double) 1e500) -#define CL_MAXFLOAT CL_FLT_MAX -#define CL_INFINITY CL_HUGE_VALF - -#else - -#include - -/* scalar types */ -typedef int8_t cl_char; -typedef uint8_t cl_uchar; -typedef int16_t cl_short __attribute__((aligned(2))); -typedef uint16_t cl_ushort __attribute__((aligned(2))); -typedef int32_t cl_int __attribute__((aligned(4))); -typedef uint32_t cl_uint __attribute__((aligned(4))); -typedef int64_t cl_long __attribute__((aligned(8))); -typedef uint64_t cl_ulong __attribute__((aligned(8))); - -typedef uint16_t cl_half __attribute__((aligned(2))); -typedef float cl_float __attribute__((aligned(4))); -typedef double cl_double __attribute__((aligned(8))); - -/* Macro names and corresponding values defined by OpenCL */ -#define CL_CHAR_BIT 8 -#define CL_SCHAR_MAX 127 -#define CL_SCHAR_MIN (-127-1) -#define CL_CHAR_MAX CL_SCHAR_MAX -#define CL_CHAR_MIN CL_SCHAR_MIN -#define CL_UCHAR_MAX 255 -#define CL_SHRT_MAX 32767 -#define CL_SHRT_MIN (-32767-1) -#define CL_USHRT_MAX 65535 -#define CL_INT_MAX 2147483647 -#define CL_INT_MIN (-2147483647-1) -#define CL_UINT_MAX 0xffffffffU -#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) -#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) -#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) - -#define CL_FLT_DIG 6 -#define CL_FLT_MANT_DIG 24 -#define CL_FLT_MAX_10_EXP +38 -#define CL_FLT_MAX_EXP +128 -#define CL_FLT_MIN_10_EXP -37 -#define CL_FLT_MIN_EXP -125 -#define CL_FLT_RADIX 2 -#define CL_FLT_MAX 0x1.fffffep127f -#define CL_FLT_MIN 0x1.0p-126f -#define CL_FLT_EPSILON 0x1.0p-23f - -#define CL_DBL_DIG 15 -#define CL_DBL_MANT_DIG 53 -#define CL_DBL_MAX_10_EXP +308 -#define CL_DBL_MAX_EXP +1024 -#define CL_DBL_MIN_10_EXP -307 -#define CL_DBL_MIN_EXP -1021 -#define CL_DBL_RADIX 2 -#define CL_DBL_MAX 0x1.fffffffffffffp1023 -#define CL_DBL_MIN 0x1.0p-1022 -#define CL_DBL_EPSILON 0x1.0p-52 - -#define CL_M_E 2.718281828459045090796 -#define CL_M_LOG2E 1.442695040888963387005 -#define CL_M_LOG10E 0.434294481903251816668 -#define CL_M_LN2 0.693147180559945286227 -#define CL_M_LN10 2.302585092994045901094 -#define CL_M_PI 3.141592653589793115998 -#define CL_M_PI_2 1.570796326794896557999 -#define CL_M_PI_4 0.785398163397448278999 -#define CL_M_1_PI 0.318309886183790691216 -#define CL_M_2_PI 0.636619772367581382433 -#define CL_M_2_SQRTPI 1.128379167095512558561 -#define CL_M_SQRT2 1.414213562373095145475 -#define CL_M_SQRT1_2 0.707106781186547572737 - -#define CL_M_E_F 2.71828174591064f -#define CL_M_LOG2E_F 1.44269502162933f -#define CL_M_LOG10E_F 0.43429449200630f -#define CL_M_LN2_F 0.69314718246460f -#define CL_M_LN10_F 2.30258512496948f -#define CL_M_PI_F 3.14159274101257f -#define CL_M_PI_2_F 1.57079637050629f -#define CL_M_PI_4_F 0.78539818525314f -#define CL_M_1_PI_F 0.31830987334251f -#define CL_M_2_PI_F 0.63661974668503f -#define CL_M_2_SQRTPI_F 1.12837922573090f -#define CL_M_SQRT2_F 1.41421353816986f -#define CL_M_SQRT1_2_F 0.70710676908493f - -#if defined( __GNUC__ ) - #define CL_HUGE_VALF __builtin_huge_valf() - #define CL_HUGE_VAL __builtin_huge_val() - #define CL_NAN __builtin_nanf( "" ) -#else - #define CL_HUGE_VALF ((cl_float) 1e50) - #define CL_HUGE_VAL ((cl_double) 1e500) - float nanf( const char * ); - #define CL_NAN nanf( "" ) -#endif -#define CL_MAXFLOAT CL_FLT_MAX -#define CL_INFINITY CL_HUGE_VALF - -#endif - -#include - -/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */ -typedef unsigned int cl_GLuint; -typedef int cl_GLint; -typedef unsigned int cl_GLenum; - -/* - * Vector types - * - * Note: OpenCL requires that all types be naturally aligned. - * This means that vector types must be naturally aligned. - * For example, a vector of four floats must be aligned to - * a 16 byte boundary (calculated as 4 * the natural 4-byte - * alignment of the float). The alignment qualifiers here - * will only function properly if your compiler supports them - * and if you don't actively work to defeat them. For example, - * in order for a cl_float4 to be 16 byte aligned in a struct, - * the start of the struct must itself be 16-byte aligned. - * - * Maintaining proper alignment is the user's responsibility. - */ - -/* Define basic vector types */ -#if defined( __VEC__ ) - #include /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */ - typedef vector unsigned char __cl_uchar16; - typedef vector signed char __cl_char16; - typedef vector unsigned short __cl_ushort8; - typedef vector signed short __cl_short8; - typedef vector unsigned int __cl_uint4; - typedef vector signed int __cl_int4; - typedef vector float __cl_float4; - #define __CL_UCHAR16__ 1 - #define __CL_CHAR16__ 1 - #define __CL_USHORT8__ 1 - #define __CL_SHORT8__ 1 - #define __CL_UINT4__ 1 - #define __CL_INT4__ 1 - #define __CL_FLOAT4__ 1 -#endif - -#if defined( __SSE__ ) - #if defined( __MINGW64__ ) - #include - #else - #include - #endif - #if defined( __GNUC__ ) - typedef float __cl_float4 __attribute__((vector_size(16))); - #else - typedef __m128 __cl_float4; - #endif - #define __CL_FLOAT4__ 1 -#endif - -#if defined( __SSE2__ ) - #if defined( __MINGW64__ ) - #include - #else - #include - #endif - #if defined( __GNUC__ ) - typedef cl_uchar __cl_uchar16 __attribute__((vector_size(16))); - typedef cl_char __cl_char16 __attribute__((vector_size(16))); - typedef cl_ushort __cl_ushort8 __attribute__((vector_size(16))); - typedef cl_short __cl_short8 __attribute__((vector_size(16))); - typedef cl_uint __cl_uint4 __attribute__((vector_size(16))); - typedef cl_int __cl_int4 __attribute__((vector_size(16))); - typedef cl_ulong __cl_ulong2 __attribute__((vector_size(16))); - typedef cl_long __cl_long2 __attribute__((vector_size(16))); - typedef cl_double __cl_double2 __attribute__((vector_size(16))); - #else - typedef __m128i __cl_uchar16; - typedef __m128i __cl_char16; - typedef __m128i __cl_ushort8; - typedef __m128i __cl_short8; - typedef __m128i __cl_uint4; - typedef __m128i __cl_int4; - typedef __m128i __cl_ulong2; - typedef __m128i __cl_long2; - typedef __m128d __cl_double2; - #endif - #define __CL_UCHAR16__ 1 - #define __CL_CHAR16__ 1 - #define __CL_USHORT8__ 1 - #define __CL_SHORT8__ 1 - #define __CL_INT4__ 1 - #define __CL_UINT4__ 1 - #define __CL_ULONG2__ 1 - #define __CL_LONG2__ 1 - #define __CL_DOUBLE2__ 1 -#endif - -#if defined( __MMX__ ) - #include - #if defined( __GNUC__ ) - typedef cl_uchar __cl_uchar8 __attribute__((vector_size(8))); - typedef cl_char __cl_char8 __attribute__((vector_size(8))); - typedef cl_ushort __cl_ushort4 __attribute__((vector_size(8))); - typedef cl_short __cl_short4 __attribute__((vector_size(8))); - typedef cl_uint __cl_uint2 __attribute__((vector_size(8))); - typedef cl_int __cl_int2 __attribute__((vector_size(8))); - typedef cl_ulong __cl_ulong1 __attribute__((vector_size(8))); - typedef cl_long __cl_long1 __attribute__((vector_size(8))); - typedef cl_float __cl_float2 __attribute__((vector_size(8))); - #else - typedef __m64 __cl_uchar8; - typedef __m64 __cl_char8; - typedef __m64 __cl_ushort4; - typedef __m64 __cl_short4; - typedef __m64 __cl_uint2; - typedef __m64 __cl_int2; - typedef __m64 __cl_ulong1; - typedef __m64 __cl_long1; - typedef __m64 __cl_float2; - #endif - #define __CL_UCHAR8__ 1 - #define __CL_CHAR8__ 1 - #define __CL_USHORT4__ 1 - #define __CL_SHORT4__ 1 - #define __CL_INT2__ 1 - #define __CL_UINT2__ 1 - #define __CL_ULONG1__ 1 - #define __CL_LONG1__ 1 - #define __CL_FLOAT2__ 1 -#endif - -#if defined( __AVX__ ) - #if defined( __MINGW64__ ) - #include - #else - #include - #endif - #if defined( __GNUC__ ) - typedef cl_float __cl_float8 __attribute__((vector_size(32))); - typedef cl_double __cl_double4 __attribute__((vector_size(32))); - #else - typedef __m256 __cl_float8; - typedef __m256d __cl_double4; - #endif - #define __CL_FLOAT8__ 1 - #define __CL_DOUBLE4__ 1 -#endif - -/* Define capabilities for anonymous struct members. */ -#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ ) -#define __CL_HAS_ANON_STRUCT__ 1 -#define __CL_ANON_STRUCT__ __extension__ -#elif defined( _WIN32) && (_MSC_VER >= 1500) - /* Microsoft Developer Studio 2008 supports anonymous structs, but - * complains by default. */ -#define __CL_HAS_ANON_STRUCT__ 1 -#define __CL_ANON_STRUCT__ - /* Disable warning C4201: nonstandard extension used : nameless - * struct/union */ -#pragma warning( push ) -#pragma warning( disable : 4201 ) -#else -#define __CL_HAS_ANON_STRUCT__ 0 -#define __CL_ANON_STRUCT__ -#endif - -/* Define alignment keys */ -#if defined( __GNUC__ ) - #define CL_ALIGNED(_x) __attribute__ ((aligned(_x))) -#elif defined( _WIN32) && (_MSC_VER) - /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements */ - /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx */ - /* #include */ - /* #define CL_ALIGNED(_x) _CRT_ALIGN(_x) */ - #define CL_ALIGNED(_x) -#else - #warning Need to implement some method to align data here - #define CL_ALIGNED(_x) -#endif - -/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */ -#if __CL_HAS_ANON_STRUCT__ - /* .xyzw and .s0123...{f|F} are supported */ - #define CL_HAS_NAMED_VECTOR_FIELDS 1 - /* .hi and .lo are supported */ - #define CL_HAS_HI_LO_VECTOR_FIELDS 1 -#endif - -/* Define cl_vector types */ - -/* ---- cl_charn ---- */ -typedef union -{ - cl_char CL_ALIGNED(2) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_char lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2; -#endif -}cl_char2; - -typedef union -{ - cl_char CL_ALIGNED(4) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2[2]; -#endif -#if defined( __CL_CHAR4__) - __cl_char4 v4; -#endif -}cl_char4; - -/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */ -typedef cl_char4 cl_char3; - -typedef union -{ - cl_char CL_ALIGNED(8) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2[4]; -#endif -#if defined( __CL_CHAR4__) - __cl_char4 v4[2]; -#endif -#if defined( __CL_CHAR8__ ) - __cl_char8 v8; -#endif -}cl_char8; - -typedef union -{ - cl_char CL_ALIGNED(16) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2[8]; -#endif -#if defined( __CL_CHAR4__) - __cl_char4 v4[4]; -#endif -#if defined( __CL_CHAR8__ ) - __cl_char8 v8[2]; -#endif -#if defined( __CL_CHAR16__ ) - __cl_char16 v16; -#endif -}cl_char16; - - -/* ---- cl_ucharn ---- */ -typedef union -{ - cl_uchar CL_ALIGNED(2) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_uchar lo, hi; }; -#endif -#if defined( __cl_uchar2__) - __cl_uchar2 v2; -#endif -}cl_uchar2; - -typedef union -{ - cl_uchar CL_ALIGNED(4) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; }; -#endif -#if defined( __CL_UCHAR2__) - __cl_uchar2 v2[2]; -#endif -#if defined( __CL_UCHAR4__) - __cl_uchar4 v4; -#endif -}cl_uchar4; - -/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */ -typedef cl_uchar4 cl_uchar3; - -typedef union -{ - cl_uchar CL_ALIGNED(8) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; }; -#endif -#if defined( __CL_UCHAR2__) - __cl_uchar2 v2[4]; -#endif -#if defined( __CL_UCHAR4__) - __cl_uchar4 v4[2]; -#endif -#if defined( __CL_UCHAR8__ ) - __cl_uchar8 v8; -#endif -}cl_uchar8; - -typedef union -{ - cl_uchar CL_ALIGNED(16) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; }; -#endif -#if defined( __CL_UCHAR2__) - __cl_uchar2 v2[8]; -#endif -#if defined( __CL_UCHAR4__) - __cl_uchar4 v4[4]; -#endif -#if defined( __CL_UCHAR8__ ) - __cl_uchar8 v8[2]; -#endif -#if defined( __CL_UCHAR16__ ) - __cl_uchar16 v16; -#endif -}cl_uchar16; - - -/* ---- cl_shortn ---- */ -typedef union -{ - cl_short CL_ALIGNED(4) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_short lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2; -#endif -}cl_short2; - -typedef union -{ - cl_short CL_ALIGNED(8) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2[2]; -#endif -#if defined( __CL_SHORT4__) - __cl_short4 v4; -#endif -}cl_short4; - -/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */ -typedef cl_short4 cl_short3; - -typedef union -{ - cl_short CL_ALIGNED(16) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2[4]; -#endif -#if defined( __CL_SHORT4__) - __cl_short4 v4[2]; -#endif -#if defined( __CL_SHORT8__ ) - __cl_short8 v8; -#endif -}cl_short8; - -typedef union -{ - cl_short CL_ALIGNED(32) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2[8]; -#endif -#if defined( __CL_SHORT4__) - __cl_short4 v4[4]; -#endif -#if defined( __CL_SHORT8__ ) - __cl_short8 v8[2]; -#endif -#if defined( __CL_SHORT16__ ) - __cl_short16 v16; -#endif -}cl_short16; - - -/* ---- cl_ushortn ---- */ -typedef union -{ - cl_ushort CL_ALIGNED(4) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_ushort lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2; -#endif -}cl_ushort2; - -typedef union -{ - cl_ushort CL_ALIGNED(8) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2[2]; -#endif -#if defined( __CL_USHORT4__) - __cl_ushort4 v4; -#endif -}cl_ushort4; - -/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */ -typedef cl_ushort4 cl_ushort3; - -typedef union -{ - cl_ushort CL_ALIGNED(16) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2[4]; -#endif -#if defined( __CL_USHORT4__) - __cl_ushort4 v4[2]; -#endif -#if defined( __CL_USHORT8__ ) - __cl_ushort8 v8; -#endif -}cl_ushort8; - -typedef union -{ - cl_ushort CL_ALIGNED(32) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2[8]; -#endif -#if defined( __CL_USHORT4__) - __cl_ushort4 v4[4]; -#endif -#if defined( __CL_USHORT8__ ) - __cl_ushort8 v8[2]; -#endif -#if defined( __CL_USHORT16__ ) - __cl_ushort16 v16; -#endif -}cl_ushort16; - -/* ---- cl_intn ---- */ -typedef union -{ - cl_int CL_ALIGNED(8) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_int lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2; -#endif -}cl_int2; - -typedef union -{ - cl_int CL_ALIGNED(16) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2[2]; -#endif -#if defined( __CL_INT4__) - __cl_int4 v4; -#endif -}cl_int4; - -/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */ -typedef cl_int4 cl_int3; - -typedef union -{ - cl_int CL_ALIGNED(32) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2[4]; -#endif -#if defined( __CL_INT4__) - __cl_int4 v4[2]; -#endif -#if defined( __CL_INT8__ ) - __cl_int8 v8; -#endif -}cl_int8; - -typedef union -{ - cl_int CL_ALIGNED(64) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2[8]; -#endif -#if defined( __CL_INT4__) - __cl_int4 v4[4]; -#endif -#if defined( __CL_INT8__ ) - __cl_int8 v8[2]; -#endif -#if defined( __CL_INT16__ ) - __cl_int16 v16; -#endif -}cl_int16; - - -/* ---- cl_uintn ---- */ -typedef union -{ - cl_uint CL_ALIGNED(8) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_uint lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2; -#endif -}cl_uint2; - -typedef union -{ - cl_uint CL_ALIGNED(16) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2[2]; -#endif -#if defined( __CL_UINT4__) - __cl_uint4 v4; -#endif -}cl_uint4; - -/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */ -typedef cl_uint4 cl_uint3; - -typedef union -{ - cl_uint CL_ALIGNED(32) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2[4]; -#endif -#if defined( __CL_UINT4__) - __cl_uint4 v4[2]; -#endif -#if defined( __CL_UINT8__ ) - __cl_uint8 v8; -#endif -}cl_uint8; - -typedef union -{ - cl_uint CL_ALIGNED(64) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2[8]; -#endif -#if defined( __CL_UINT4__) - __cl_uint4 v4[4]; -#endif -#if defined( __CL_UINT8__ ) - __cl_uint8 v8[2]; -#endif -#if defined( __CL_UINT16__ ) - __cl_uint16 v16; -#endif -}cl_uint16; - -/* ---- cl_longn ---- */ -typedef union -{ - cl_long CL_ALIGNED(16) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_long lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2; -#endif -}cl_long2; - -typedef union -{ - cl_long CL_ALIGNED(32) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2[2]; -#endif -#if defined( __CL_LONG4__) - __cl_long4 v4; -#endif -}cl_long4; - -/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */ -typedef cl_long4 cl_long3; - -typedef union -{ - cl_long CL_ALIGNED(64) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2[4]; -#endif -#if defined( __CL_LONG4__) - __cl_long4 v4[2]; -#endif -#if defined( __CL_LONG8__ ) - __cl_long8 v8; -#endif -}cl_long8; - -typedef union -{ - cl_long CL_ALIGNED(128) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2[8]; -#endif -#if defined( __CL_LONG4__) - __cl_long4 v4[4]; -#endif -#if defined( __CL_LONG8__ ) - __cl_long8 v8[2]; -#endif -#if defined( __CL_LONG16__ ) - __cl_long16 v16; -#endif -}cl_long16; - - -/* ---- cl_ulongn ---- */ -typedef union -{ - cl_ulong CL_ALIGNED(16) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_ulong lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2; -#endif -}cl_ulong2; - -typedef union -{ - cl_ulong CL_ALIGNED(32) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2[2]; -#endif -#if defined( __CL_ULONG4__) - __cl_ulong4 v4; -#endif -}cl_ulong4; - -/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */ -typedef cl_ulong4 cl_ulong3; - -typedef union -{ - cl_ulong CL_ALIGNED(64) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2[4]; -#endif -#if defined( __CL_ULONG4__) - __cl_ulong4 v4[2]; -#endif -#if defined( __CL_ULONG8__ ) - __cl_ulong8 v8; -#endif -}cl_ulong8; - -typedef union -{ - cl_ulong CL_ALIGNED(128) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2[8]; -#endif -#if defined( __CL_ULONG4__) - __cl_ulong4 v4[4]; -#endif -#if defined( __CL_ULONG8__ ) - __cl_ulong8 v8[2]; -#endif -#if defined( __CL_ULONG16__ ) - __cl_ulong16 v16; -#endif -}cl_ulong16; - - -/* --- cl_floatn ---- */ - -typedef union -{ - cl_float CL_ALIGNED(8) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_float lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2; -#endif -}cl_float2; - -typedef union -{ - cl_float CL_ALIGNED(16) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_float2 lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2[2]; -#endif -#if defined( __CL_FLOAT4__) - __cl_float4 v4; -#endif -}cl_float4; - -/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */ -typedef cl_float4 cl_float3; - -typedef union -{ - cl_float CL_ALIGNED(32) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_float4 lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2[4]; -#endif -#if defined( __CL_FLOAT4__) - __cl_float4 v4[2]; -#endif -#if defined( __CL_FLOAT8__ ) - __cl_float8 v8; -#endif -}cl_float8; - -typedef union -{ - cl_float CL_ALIGNED(64) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2[8]; -#endif -#if defined( __CL_FLOAT4__) - __cl_float4 v4[4]; -#endif -#if defined( __CL_FLOAT8__ ) - __cl_float8 v8[2]; -#endif -#if defined( __CL_FLOAT16__ ) - __cl_float16 v16; -#endif -}cl_float16; - -/* --- cl_doublen ---- */ - -typedef union -{ - cl_double CL_ALIGNED(16) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_double lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2; -#endif -}cl_double2; - -typedef union -{ - cl_double CL_ALIGNED(32) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2[2]; -#endif -#if defined( __CL_DOUBLE4__) - __cl_double4 v4; -#endif -}cl_double4; - -/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */ -typedef cl_double4 cl_double3; - -typedef union -{ - cl_double CL_ALIGNED(64) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2[4]; -#endif -#if defined( __CL_DOUBLE4__) - __cl_double4 v4[2]; -#endif -#if defined( __CL_DOUBLE8__ ) - __cl_double8 v8; -#endif -}cl_double8; - -typedef union -{ - cl_double CL_ALIGNED(128) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2[8]; -#endif -#if defined( __CL_DOUBLE4__) - __cl_double4 v4[4]; -#endif -#if defined( __CL_DOUBLE8__ ) - __cl_double8 v8[2]; -#endif -#if defined( __CL_DOUBLE16__ ) - __cl_double16 v16; -#endif -}cl_double16; - -/* Macro to facilitate debugging - * Usage: - * Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source. - * The first line ends with: CL_PROGRAM_STRING_DEBUG_INFO \" - * Each line thereafter of OpenCL C source must end with: \n\ - * The last line ends in "; - * - * Example: - * - * const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\ - * kernel void foo( int a, float * b ) \n\ - * { \n\ - * // my comment \n\ - * *b[ get_global_id(0)] = a; \n\ - * } \n\ - * "; - * - * This should correctly set up the line, (column) and file information for your source - * string so you can do source level debugging. - */ -#define __CL_STRINGIFY( _x ) # _x -#define _CL_STRINGIFY( _x ) __CL_STRINGIFY( _x ) -#define CL_PROGRAM_STRING_DEBUG_INFO "#line " _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n" - -#ifdef __cplusplus -} -#endif - -#undef __CL_HAS_ANON_STRUCT__ -#undef __CL_ANON_STRUCT__ -#if defined( _WIN32) && (_MSC_VER >= 1500) -#pragma warning( pop ) -#endif - -#endif /* __CL_PLATFORM_H */ diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h deleted file mode 100644 index 9855cd75e7..0000000000 --- a/third_party/opencl/include/CL/opencl.h +++ /dev/null @@ -1,59 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_H -#define __OPENCL_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef __APPLE__ - -#include -#include -#include -#include - -#else - -#include -#include -#include -#include - -#endif - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_H */ - diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d4cfc67280..b79d046fca 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -57,11 +57,9 @@ base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == "Darwin": - base_frameworks.append('OpenCL') base_frameworks.append('QtCharts') base_frameworks.append('QtSerialBus') else: - base_libs.append('OpenCL') base_libs.append('Qt5Charts') base_libs.append('Qt5SerialBus') diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 5c2131d4bf..f428e9972a 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -58,9 +58,6 @@ function install_ubuntu_common_requirements() { libzmq3-dev \ libzstd-dev \ libsqlite3-dev \ - opencl-headers \ - ocl-icd-libopencl1 \ - ocl-icd-opencl-dev \ portaudio19-dev \ qttools5-dev-tools \ libqt5svg5-dev \ diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 136c4119f6..698ab9885d 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -6,11 +6,6 @@ replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations'] base_frameworks = [] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] -if arch == "Darwin": - base_frameworks.append('OpenCL') -else: - base_libs.append('OpenCL') - replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"] if arch != "Darwin": diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 67ad2cc8cb..6abbc47935 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -10,10 +10,6 @@ What's needed: ## Setup openpilot - Follow [this readme](../README.md) to install and build the requirements -- Install OpenCL Driver (Ubuntu) -``` -sudo apt install pocl-opencl-icd -``` ## Connect the hardware - Connect the camera first From 46f74753cd2ee9c72a23acfb1f310338149d3c48 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 6 Feb 2026 17:11:17 -0800 Subject: [PATCH 26/65] clip: use wrap_text helper (#37102) * they are same * no duplication! * rm rstrip --- tools/clip/run.py | 25 ++----------------------- 1 file changed, 2 insertions(+), 23 deletions(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 13f591eb41..855ac6fea3 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -238,30 +238,9 @@ def draw_text_box(text, x, y, size, gui_app, font, color=None, center=False): rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color) -def _wrap_text_by_delimiter(text: str, font, font_size: int, max_width: int, delimiter: str = ", ") -> list[str]: - from openpilot.system.ui.lib.text_measure import measure_text_cached - """Wrap text by splitting on delimiter when it exceeds max_width.""" - words = text.split(delimiter) - lines: list[str] = [] - current_line: list[str] = [] - # Build lines word by word - for word in words: - current_line.append(word) - check_line = delimiter.join(current_line) - # Check if line exceeds max width - if measure_text_cached(font, check_line, font_size).x > max_width: - current_line.pop() # Line is too long, move word to next line - if current_line: - lines.append(delimiter.join(current_line)) - current_line = [word] - # Add leftover words as last line - if current_line: - lines.append(delimiter.join(current_line)) - return lines - - def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx, show_metadata, show_time): from openpilot.system.ui.lib.text_measure import measure_text_cached + from openpilot.system.ui.lib.wrap_text import wrap_text metadata_size = 16 if big else 12 title_size = 32 if big else 24 time_size = 24 if big else 16 @@ -282,7 +261,7 @@ def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx, # Wrap text if too wide (leave margin on each side) margin = 2 * (time_width + 10 if show_time else 20) # leave enough margin for time overlay max_width = gui_app.width - margin - lines = _wrap_text_by_delimiter(text, font, metadata_size, max_width) + lines = wrap_text(font, text, metadata_size, max_width) # Draw wrapped metadata text y_offset = 6 From e531f844f6ada4020850873e808ec7441fbcc2c5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 6 Feb 2026 20:15:12 -0800 Subject: [PATCH 27/65] bump opendbc (#37108) bump --- opendbc_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc_repo b/opendbc_repo index 39ee861197..05348982cb 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 39ee861197edca894fc1b2e28d6fd1a38aea9ca1 +Subproject commit 05348982cb7b6bc6fed73611ac26ecda658194fc From efc23644c74714725ce8022f9dae0bcf7a293617 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 6 Feb 2026 22:59:05 -0800 Subject: [PATCH 28/65] Delete less dialogs (#37111) * try * revert * this is fine --- selfdrive/ui/mici/layouts/settings/device.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py index c12a92482c..f8dba659d2 100644 --- a/selfdrive/ui/mici/layouts/settings/device.py +++ b/selfdrive/ui/mici/layouts/settings/device.py @@ -326,7 +326,7 @@ class DeviceLayoutMici(NavWidget): driver_cam_btn.set_click_callback(self._show_driver_camera) driver_cam_btn.set_enabled(lambda: ui_state.is_offroad()) - review_training_guide_btn = BigButton("review\nntraining guide", "", "icons_mici/settings/device/info.png") + review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png") review_training_guide_btn.set_click_callback(self._on_review_training_guide) review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad()) @@ -353,7 +353,7 @@ class DeviceLayoutMici(NavWidget): def _on_regulatory(self): if not self._fcc_dialog: self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html")) - gui_app.set_modal_overlay(self._fcc_dialog, callback=setattr(self, '_fcc_dialog', None)) + gui_app.set_modal_overlay(self._fcc_dialog) def _offroad_transition(self): self._power_off_btn.set_visible(ui_state.is_offroad()) From 51312afd3da58ac73cc98d5c908cbebd70498ba5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sat, 7 Feb 2026 09:10:29 -0800 Subject: [PATCH 29/65] revert tg calib and opencl cleanup (#37113) * Revert "Remove all the OpenCL (#37105)" This reverts commit d5cbb89d84212bfd99d5fdd8b19f76d90b4f40e0. * Revert "rm common/mat.h" This reverts commit 4ce701150a3f932aca210e3ff372ffcdb2a23e83. * Revert "Calibrate in tg (#36621)" This reverts commit 593c3a0c8e69686ee821b2a0b2cfa9901b67dc27. --- Dockerfile.openpilot_base | 37 + SConstruct | 1 + common/SConscript | 1 + common/clutil.cc | 98 ++ common/clutil.h | 28 + common/mat.h | 85 + msgq_repo | 2 +- selfdrive/modeld/SConscript | 49 +- selfdrive/modeld/compile_warp.py | 206 --- selfdrive/modeld/dmonitoringmodeld.py | 33 +- selfdrive/modeld/modeld.py | 59 +- selfdrive/modeld/models/commonmodel.cc | 64 + selfdrive/modeld/models/commonmodel.h | 97 ++ selfdrive/modeld/models/commonmodel.pxd | 27 + selfdrive/modeld/models/commonmodel_pyx.pxd | 13 + selfdrive/modeld/models/commonmodel_pyx.pyx | 74 + selfdrive/modeld/runners/tinygrad_helpers.py | 8 + selfdrive/modeld/transforms/loadyuv.cc | 76 + selfdrive/modeld/transforms/loadyuv.cl | 47 + selfdrive/modeld/transforms/loadyuv.h | 20 + selfdrive/modeld/transforms/transform.cc | 97 ++ selfdrive/modeld/transforms/transform.cl | 54 + selfdrive/modeld/transforms/transform.h | 25 + selfdrive/test/process_replay/model_replay.py | 2 +- .../test/process_replay/process_replay.py | 15 +- system/camerad/SConscript | 2 +- system/camerad/cameras/camera_common.cc | 5 +- system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 22 +- system/camerad/cameras/spectra.cc | 4 +- system/camerad/cameras/spectra.h | 2 +- system/loggerd/SConscript | 5 +- third_party/opencl/include/CL/cl.h | 1452 +++++++++++++++++ third_party/opencl/include/CL/cl_d3d10.h | 131 ++ third_party/opencl/include/CL/cl_d3d11.h | 131 ++ .../opencl/include/CL/cl_dx9_media_sharing.h | 132 ++ third_party/opencl/include/CL/cl_egl.h | 136 ++ third_party/opencl/include/CL/cl_ext.h | 391 +++++ third_party/opencl/include/CL/cl_ext_qcom.h | 255 +++ third_party/opencl/include/CL/cl_gl.h | 167 ++ third_party/opencl/include/CL/cl_gl_ext.h | 74 + third_party/opencl/include/CL/cl_platform.h | 1333 +++++++++++++++ third_party/opencl/include/CL/opencl.h | 59 + tools/cabana/SConscript | 2 + tools/install_ubuntu_dependencies.sh | 3 + tools/replay/SConscript | 5 + tools/webcam/README.md | 4 + 47 files changed, 5235 insertions(+), 300 deletions(-) create mode 100644 common/clutil.cc create mode 100644 common/clutil.h create mode 100644 common/mat.h delete mode 100755 selfdrive/modeld/compile_warp.py create mode 100644 selfdrive/modeld/models/commonmodel.cc create mode 100644 selfdrive/modeld/models/commonmodel.h create mode 100644 selfdrive/modeld/models/commonmodel.pxd create mode 100644 selfdrive/modeld/models/commonmodel_pyx.pxd create mode 100644 selfdrive/modeld/models/commonmodel_pyx.pyx create mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py create mode 100644 selfdrive/modeld/transforms/loadyuv.cc create mode 100644 selfdrive/modeld/transforms/loadyuv.cl create mode 100644 selfdrive/modeld/transforms/loadyuv.h create mode 100644 selfdrive/modeld/transforms/transform.cc create mode 100644 selfdrive/modeld/transforms/transform.cl create mode 100644 selfdrive/modeld/transforms/transform.h create mode 100644 third_party/opencl/include/CL/cl.h create mode 100644 third_party/opencl/include/CL/cl_d3d10.h create mode 100644 third_party/opencl/include/CL/cl_d3d11.h create mode 100644 third_party/opencl/include/CL/cl_dx9_media_sharing.h create mode 100644 third_party/opencl/include/CL/cl_egl.h create mode 100644 third_party/opencl/include/CL/cl_ext.h create mode 100644 third_party/opencl/include/CL/cl_ext_qcom.h create mode 100644 third_party/opencl/include/CL/cl_gl.h create mode 100644 third_party/opencl/include/CL/cl_gl_ext.h create mode 100644 third_party/opencl/include/CL/cl_platform.h create mode 100644 third_party/opencl/include/CL/opencl.h diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 8a60412993..44d8d95e95 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -18,6 +18,43 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \ cd /usr/lib/gcc/arm-none-eabi/* && \ rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp +# Add OpenCL +RUN apt-get update && apt-get install -y --no-install-recommends \ + apt-utils \ + alien \ + unzip \ + tar \ + curl \ + xz-utils \ + dbus \ + gcc-arm-none-eabi \ + tmux \ + vim \ + libx11-6 \ + wget \ + && rm -rf /var/lib/apt/lists/* + +RUN mkdir -p /tmp/opencl-driver-intel && \ + cd /tmp/opencl-driver-intel && \ + wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ + wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \ + mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ + cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ + tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ + mkdir -p /etc/OpenCL/vendors && \ + echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \ + cd /opt/intel && \ + tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \ + ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ + ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ + ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ + ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ + mkdir -p /etc/ld.so.conf.d && \ + echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \ + ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \ + cd / && \ + rm -rf /tmp/opencl-driver-intel + ENV NVIDIA_VISIBLE_DEVICES=all ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute ENV QTWEBENGINE_DISABLE_SANDBOX=1 diff --git a/SConstruct b/SConstruct index 4f04be624c..ca5b7b6cb7 100644 --- a/SConstruct +++ b/SConstruct @@ -94,6 +94,7 @@ env = Environment( # Arch-specific flags and paths if arch == "larch64": + env.Append(CPPPATH=["#third_party/opencl/include"]) env.Append(LIBPATH=[ "/usr/local/lib", "/system/vendor/lib64", diff --git a/common/SConscript b/common/SConscript index 15a0e5eff1..1c68cf05c7 100644 --- a/common/SConscript +++ b/common/SConscript @@ -5,6 +5,7 @@ common_libs = [ 'swaglog.cc', 'util.cc', 'ratekeeper.cc', + 'clutil.cc', ] _common = env.Library('common', common_libs, LIBS="json11") diff --git a/common/clutil.cc b/common/clutil.cc new file mode 100644 index 0000000000..f8381a7e09 --- /dev/null +++ b/common/clutil.cc @@ -0,0 +1,98 @@ +#include "common/clutil.h" + +#include +#include +#include + +#include "common/util.h" +#include "common/swaglog.h" + +namespace { // helper functions + +template +std::string get_info(Func get_info_func, Id id, Name param_name) { + size_t size = 0; + CL_CHECK(get_info_func(id, param_name, 0, NULL, &size)); + std::string info(size, '\0'); + CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL)); + return info; +} +inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); } +inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); } + +void cl_print_info(cl_platform_id platform, cl_device_id device) { + size_t work_group_size = 0; + cl_device_type device_type = 0; + clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL); + clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL); + const char *type_str = "Other..."; + switch (device_type) { + case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break; + case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break; + case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break; + } + + LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str()); + LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str()); + LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str()); + LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str()); + LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str()); + LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str()); + LOGD("max work group size: %zu", work_group_size); + LOGD("type = %d, %s", (int)device_type, type_str); +} + +void cl_print_build_errors(cl_program program, cl_device_id device) { + cl_build_status status; + clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL); + size_t log_size; + clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size); + std::string log(log_size, '\0'); + clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL); + + LOGE("build failed; status=%d, log: %s", status, log.c_str()); +} + +} // namespace + +cl_device_id cl_get_device_id(cl_device_type device_type) { + cl_uint num_platforms = 0; + CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms)); + std::unique_ptr platform_ids = std::make_unique(num_platforms); + CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL)); + + for (size_t i = 0; i < num_platforms; ++i) { + LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str()); + + // Get first device + if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) { + cl_print_info(platform_ids[i], device_id); + return device_id; + } + } + LOGE("No valid openCL platform found"); + assert(0); + return nullptr; +} + +cl_context cl_create_context(cl_device_id device_id) { + return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); +} + +void cl_release_context(cl_context context) { + clReleaseContext(context); +} + +cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) { + return cl_program_from_source(ctx, device_id, util::read_file(path), args); +} + +cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) { + const char *csrc = src.c_str(); + cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err)); + if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) { + cl_print_build_errors(prg, device_id); + assert(0); + } + return prg; +} diff --git a/common/clutil.h b/common/clutil.h new file mode 100644 index 0000000000..b364e79d45 --- /dev/null +++ b/common/clutil.h @@ -0,0 +1,28 @@ +#pragma once + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include + +#define CL_CHECK(_expr) \ + do { \ + assert(CL_SUCCESS == (_expr)); \ + } while (0) + +#define CL_CHECK_ERR(_expr) \ + ({ \ + cl_int err = CL_INVALID_VALUE; \ + __typeof__(_expr) _ret = _expr; \ + assert(_ret&& err == CL_SUCCESS); \ + _ret; \ + }) + +cl_device_id cl_get_device_id(cl_device_type device_type); +cl_context cl_create_context(cl_device_id device_id); +void cl_release_context(cl_context context); +cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr); +cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args); diff --git a/common/mat.h b/common/mat.h new file mode 100644 index 0000000000..8e10d61971 --- /dev/null +++ b/common/mat.h @@ -0,0 +1,85 @@ +#pragma once + +typedef struct vec3 { + float v[3]; +} vec3; + +typedef struct vec4 { + float v[4]; +} vec4; + +typedef struct mat3 { + float v[3*3]; +} mat3; + +typedef struct mat4 { + float v[4*4]; +} mat4; + +static inline mat3 matmul3(const mat3 &a, const mat3 &b) { + mat3 ret = {{0.0}}; + for (int r=0; r<3; r++) { + for (int c=0; c<3; c++) { + float v = 0.0; + for (int k=0; k<3; k++) { + v += a.v[r*3+k] * b.v[k*3+c]; + } + ret.v[r*3+c] = v; + } + } + return ret; +} + +static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) { + vec3 ret = {{0.0}}; + for (int r=0; r<3; r++) { + for (int c=0; c<3; c++) { + ret.v[r] += a.v[r*3+c] * b.v[c]; + } + } + return ret; +} + +static inline mat4 matmul(const mat4 &a, const mat4 &b) { + mat4 ret = {{0.0}}; + for (int r=0; r<4; r++) { + for (int c=0; c<4; c++) { + float v = 0.0; + for (int k=0; k<4; k++) { + v += a.v[r*4+k] * b.v[k*4+c]; + } + ret.v[r*4+c] = v; + } + } + return ret; +} + +static inline vec4 matvecmul(const mat4 &a, const vec4 &b) { + vec4 ret = {{0.0}}; + for (int r=0; r<4; r++) { + for (int c=0; c<4; c++) { + ret.v[r] += a.v[r*4+c] * b.v[c]; + } + } + return ret; +} + +// scales the input and output space of a transformation matrix +// that assumes pixel-center origin. +static inline mat3 transform_scale_buffer(const mat3 &in, float s) { + // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s + + mat3 transform_out = {{ + 1.0f/s, 0.0f, 0.5f, + 0.0f, 1.0f/s, 0.5f, + 0.0f, 0.0f, 1.0f, + }}; + + mat3 transform_in = {{ + s, 0.0f, -0.5f*s, + 0.0f, s, -0.5f*s, + 0.0f, 0.0f, 1.0f, + }}; + + return matmul3(transform_in, matmul3(in, transform_out)); +} diff --git a/msgq_repo b/msgq_repo index f9ebdca885..20f2493855 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit f9ebdca885cfe25295d09de9fd57023a10758de5 +Subproject commit 20f2493855ef32339b80f0ad76b3cb82210dc474 diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 72d3f95c41..91f3597447 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,10 +1,35 @@ import os import glob -Import('env', 'arch') +Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc') lenv = env.Clone() +lenvCython = envCython.Clone() -tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x] +libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread'] +frameworks = [] + +common_src = [ + "models/commonmodel.cc", + "transforms/loadyuv.cc", + "transforms/transform.cc", +] + +# OpenCL is a framework on Mac +if arch == "Darwin": + frameworks += ['OpenCL'] +else: + libs += ['OpenCL'] + +# Set path definitions +for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items(): + for xenv in (lenv, lenvCython): + xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') + +# Compile cython +cython_libs = envCython["LIBS"] + libs +commonmodel_lib = lenv.Library('commonmodel', common_src) +lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) +tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]) # Get model metadata for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: @@ -13,30 +38,22 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd) -# compile warp -tg_flags = { - 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0', - 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env -}.get(arch, 'DEV=CPU CPU_LLVM=1') -image_flag = { - 'larch64': 'IMAGE=2', -}.get(arch, 'IMAGE=0') -script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)] -cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py ' -lenv.Command(fn + "warp_tinygrad.pkl", tinygrad_files + script_files, cmd) - def tg_compile(flags, model_name): pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' fn = File(f"models/{model_name}").abspath return lenv.Command( fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, - f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' + f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' ) # Compile small models for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: - tg_compile(tg_flags, model_name) + flags = { + 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0', + 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env + }.get(arch, 'DEV=CPU CPU_LLVM=1') + tg_compile(flags, model_name) # Compile BIG model if USB GPU is available if "USBGPU" in os.environ: diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py deleted file mode 100755 index 5adb60e624..0000000000 --- a/selfdrive/modeld/compile_warp.py +++ /dev/null @@ -1,206 +0,0 @@ -#!/usr/bin/env python3 -import time -import pickle -import numpy as np -from pathlib import Path -from tinygrad.tensor import Tensor -from tinygrad.helpers import Context -from tinygrad.device import Device -from tinygrad.engine.jit import TinyJit - -from openpilot.system.camerad.cameras.nv12_info import get_nv12_info -from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE -from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye - -MODELS_DIR = Path(__file__).parent / 'models' - -CAMERA_CONFIGS = [ - (_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208 - (_os_fisheye.width, _os_fisheye.height), # mici: 1344x760 -] - -UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32) -UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX) - -IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2) - - -def warp_pkl_path(w, h): - return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' - - -def dm_warp_pkl_path(w, h): - return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl' - - -def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, ratio): - w_dst, h_dst = dst_shape - h_src, w_src = src_shape - - x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst) - y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst) - ones = Tensor.ones_like(x) - dst_coords = x.reshape(1, -1).cat(y.reshape(1, -1)).cat(ones.reshape(1, -1)) - - src_coords = M_inv @ dst_coords - src_coords = src_coords / src_coords[2:3, :] - - x_nn_clipped = Tensor.round(src_coords[0]).clip(0, w_src - 1).cast('int') - y_nn_clipped = Tensor.round(src_coords[1]).clip(0, h_src - 1).cast('int') - idx = y_nn_clipped * w_src + (y_nn_clipped * ratio).cast('int') * stride_pad + x_nn_clipped - - sampled = src_flat[idx] - return sampled - - -def frames_to_tensor(frames, model_w, model_h): - H = (frames.shape[0] * 2) // 3 - W = frames.shape[1] - in_img1 = Tensor.cat(frames[0:H:2, 0::2], - frames[1:H:2, 0::2], - frames[0:H:2, 1::2], - frames[1:H:2, 1::2], - frames[H:H+H//4].reshape((H//2, W//2)), - frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2)) - return in_img1 - - -def make_frame_prepare(cam_w, cam_h, model_w, model_h): - stride, y_height, _, _ = get_nv12_info(cam_w, cam_h) - uv_offset = stride * y_height - stride_pad = stride - cam_w - - def frame_prepare_tinygrad(input_frame, M_inv): - tg_scale = Tensor(UV_SCALE_MATRIX) - M_inv_uv = tg_scale @ M_inv @ Tensor(UV_SCALE_MATRIX_INV) - with Context(SPLIT_REDUCEOP=0): - y = warp_perspective_tinygrad(input_frame[:cam_h*stride], - M_inv, (model_w, model_h), - (cam_h, cam_w), stride_pad, 1).realize() - u = warp_perspective_tinygrad(input_frame[uv_offset:uv_offset + (cam_h//4)*stride], - M_inv_uv, (model_w//2, model_h//2), - (cam_h//2, cam_w//2), stride_pad, 0.5).realize() - v = warp_perspective_tinygrad(input_frame[uv_offset + (cam_h//4)*stride:uv_offset + (cam_h//2)*stride], - M_inv_uv, (model_w//2, model_h//2), - (cam_h//2, cam_w//2), stride_pad, 0.5).realize() - yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w)) - tensor = frames_to_tensor(yuv, model_w, model_h) - return tensor - return frame_prepare_tinygrad - - -def make_update_img_input(frame_prepare, model_w, model_h): - def update_img_input_tinygrad(tensor, frame, M_inv): - M_inv = M_inv.to(Device.DEFAULT) - new_img = frame_prepare(frame, M_inv) - full_buffer = tensor[6:].cat(new_img, dim=0).contiguous() - return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2) - return update_img_input_tinygrad - - -def make_update_both_imgs(frame_prepare, model_w, model_h): - update_img = make_update_img_input(frame_prepare, model_w, model_h) - - def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv, - calib_big_img_buffer, new_big_img, M_inv_big): - calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv) - calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big) - return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair - return update_both_imgs_tinygrad - - -def make_warp_dm(cam_w, cam_h, dm_w, dm_h): - stride, y_height, _, _ = get_nv12_info(cam_w, cam_h) - stride_pad = stride - cam_w - - def warp_dm(input_frame, M_inv): - M_inv = M_inv.to(Device.DEFAULT) - with Context(SPLIT_REDUCEOP=0): - result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad, 1).reshape(-1, dm_h * dm_w) - return result - return warp_dm - - -def compile_modeld_warp(cam_w, cam_h): - model_w, model_h = MEDMODEL_INPUT_SIZE - _, _, _, yuv_size = get_nv12_info(cam_w, cam_h) - - print(f"Compiling modeld warp for {cam_w}x{cam_h}...") - - frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h) - update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h) - update_img_jit = TinyJit(update_both_imgs, prune=True) - - full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize() - big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize() - full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8) - big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8) - - for i in range(10): - new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8) - img_inputs = [full_buffer, - Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(), - Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] - new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8) - big_img_inputs = [big_full_buffer, - Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(), - Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] - inputs = img_inputs + big_img_inputs - Device.default.synchronize() - - inputs_np = [x.numpy() for x in inputs] - inputs_np[0] = full_buffer_np - inputs_np[3] = big_full_buffer_np - - st = time.perf_counter() - out = update_img_jit(*inputs) - full_buffer = out[0].contiguous().realize().clone() - big_full_buffer = out[2].contiguous().realize().clone() - mt = time.perf_counter() - Device.default.synchronize() - et = time.perf_counter() - print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") - - pkl_path = warp_pkl_path(cam_w, cam_h) - with open(pkl_path, "wb") as f: - pickle.dump(update_img_jit, f) - print(f" Saved to {pkl_path}") - - jit = pickle.load(open(pkl_path, "rb")) - jit(*inputs) - - -def compile_dm_warp(cam_w, cam_h): - dm_w, dm_h = DM_INPUT_SIZE - _, _, _, yuv_size = get_nv12_info(cam_w, cam_h) - - print(f"Compiling DM warp for {cam_w}x{cam_h}...") - - warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h) - warp_dm_jit = TinyJit(warp_dm, prune=True) - - for i in range(10): - inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'), - Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] - Device.default.synchronize() - st = time.perf_counter() - warp_dm_jit(*inputs) - mt = time.perf_counter() - Device.default.synchronize() - et = time.perf_counter() - print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") - - pkl_path = dm_warp_pkl_path(cam_w, cam_h) - with open(pkl_path, "wb") as f: - pickle.dump(warp_dm_jit, f) - print(f" Saved to {pkl_path}") - - -def run_and_save_pickle(): - for cam_w, cam_h in CAMERA_CONFIGS: - compile_modeld_warp(cam_w, cam_h) - compile_dm_warp(cam_w, cam_h) - - -if __name__ == "__main__": - run_and_save_pickle() diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 7d4df713c7..fca762c69b 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -3,6 +3,7 @@ import os from openpilot.system.hardware import TICI os.environ['DEV'] = 'QCOM' if TICI else 'CPU' from tinygrad.tensor import Tensor +from tinygrad.dtype import dtypes import time import pickle import numpy as np @@ -15,34 +16,32 @@ from openpilot.common.swaglog import cloudlog from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import dmonitoringmodel_intrinsics from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye -from openpilot.system.camerad.cameras.nv12_info import get_nv12_info +from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp +from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl' METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl' -MODELS_DIR = Path(__file__).parent / 'models' + class ModelState: inputs: dict[str, np.ndarray] output: np.ndarray - def __init__(self): + def __init__(self, cl_ctx): with open(METADATA_PATH, 'rb') as f: model_metadata = pickle.load(f) self.input_shapes = model_metadata['input_shapes'] self.output_slices = model_metadata['output_slices'] + self.frame = MonitoringModelFrame(cl_ctx) self.numpy_inputs = { 'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32), } - self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)} - self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()} - self.frame_buf_params = None self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} - self.image_warp = None with open(MODEL_PKL_PATH, "rb") as f: self.model_run = pickle.load(f) @@ -51,15 +50,14 @@ class ModelState: t1 = time.perf_counter() - if self.image_warp is None: - self.frame_buf_params = get_nv12_info(buf.width, buf.height) - warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl' - with open(warp_path, "rb") as f: - self.image_warp = pickle.load(f) - self.warp_inputs['frame'] = Tensor.from_blob(buf.data.ctypes.data, (self.frame_buf_params[3],), dtype='uint8').realize() + input_img_cl = self.frame.prepare(buf, transform.flatten()) + if TICI: + # The imgs tensors are backed by opencl memory, only need init once + if 'input_img' not in self.tensor_inputs: + self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, self.input_shapes['input_img'], dtype=dtypes.uint8) + else: + self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize() - self.warp_inputs_np['transform'][:] = transform[:] - self.tensor_inputs['input_img'] = self.image_warp(self.warp_inputs['frame'], self.warp_inputs['transform']).realize() output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy() @@ -109,11 +107,12 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t def main(): config_realtime_process(7, 5) - model = ModelState() + cl_context = CLContext() + model = ModelState(cl_context) cloudlog.warning("models loaded, dmonitoringmodeld starting") cloudlog.warning("connecting to driver stream") - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True) + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context) while not vipc_client.connect(False): time.sleep(0.1) assert vipc_client.is_connected() diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 7fae365109..1f347dc32a 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -7,6 +7,7 @@ if USBGPU: os.environ['DEV'] = 'AMD' os.environ['AMD_IFACE'] = 'USB' from tinygrad.tensor import Tensor +from tinygrad.dtype import dtypes import time import pickle import numpy as np @@ -21,13 +22,14 @@ from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.common.transformations.model import get_warp_matrix from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan +from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext +from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address PROCESS_NAME = "selfdrive.modeld.modeld" @@ -37,15 +39,11 @@ VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl' POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -MODELS_DIR = Path(__file__).parent / 'models' LAT_SMOOTH_SECONDS = 0.0 LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 -IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256) -assert IMG_QUEUE_SHAPE[0] == 30 - def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: @@ -138,11 +136,12 @@ class InputQueues: return out class ModelState: + frames: dict[str, DrivingModelFrame] inputs: dict[str, np.ndarray] output: np.ndarray prev_desire: np.ndarray # for tracking the rising edge of the pulse - def __init__(self): + def __init__(self, context: CLContext): with open(VISION_METADATA_PATH, 'rb') as f: vision_metadata = pickle.load(f) self.vision_input_shapes = vision_metadata['input_shapes'] @@ -156,6 +155,7 @@ class ModelState: self.policy_output_slices = policy_metadata['output_slices'] policy_output_size = policy_metadata['output_shapes']['outputs'][1] + self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names} self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) # policy inputs @@ -165,17 +165,12 @@ class ModelState: self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape}) self.full_input_queues.reset() - self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(), - 'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),} - self.full_frames : dict[str, Tensor] = {} - self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues} - self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()} + # img buffers are managed in openCL transform code + self.vision_inputs: dict[str, Tensor] = {} self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) self.parser = Parser() - self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {} - self.update_imgs = None with open(VISION_PKL_PATH, "rb") as f: self.vision_run = pickle.load(f) @@ -193,28 +188,23 @@ class ModelState: inputs['desire_pulse'][0] = 0 new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) self.prev_desire[:] = inputs['desire_pulse'] - if self.update_imgs is None: - for key in bufs.keys(): - w, h = bufs[key].width, bufs[key].height - self.frame_buf_params[key] = get_nv12_info(w, h) - warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' - with open(warp_path, "rb") as f: - self.update_imgs = pickle.load(f) + imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} - for key in bufs.keys(): - self.full_frames[key] = Tensor.from_blob(bufs[key].data.ctypes.data, (self.frame_buf_params[key][3],), dtype='uint8').realize() - self.transforms_np[key][:,:] = transforms[key][:,:] - - out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'], - self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img']) - self.img_queues['img'], self.img_queues['big_img'], = out[0].realize(), out[2].realize() - vision_inputs = {'img': out[1], 'big_img': out[3]} + if TICI and not USBGPU: + # The imgs tensors are backed by opencl memory, only need init once + for key in imgs_cl: + if key not in self.vision_inputs: + self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8) + else: + for key in imgs_cl: + frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key]) + self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize() if prepare_only: return None - self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy() + self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy() vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices)) self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire}) @@ -224,6 +214,7 @@ class ModelState: self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) + combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()]) @@ -240,8 +231,10 @@ def main(demo=False): config_realtime_process(7, 54) st = time.monotonic() - cloudlog.warning("loading model") - model = ModelState() + cloudlog.warning("setting up CL context") + cl_context = CLContext() + cloudlog.warning("CL context ready; loading model") + model = ModelState(cl_context) cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting") # visionipc clients @@ -254,8 +247,8 @@ def main(demo=False): time.sleep(.1) vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD - vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True) - vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False) + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") while not vipc_client_main.connect(False): diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc new file mode 100644 index 0000000000..d3341e76ec --- /dev/null +++ b/selfdrive/modeld/models/commonmodel.cc @@ -0,0 +1,64 @@ +#include "selfdrive/modeld/models/commonmodel.h" + +#include +#include + +#include "common/clutil.h" + +DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) { + input_frames = std::make_unique(buf_size); + temporal_skip = _temporal_skip; + input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); + img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err)); + region.origin = temporal_skip * frame_size_bytes; + region.size = frame_size_bytes; + last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); + + loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT); + init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); +} + +cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { + run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); + + for (int i = 0; i < temporal_skip; i++) { + CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); + } + loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); + + copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes); + copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes); + + // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready. + clFinish(q); + return &input_frames_cl; +} + +DrivingModelFrame::~DrivingModelFrame() { + deinit_transform(); + loadyuv_destroy(&loadyuv); + CL_CHECK(clReleaseMemObject(input_frames_cl)); + CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl)); + CL_CHECK(clReleaseMemObject(last_img_cl)); + CL_CHECK(clReleaseCommandQueue(q)); +} + + +MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) { + input_frames = std::make_unique(buf_size); + input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); + + init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); +} + +cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { + run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); + clFinish(q); + return &y_cl; +} + +MonitoringModelFrame::~MonitoringModelFrame() { + deinit_transform(); + CL_CHECK(clReleaseMemObject(input_frame_cl)); + CL_CHECK(clReleaseCommandQueue(q)); +} diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h new file mode 100644 index 0000000000..176d7eb6dc --- /dev/null +++ b/selfdrive/modeld/models/commonmodel.h @@ -0,0 +1,97 @@ +#pragma once + +#include +#include +#include + +#include + +#define CL_USE_DEPRECATED_OPENCL_1_2_APIS +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include "common/mat.h" +#include "selfdrive/modeld/transforms/loadyuv.h" +#include "selfdrive/modeld/transforms/transform.h" + +class ModelFrame { +public: + ModelFrame(cl_device_id device_id, cl_context context) { + q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); + } + virtual ~ModelFrame() {} + virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; } + uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) { + CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr)); + clFinish(q); + return &input_frames[0]; + } + + int MODEL_WIDTH; + int MODEL_HEIGHT; + int MODEL_FRAME_SIZE; + int buf_size; + +protected: + cl_mem y_cl, u_cl, v_cl; + Transform transform; + cl_command_queue q; + std::unique_ptr input_frames; + + void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) { + y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err)); + u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err)); + v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err)); + transform_init(&transform, context, device_id); + } + + void deinit_transform() { + transform_destroy(&transform); + CL_CHECK(clReleaseMemObject(v_cl)); + CL_CHECK(clReleaseMemObject(u_cl)); + CL_CHECK(clReleaseMemObject(y_cl)); + } + + void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { + transform_queue(&transform, q, + yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, + y_cl, u_cl, v_cl, model_width, model_height, projection); + } +}; + +class DrivingModelFrame : public ModelFrame { +public: + DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip); + ~DrivingModelFrame(); + cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); + + const int MODEL_WIDTH = 512; + const int MODEL_HEIGHT = 256; + const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; + const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart + const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); + +private: + LoadYUVState loadyuv; + cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl; + cl_buffer_region region; + int temporal_skip; +}; + +class MonitoringModelFrame : public ModelFrame { +public: + MonitoringModelFrame(cl_device_id device_id, cl_context context); + ~MonitoringModelFrame(); + cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); + + const int MODEL_WIDTH = 1440; + const int MODEL_HEIGHT = 960; + const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT; + const int buf_size = MODEL_FRAME_SIZE; + +private: + cl_mem input_frame_cl; +}; diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd new file mode 100644 index 0000000000..4ac64d9172 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -0,0 +1,27 @@ +# distutils: language = c++ + +from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem + +cdef extern from "common/mat.h": + cdef struct mat3: + float v[9] + +cdef extern from "common/clutil.h": + cdef unsigned long CL_DEVICE_TYPE_DEFAULT + cl_device_id cl_get_device_id(unsigned long) + cl_context cl_create_context(cl_device_id) + void cl_release_context(cl_context) + +cdef extern from "selfdrive/modeld/models/commonmodel.h": + cppclass ModelFrame: + int buf_size + unsigned char * buffer_from_cl(cl_mem*, int); + cl_mem * prepare(cl_mem, int, int, int, int, mat3) + + cppclass DrivingModelFrame: + int buf_size + DrivingModelFrame(cl_device_id, cl_context, int) + + cppclass MonitoringModelFrame: + int buf_size + MonitoringModelFrame(cl_device_id, cl_context) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd new file mode 100644 index 0000000000..0bb798625b --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.pxd @@ -0,0 +1,13 @@ +# distutils: language = c++ + +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + +cdef class CLContext(BaseCLContext): + pass + +cdef class CLMem: + cdef cl_mem * mem + + @staticmethod + cdef create(void*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx new file mode 100644 index 0000000000..5b7d11bc71 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -0,0 +1,74 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii, language_level=3 + +import numpy as np +cimport numpy as cnp +from libc.string cimport memcpy +from libc.stdint cimport uintptr_t + +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext +from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context +from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame + + +cdef class CLContext(BaseCLContext): + def __cinit__(self): + self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) + self.context = cl_create_context(self.device_id) + + def __dealloc__(self): + if self.context: + cl_release_context(self.context) + +cdef class CLMem: + @staticmethod + cdef create(void * cmem): + mem = CLMem() + mem.mem = cmem + return mem + + @property + def mem_address(self): + return (self.mem) + +def cl_from_visionbuf(VisionBuf buf): + return CLMem.create(&buf.buf.buf_cl) + + +cdef class ModelFrame: + cdef cppModelFrame * frame + cdef int buf_size + + def __dealloc__(self): + del self.frame + + def prepare(self, VisionBuf buf, float[:] projection): + cdef mat3 cprojection + memcpy(cprojection.v, &projection[0], 9*sizeof(float)) + cdef cl_mem * data + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection) + return CLMem.create(data) + + def buffer_from_cl(self, CLMem in_frames): + cdef unsigned char * data2 + data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size) + return np.asarray( data2) + + +cdef class DrivingModelFrame(ModelFrame): + cdef cppDrivingModelFrame * _frame + + def __cinit__(self, CLContext context, int temporal_skip): + self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip) + self.frame = (self._frame) + self.buf_size = self._frame.buf_size + +cdef class MonitoringModelFrame(ModelFrame): + cdef cppMonitoringModelFrame * _frame + + def __cinit__(self, CLContext context): + self._frame = new cppMonitoringModelFrame(context.device_id, context.context) + self.frame = (self._frame) + self.buf_size = self._frame.buf_size + diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py new file mode 100644 index 0000000000..776381341c --- /dev/null +++ b/selfdrive/modeld/runners/tinygrad_helpers.py @@ -0,0 +1,8 @@ + +from tinygrad.tensor import Tensor +from tinygrad.helpers import to_mv + +def qcom_tensor_from_opencl_address(opencl_address, shape, dtype): + cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0] + rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer. + return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM') diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc new file mode 100644 index 0000000000..c93f5cd038 --- /dev/null +++ b/selfdrive/modeld/transforms/loadyuv.cc @@ -0,0 +1,76 @@ +#include "selfdrive/modeld/transforms/loadyuv.h" + +#include +#include +#include + +void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) { + memset(s, 0, sizeof(*s)); + + s->width = width; + s->height = height; + + char args[1024]; + snprintf(args, sizeof(args), + "-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, LOADYUV_PATH, args); + + s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err)); + s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err)); + s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err)); + + // done with this + CL_CHECK(clReleaseProgram(prg)); +} + +void loadyuv_destroy(LoadYUVState* s) { + CL_CHECK(clReleaseKernel(s->loadys_krnl)); + CL_CHECK(clReleaseKernel(s->loaduv_krnl)); + CL_CHECK(clReleaseKernel(s->copy_krnl)); +} + +void loadyuv_queue(LoadYUVState* s, cl_command_queue q, + cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, + cl_mem out_cl) { + cl_int global_out_off = 0; + + CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl)); + CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl)); + CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off)); + + const size_t loadys_work_size = (s->width*s->height)/8; + CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL, + &loadys_work_size, NULL, 0, 0, NULL)); + + const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8; + global_out_off += (s->width*s->height); + + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl)); + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); + + CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, + &loaduv_work_size, NULL, 0, 0, NULL)); + + global_out_off += (s->width/2)*(s->height/2); + + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl)); + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); + + CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, + &loaduv_work_size, NULL, 0, 0, NULL)); +} + +void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, + size_t src_offset, size_t dst_offset, size_t size) { + CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset)); + const size_t copy_work_size = size/8; + CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, + ©_work_size, NULL, 0, 0, NULL)); +} \ No newline at end of file diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl new file mode 100644 index 0000000000..970187a6d7 --- /dev/null +++ b/selfdrive/modeld/transforms/loadyuv.cl @@ -0,0 +1,47 @@ +#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) + +__kernel void loadys(__global uchar8 const * const Y, + __global uchar * out, + int out_offset) +{ + const int gid = get_global_id(0); + const int ois = gid * 8; + const int oy = ois / TRANSFORMED_WIDTH; + const int ox = ois % TRANSFORMED_WIDTH; + + const uchar8 ys = Y[gid]; + + // 02 + // 13 + + __global uchar* outy0; + __global uchar* outy1; + if ((oy & 1) == 0) { + outy0 = out + out_offset; //y0 + outy1 = out + out_offset + UV_SIZE*2; //y2 + } else { + outy0 = out + out_offset + UV_SIZE; //y1 + outy1 = out + out_offset + UV_SIZE*3; //y3 + } + + vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); +} + +__kernel void loaduv(__global uchar8 const * const in, + __global uchar8 * out, + int out_offset) +{ + const int gid = get_global_id(0); + const uchar8 inv = in[gid]; + out[gid + out_offset / 8] = inv; +} + +__kernel void copy(__global uchar8 * in, + __global uchar8 * out, + int in_offset, + int out_offset) +{ + const int gid = get_global_id(0); + out[gid + out_offset / 8] = in[gid + in_offset / 8]; +} diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h new file mode 100644 index 0000000000..659059cd25 --- /dev/null +++ b/selfdrive/modeld/transforms/loadyuv.h @@ -0,0 +1,20 @@ +#pragma once + +#include "common/clutil.h" + +typedef struct { + int width, height; + cl_kernel loadys_krnl, loaduv_krnl, copy_krnl; +} LoadYUVState; + +void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height); + +void loadyuv_destroy(LoadYUVState* s); + +void loadyuv_queue(LoadYUVState* s, cl_command_queue q, + cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, + cl_mem out_cl); + + +void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, + size_t src_offset, size_t dst_offset, size_t size); \ No newline at end of file diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc new file mode 100644 index 0000000000..305643cf42 --- /dev/null +++ b/selfdrive/modeld/transforms/transform.cc @@ -0,0 +1,97 @@ +#include "selfdrive/modeld/transforms/transform.h" + +#include +#include + +#include "common/clutil.h" + +void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) { + memset(s, 0, sizeof(*s)); + + cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, ""); + 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)); +} + +void transform_destroy(Transform* s) { + CL_CHECK(clReleaseMemObject(s->m_y_cl)); + CL_CHECK(clReleaseMemObject(s->m_uv_cl)); + CL_CHECK(clReleaseKernel(s->krnl)); +} + +void transform_queue(Transform* s, + cl_command_queue q, + cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset, + cl_mem out_y, cl_mem out_u, cl_mem out_v, + int out_width, int out_height, + const mat3& projection) { + const int zero = 0; + + // sampled using pixel center origin + // (because that's how fastcv and opencv does it) + + mat3 projection_y = projection; + + // in and out uv is half the size of y. + mat3 projection_uv = transform_scale_buffer(projection, 0.5); + + CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL)); + CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL)); + + const int in_y_width = in_width; + const int in_y_height = in_height; + const int in_y_px_stride = 1; + const int in_uv_width = in_width/2; + const int in_uv_height = in_height/2; + const int in_uv_px_stride = 2; + const int in_u_offset = in_uv_offset; + const int in_v_offset = in_uv_offset + 1; + + const int out_y_width = out_width; + const int out_y_height = out_height; + const int out_uv_width = out_width/2; + const int out_uv_height = out_height/2; + + CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src + CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset + CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows + CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst + CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset + CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows + CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols + CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M + + const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height}; + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_y, NULL, 0, 0, NULL)); + + const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height}; + + CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset + CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows + CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst + CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset + CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows + CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols + CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); +} diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl new file mode 100644 index 0000000000..2ca25920cd --- /dev/null +++ b/selfdrive/modeld/transforms/transform.cl @@ -0,0 +1,54 @@ +#define INTER_BITS 5 +#define INTER_TAB_SIZE (1 << INTER_BITS) +#define INTER_SCALE 1.f / INTER_TAB_SIZE + +#define INTER_REMAP_COEF_BITS 15 +#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS) + +__kernel void warpPerspective(__global const uchar * src, + int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols, + __global uchar * dst, + int dst_row_stride, int dst_offset, int dst_rows, int dst_cols, + __constant float * M) +{ + int dx = get_global_id(0); + int dy = get_global_id(1); + + if (dx < dst_cols && dy < dst_rows) + { + float X0 = M[0] * dx + M[1] * dy + M[2]; + float Y0 = M[3] * dx + M[4] * dy + M[5]; + float W = M[6] * dx + M[7] * dy + M[8]; + W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f; + int X = rint(X0 * W), Y = rint(Y0 * W); + + int sx = convert_short_sat(X >> INTER_BITS); + int sy = convert_short_sat(Y >> INTER_BITS); + + short sx_clamp = clamp(sx, 0, src_cols - 1); + short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1); + short sy_clamp = clamp(sy, 0, src_rows - 1); + short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1); + int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + + short ay = (short)(Y & (INTER_TAB_SIZE - 1)); + short ax = (short)(X & (INTER_TAB_SIZE - 1)); + float taby = 1.f/INTER_TAB_SIZE*ay; + float tabx = 1.f/INTER_TAB_SIZE*ax; + + int dst_index = mad24(dy, dst_row_stride, dst_offset + dx); + + int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); + int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE ); + int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); + int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE ); + + int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3; + + uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS); + dst[dst_index] = pix; + } +} diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h new file mode 100644 index 0000000000..771a7054b3 --- /dev/null +++ b/selfdrive/modeld/transforms/transform.h @@ -0,0 +1,25 @@ +#pragma once + +#define CL_USE_DEPRECATED_OPENCL_1_2_APIS +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include "common/mat.h" + +typedef struct { + cl_kernel krnl; + cl_mem m_y_cl, m_uv_cl; +} Transform; + +void transform_init(Transform* s, cl_context ctx, cl_device_id device_id); + +void transform_destroy(Transform* transform); + +void transform_queue(Transform* s, cl_command_queue q, + cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset, + cl_mem out_y, cl_mem out_u, cl_mem out_v, + int out_width, int out_height, + const mat3& projection); diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index c242328400..9ba599bac9 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -34,7 +34,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN) EXEC_TIMINGS = [ # model, instant max, average max - ("modelV2", 0.035, 0.028), + ("modelV2", 0.035, 0.025), ("driverStateV2", 0.02, 0.015), ] diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 5143334bc6..8af72e5f4e 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -4,7 +4,6 @@ import time import copy import heapq import signal -import numpy as np from collections import Counter from dataclasses import dataclass, field from itertools import islice @@ -24,7 +23,6 @@ from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL -from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all @@ -205,8 +203,7 @@ class ProcessContainer: if meta.camera_state in self.cfg.vision_pubs: assert frs[meta.camera_state].pix_fmt == 'nv12' frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h) - stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1]) - vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height) + vipc_server.create_buffers(meta.stream, 2, *frame_size) vipc_server.start_listener() self.vipc_server = vipc_server @@ -303,15 +300,7 @@ class ProcessContainer: camera_meta = meta_from_camera_state(m.which()) assert frs is not None img = frs[m.which()].get(camera_state.frameId) - - h, w = frs[m.which()].h, frs[m.which()].w - stride, y_height, _, yuv_size = get_nv12_info(w, h) - uv_offset = stride * y_height - padded_img = np.zeros((yuv_size), dtype=np.uint8).reshape((-1, stride)) - padded_img[:h, :w] = img[:h * w].reshape((-1, w)) - padded_img[uv_offset // stride:uv_offset // stride + h // 2, :w] = img[h * w:].reshape((-1, w)) - - self.vipc_server.send(camera_meta.stream, padded_img.flatten().tobytes(), + self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(), camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof) self.msg_queue = [] diff --git a/system/camerad/SConscript b/system/camerad/SConscript index c28330b32c..e288c6d8b0 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') -libs = [common, messaging, visionipc] +libs = [common, 'OpenCL', messaging, visionipc] if arch != "Darwin": camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 329192b63a..88bca7f775 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -7,7 +7,7 @@ #include "system/camerad/cameras/spectra.h" -void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { +void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { vipc_server = v; stream_type = type; frame_buf_count = frame_cnt; @@ -21,8 +21,9 @@ void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, Vis const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; for (int i = 0; i < frame_buf_count; i++) { camera_bufs_raw[i].allocate(raw_frame_size); + camera_bufs_raw[i].init_cl(device_id, context); } - LOGD("allocated %d buffers", frame_buf_count); + LOGD("allocated %d CL buffers", frame_buf_count); } vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 7f35e06a83..c26859cbc4 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -36,7 +36,7 @@ public: CameraBuf() = default; ~CameraBuf(); - void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); + void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); void sendFrameToVipc(); }; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 6a7f599ab6..d741e13cf3 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -12,8 +12,16 @@ #include #include +#ifdef __TICI__ +#include "CL/cl_ext_qcom.h" +#else +#define CL_PRIORITY_HINT_HIGH_QCOM NULL +#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL +#endif + #include "media/cam_sensor_cmn_header.h" +#include "common/clutil.h" #include "common/params.h" #include "common/swaglog.h" @@ -49,7 +57,7 @@ public: CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {}; ~CameraState(); - void init(VisionIpcServer *v); + void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); void set_camera_exposure(float grey_frac); void set_exposure_rect(); @@ -60,8 +68,8 @@ public: } }; -void CameraState::init(VisionIpcServer *v) { - camera.camera_open(v); +void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { + camera.camera_open(v, device_id, ctx); if (!camera.enabled) return; @@ -249,7 +257,11 @@ void CameraState::sendState() { void camerad_thread() { // TODO: centralize enabled handling - VisionIpcServer v("camerad"); + cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); + const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0}; + cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err)); + + VisionIpcServer v("camerad", device_id, ctx); // *** initial ISP init *** SpectraMaster m; @@ -259,7 +271,7 @@ void camerad_thread() { std::vector> cams; for (const auto &config : ALL_CAMERA_CONFIGS) { auto cam = std::make_unique(&m, config); - cam->init(&v); + cam->init(&v, device_id, ctx); cams.emplace_back(std::move(cam)); } diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 73e0a78da3..5c3e7a9d23 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -274,7 +274,7 @@ int SpectraCamera::clear_req_queue() { return ret; } -void SpectraCamera::camera_open(VisionIpcServer *v) { +void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { if (!openSensor()) { return; } @@ -296,7 +296,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v) { linkDevices(); LOGD("camera init %d", cc.camera_num); - buf.init(this, v, ife_buf_depth, cc.stream_type); + buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type); camera_map_bufs(); clearAndRequeue(1); } diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index a02b8a6cac..13cb13f98f 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -113,7 +113,7 @@ public: SpectraCamera(SpectraMaster *master, const CameraConfig &config); ~SpectraCamera(); - void camera_open(VisionIpcServer *v); + void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); bool handle_camera_event(const cam_req_mgr_message *event_data); void camera_close(); void camera_map_bufs(); diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index cc8ef7c88f..cf169f4dc6 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -2,13 +2,16 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') libs = [common, messaging, visionipc, 'avformat', 'avcodec', 'avutil', - 'yuv', 'pthread', 'zstd'] + 'yuv', 'OpenCL', 'pthread', 'zstd'] src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc'] if arch != "larch64": src += ['encoder/ffmpeg_encoder.cc'] if arch == "Darwin": + # fix OpenCL + del libs[libs.index('OpenCL')] + env['FRAMEWORKS'] = ['OpenCL'] # exclude v4l del src[src.index('encoder/v4l_encoder.cc')] diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h new file mode 100644 index 0000000000..0086319f5f --- /dev/null +++ b/third_party/opencl/include/CL/cl.h @@ -0,0 +1,1452 @@ +/******************************************************************************* + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +#ifndef __OPENCL_CL_H +#define __OPENCL_CL_H + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/******************************************************************************/ + +typedef struct _cl_platform_id * cl_platform_id; +typedef struct _cl_device_id * cl_device_id; +typedef struct _cl_context * cl_context; +typedef struct _cl_command_queue * cl_command_queue; +typedef struct _cl_mem * cl_mem; +typedef struct _cl_program * cl_program; +typedef struct _cl_kernel * cl_kernel; +typedef struct _cl_event * cl_event; +typedef struct _cl_sampler * cl_sampler; + +typedef cl_uint cl_bool; /* WARNING! Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ +typedef cl_ulong cl_bitfield; +typedef cl_bitfield cl_device_type; +typedef cl_uint cl_platform_info; +typedef cl_uint cl_device_info; +typedef cl_bitfield cl_device_fp_config; +typedef cl_uint cl_device_mem_cache_type; +typedef cl_uint cl_device_local_mem_type; +typedef cl_bitfield cl_device_exec_capabilities; +typedef cl_bitfield cl_device_svm_capabilities; +typedef cl_bitfield cl_command_queue_properties; +typedef intptr_t cl_device_partition_property; +typedef cl_bitfield cl_device_affinity_domain; + +typedef intptr_t cl_context_properties; +typedef cl_uint cl_context_info; +typedef cl_bitfield cl_queue_properties; +typedef cl_uint cl_command_queue_info; +typedef cl_uint cl_channel_order; +typedef cl_uint cl_channel_type; +typedef cl_bitfield cl_mem_flags; +typedef cl_bitfield cl_svm_mem_flags; +typedef cl_uint cl_mem_object_type; +typedef cl_uint cl_mem_info; +typedef cl_bitfield cl_mem_migration_flags; +typedef cl_uint cl_image_info; +typedef cl_uint cl_buffer_create_type; +typedef cl_uint cl_addressing_mode; +typedef cl_uint cl_filter_mode; +typedef cl_uint cl_sampler_info; +typedef cl_bitfield cl_map_flags; +typedef intptr_t cl_pipe_properties; +typedef cl_uint cl_pipe_info; +typedef cl_uint cl_program_info; +typedef cl_uint cl_program_build_info; +typedef cl_uint cl_program_binary_type; +typedef cl_int cl_build_status; +typedef cl_uint cl_kernel_info; +typedef cl_uint cl_kernel_arg_info; +typedef cl_uint cl_kernel_arg_address_qualifier; +typedef cl_uint cl_kernel_arg_access_qualifier; +typedef cl_bitfield cl_kernel_arg_type_qualifier; +typedef cl_uint cl_kernel_work_group_info; +typedef cl_uint cl_kernel_sub_group_info; +typedef cl_uint cl_event_info; +typedef cl_uint cl_command_type; +typedef cl_uint cl_profiling_info; +typedef cl_bitfield cl_sampler_properties; +typedef cl_uint cl_kernel_exec_info; + +typedef struct _cl_image_format { + cl_channel_order image_channel_order; + cl_channel_type image_channel_data_type; +} cl_image_format; + +typedef struct _cl_image_desc { + cl_mem_object_type image_type; + size_t image_width; + size_t image_height; + size_t image_depth; + size_t image_array_size; + size_t image_row_pitch; + size_t image_slice_pitch; + cl_uint num_mip_levels; + cl_uint num_samples; +#ifdef __GNUC__ + __extension__ /* Prevents warnings about anonymous union in -pedantic builds */ +#endif + union { + cl_mem buffer; + cl_mem mem_object; + }; +} cl_image_desc; + +typedef struct _cl_buffer_region { + size_t origin; + size_t size; +} cl_buffer_region; + + +/******************************************************************************/ + +/* Error Codes */ +#define CL_SUCCESS 0 +#define CL_DEVICE_NOT_FOUND -1 +#define CL_DEVICE_NOT_AVAILABLE -2 +#define CL_COMPILER_NOT_AVAILABLE -3 +#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4 +#define CL_OUT_OF_RESOURCES -5 +#define CL_OUT_OF_HOST_MEMORY -6 +#define CL_PROFILING_INFO_NOT_AVAILABLE -7 +#define CL_MEM_COPY_OVERLAP -8 +#define CL_IMAGE_FORMAT_MISMATCH -9 +#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10 +#define CL_BUILD_PROGRAM_FAILURE -11 +#define CL_MAP_FAILURE -12 +#define CL_MISALIGNED_SUB_BUFFER_OFFSET -13 +#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14 +#define CL_COMPILE_PROGRAM_FAILURE -15 +#define CL_LINKER_NOT_AVAILABLE -16 +#define CL_LINK_PROGRAM_FAILURE -17 +#define CL_DEVICE_PARTITION_FAILED -18 +#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE -19 + +#define CL_INVALID_VALUE -30 +#define CL_INVALID_DEVICE_TYPE -31 +#define CL_INVALID_PLATFORM -32 +#define CL_INVALID_DEVICE -33 +#define CL_INVALID_CONTEXT -34 +#define CL_INVALID_QUEUE_PROPERTIES -35 +#define CL_INVALID_COMMAND_QUEUE -36 +#define CL_INVALID_HOST_PTR -37 +#define CL_INVALID_MEM_OBJECT -38 +#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39 +#define CL_INVALID_IMAGE_SIZE -40 +#define CL_INVALID_SAMPLER -41 +#define CL_INVALID_BINARY -42 +#define CL_INVALID_BUILD_OPTIONS -43 +#define CL_INVALID_PROGRAM -44 +#define CL_INVALID_PROGRAM_EXECUTABLE -45 +#define CL_INVALID_KERNEL_NAME -46 +#define CL_INVALID_KERNEL_DEFINITION -47 +#define CL_INVALID_KERNEL -48 +#define CL_INVALID_ARG_INDEX -49 +#define CL_INVALID_ARG_VALUE -50 +#define CL_INVALID_ARG_SIZE -51 +#define CL_INVALID_KERNEL_ARGS -52 +#define CL_INVALID_WORK_DIMENSION -53 +#define CL_INVALID_WORK_GROUP_SIZE -54 +#define CL_INVALID_WORK_ITEM_SIZE -55 +#define CL_INVALID_GLOBAL_OFFSET -56 +#define CL_INVALID_EVENT_WAIT_LIST -57 +#define CL_INVALID_EVENT -58 +#define CL_INVALID_OPERATION -59 +#define CL_INVALID_GL_OBJECT -60 +#define CL_INVALID_BUFFER_SIZE -61 +#define CL_INVALID_MIP_LEVEL -62 +#define CL_INVALID_GLOBAL_WORK_SIZE -63 +#define CL_INVALID_PROPERTY -64 +#define CL_INVALID_IMAGE_DESCRIPTOR -65 +#define CL_INVALID_COMPILER_OPTIONS -66 +#define CL_INVALID_LINKER_OPTIONS -67 +#define CL_INVALID_DEVICE_PARTITION_COUNT -68 +#define CL_INVALID_PIPE_SIZE -69 +#define CL_INVALID_DEVICE_QUEUE -70 + +/* OpenCL Version */ +#define CL_VERSION_1_0 1 +#define CL_VERSION_1_1 1 +#define CL_VERSION_1_2 1 +#define CL_VERSION_2_0 1 +#define CL_VERSION_2_1 1 + +/* cl_bool */ +#define CL_FALSE 0 +#define CL_TRUE 1 +#define CL_BLOCKING CL_TRUE +#define CL_NON_BLOCKING CL_FALSE + +/* cl_platform_info */ +#define CL_PLATFORM_PROFILE 0x0900 +#define CL_PLATFORM_VERSION 0x0901 +#define CL_PLATFORM_NAME 0x0902 +#define CL_PLATFORM_VENDOR 0x0903 +#define CL_PLATFORM_EXTENSIONS 0x0904 +#define CL_PLATFORM_HOST_TIMER_RESOLUTION 0x0905 + +/* cl_device_type - bitfield */ +#define CL_DEVICE_TYPE_DEFAULT (1 << 0) +#define CL_DEVICE_TYPE_CPU (1 << 1) +#define CL_DEVICE_TYPE_GPU (1 << 2) +#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3) +#define CL_DEVICE_TYPE_CUSTOM (1 << 4) +#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF + +/* cl_device_info */ +#define CL_DEVICE_TYPE 0x1000 +#define CL_DEVICE_VENDOR_ID 0x1001 +#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002 +#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003 +#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004 +#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B +#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C +#define CL_DEVICE_ADDRESS_BITS 0x100D +#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E +#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F +#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010 +#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011 +#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012 +#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013 +#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014 +#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015 +#define CL_DEVICE_IMAGE_SUPPORT 0x1016 +#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017 +#define CL_DEVICE_MAX_SAMPLERS 0x1018 +#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019 +#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A +#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B +#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C +#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D +#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E +#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F +#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020 +#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021 +#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022 +#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023 +#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024 +#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025 +#define CL_DEVICE_ENDIAN_LITTLE 0x1026 +#define CL_DEVICE_AVAILABLE 0x1027 +#define CL_DEVICE_COMPILER_AVAILABLE 0x1028 +#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029 +#define CL_DEVICE_QUEUE_PROPERTIES 0x102A /* deprecated */ +#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES 0x102A +#define CL_DEVICE_NAME 0x102B +#define CL_DEVICE_VENDOR 0x102C +#define CL_DRIVER_VERSION 0x102D +#define CL_DEVICE_PROFILE 0x102E +#define CL_DEVICE_VERSION 0x102F +#define CL_DEVICE_EXTENSIONS 0x1030 +#define CL_DEVICE_PLATFORM 0x1031 +#define CL_DEVICE_DOUBLE_FP_CONFIG 0x1032 +/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */ +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF 0x1034 +#define CL_DEVICE_HOST_UNIFIED_MEMORY 0x1035 /* deprecated */ +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR 0x1036 +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT 0x1037 +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT 0x1038 +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG 0x1039 +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT 0x103A +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE 0x103B +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF 0x103C +#define CL_DEVICE_OPENCL_C_VERSION 0x103D +#define CL_DEVICE_LINKER_AVAILABLE 0x103E +#define CL_DEVICE_BUILT_IN_KERNELS 0x103F +#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE 0x1040 +#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE 0x1041 +#define CL_DEVICE_PARENT_DEVICE 0x1042 +#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES 0x1043 +#define CL_DEVICE_PARTITION_PROPERTIES 0x1044 +#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN 0x1045 +#define CL_DEVICE_PARTITION_TYPE 0x1046 +#define CL_DEVICE_REFERENCE_COUNT 0x1047 +#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC 0x1048 +#define CL_DEVICE_PRINTF_BUFFER_SIZE 0x1049 +#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT 0x104A +#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT 0x104B +#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS 0x104C +#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE 0x104D +#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES 0x104E +#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE 0x104F +#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE 0x1050 +#define CL_DEVICE_MAX_ON_DEVICE_QUEUES 0x1051 +#define CL_DEVICE_MAX_ON_DEVICE_EVENTS 0x1052 +#define CL_DEVICE_SVM_CAPABILITIES 0x1053 +#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE 0x1054 +#define CL_DEVICE_MAX_PIPE_ARGS 0x1055 +#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS 0x1056 +#define CL_DEVICE_PIPE_MAX_PACKET_SIZE 0x1057 +#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT 0x1058 +#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT 0x1059 +#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT 0x105A +#define CL_DEVICE_IL_VERSION 0x105B +#define CL_DEVICE_MAX_NUM_SUB_GROUPS 0x105C +#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D + +/* cl_device_fp_config - bitfield */ +#define CL_FP_DENORM (1 << 0) +#define CL_FP_INF_NAN (1 << 1) +#define CL_FP_ROUND_TO_NEAREST (1 << 2) +#define CL_FP_ROUND_TO_ZERO (1 << 3) +#define CL_FP_ROUND_TO_INF (1 << 4) +#define CL_FP_FMA (1 << 5) +#define CL_FP_SOFT_FLOAT (1 << 6) +#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT (1 << 7) + +/* cl_device_mem_cache_type */ +#define CL_NONE 0x0 +#define CL_READ_ONLY_CACHE 0x1 +#define CL_READ_WRITE_CACHE 0x2 + +/* cl_device_local_mem_type */ +#define CL_LOCAL 0x1 +#define CL_GLOBAL 0x2 + +/* cl_device_exec_capabilities - bitfield */ +#define CL_EXEC_KERNEL (1 << 0) +#define CL_EXEC_NATIVE_KERNEL (1 << 1) + +/* cl_command_queue_properties - bitfield */ +#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0) +#define CL_QUEUE_PROFILING_ENABLE (1 << 1) +#define CL_QUEUE_ON_DEVICE (1 << 2) +#define CL_QUEUE_ON_DEVICE_DEFAULT (1 << 3) + +/* cl_context_info */ +#define CL_CONTEXT_REFERENCE_COUNT 0x1080 +#define CL_CONTEXT_DEVICES 0x1081 +#define CL_CONTEXT_PROPERTIES 0x1082 +#define CL_CONTEXT_NUM_DEVICES 0x1083 + +/* cl_context_properties */ +#define CL_CONTEXT_PLATFORM 0x1084 +#define CL_CONTEXT_INTEROP_USER_SYNC 0x1085 + +/* cl_device_partition_property */ +#define CL_DEVICE_PARTITION_EQUALLY 0x1086 +#define CL_DEVICE_PARTITION_BY_COUNTS 0x1087 +#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END 0x0 +#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN 0x1088 + +/* cl_device_affinity_domain */ +#define CL_DEVICE_AFFINITY_DOMAIN_NUMA (1 << 0) +#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE (1 << 1) +#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE (1 << 2) +#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE (1 << 3) +#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE (1 << 4) +#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5) + +/* cl_device_svm_capabilities */ +#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER (1 << 0) +#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER (1 << 1) +#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM (1 << 2) +#define CL_DEVICE_SVM_ATOMICS (1 << 3) + +/* cl_command_queue_info */ +#define CL_QUEUE_CONTEXT 0x1090 +#define CL_QUEUE_DEVICE 0x1091 +#define CL_QUEUE_REFERENCE_COUNT 0x1092 +#define CL_QUEUE_PROPERTIES 0x1093 +#define CL_QUEUE_SIZE 0x1094 +#define CL_QUEUE_DEVICE_DEFAULT 0x1095 + +/* cl_mem_flags and cl_svm_mem_flags - bitfield */ +#define CL_MEM_READ_WRITE (1 << 0) +#define CL_MEM_WRITE_ONLY (1 << 1) +#define CL_MEM_READ_ONLY (1 << 2) +#define CL_MEM_USE_HOST_PTR (1 << 3) +#define CL_MEM_ALLOC_HOST_PTR (1 << 4) +#define CL_MEM_COPY_HOST_PTR (1 << 5) +/* reserved (1 << 6) */ +#define CL_MEM_HOST_WRITE_ONLY (1 << 7) +#define CL_MEM_HOST_READ_ONLY (1 << 8) +#define CL_MEM_HOST_NO_ACCESS (1 << 9) +#define CL_MEM_SVM_FINE_GRAIN_BUFFER (1 << 10) /* used by cl_svm_mem_flags only */ +#define CL_MEM_SVM_ATOMICS (1 << 11) /* used by cl_svm_mem_flags only */ +#define CL_MEM_KERNEL_READ_AND_WRITE (1 << 12) + +/* cl_mem_migration_flags - bitfield */ +#define CL_MIGRATE_MEM_OBJECT_HOST (1 << 0) +#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED (1 << 1) + +/* cl_channel_order */ +#define CL_R 0x10B0 +#define CL_A 0x10B1 +#define CL_RG 0x10B2 +#define CL_RA 0x10B3 +#define CL_RGB 0x10B4 +#define CL_RGBA 0x10B5 +#define CL_BGRA 0x10B6 +#define CL_ARGB 0x10B7 +#define CL_INTENSITY 0x10B8 +#define CL_LUMINANCE 0x10B9 +#define CL_Rx 0x10BA +#define CL_RGx 0x10BB +#define CL_RGBx 0x10BC +#define CL_DEPTH 0x10BD +#define CL_DEPTH_STENCIL 0x10BE +#define CL_sRGB 0x10BF +#define CL_sRGBx 0x10C0 +#define CL_sRGBA 0x10C1 +#define CL_sBGRA 0x10C2 +#define CL_ABGR 0x10C3 + +/* cl_channel_type */ +#define CL_SNORM_INT8 0x10D0 +#define CL_SNORM_INT16 0x10D1 +#define CL_UNORM_INT8 0x10D2 +#define CL_UNORM_INT16 0x10D3 +#define CL_UNORM_SHORT_565 0x10D4 +#define CL_UNORM_SHORT_555 0x10D5 +#define CL_UNORM_INT_101010 0x10D6 +#define CL_SIGNED_INT8 0x10D7 +#define CL_SIGNED_INT16 0x10D8 +#define CL_SIGNED_INT32 0x10D9 +#define CL_UNSIGNED_INT8 0x10DA +#define CL_UNSIGNED_INT16 0x10DB +#define CL_UNSIGNED_INT32 0x10DC +#define CL_HALF_FLOAT 0x10DD +#define CL_FLOAT 0x10DE +#define CL_UNORM_INT24 0x10DF +#define CL_UNORM_INT_101010_2 0x10E0 + +/* cl_mem_object_type */ +#define CL_MEM_OBJECT_BUFFER 0x10F0 +#define CL_MEM_OBJECT_IMAGE2D 0x10F1 +#define CL_MEM_OBJECT_IMAGE3D 0x10F2 +#define CL_MEM_OBJECT_IMAGE2D_ARRAY 0x10F3 +#define CL_MEM_OBJECT_IMAGE1D 0x10F4 +#define CL_MEM_OBJECT_IMAGE1D_ARRAY 0x10F5 +#define CL_MEM_OBJECT_IMAGE1D_BUFFER 0x10F6 +#define CL_MEM_OBJECT_PIPE 0x10F7 + +/* cl_mem_info */ +#define CL_MEM_TYPE 0x1100 +#define CL_MEM_FLAGS 0x1101 +#define CL_MEM_SIZE 0x1102 +#define CL_MEM_HOST_PTR 0x1103 +#define CL_MEM_MAP_COUNT 0x1104 +#define CL_MEM_REFERENCE_COUNT 0x1105 +#define CL_MEM_CONTEXT 0x1106 +#define CL_MEM_ASSOCIATED_MEMOBJECT 0x1107 +#define CL_MEM_OFFSET 0x1108 +#define CL_MEM_USES_SVM_POINTER 0x1109 + +/* cl_image_info */ +#define CL_IMAGE_FORMAT 0x1110 +#define CL_IMAGE_ELEMENT_SIZE 0x1111 +#define CL_IMAGE_ROW_PITCH 0x1112 +#define CL_IMAGE_SLICE_PITCH 0x1113 +#define CL_IMAGE_WIDTH 0x1114 +#define CL_IMAGE_HEIGHT 0x1115 +#define CL_IMAGE_DEPTH 0x1116 +#define CL_IMAGE_ARRAY_SIZE 0x1117 +#define CL_IMAGE_BUFFER 0x1118 +#define CL_IMAGE_NUM_MIP_LEVELS 0x1119 +#define CL_IMAGE_NUM_SAMPLES 0x111A + +/* cl_pipe_info */ +#define CL_PIPE_PACKET_SIZE 0x1120 +#define CL_PIPE_MAX_PACKETS 0x1121 + +/* cl_addressing_mode */ +#define CL_ADDRESS_NONE 0x1130 +#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131 +#define CL_ADDRESS_CLAMP 0x1132 +#define CL_ADDRESS_REPEAT 0x1133 +#define CL_ADDRESS_MIRRORED_REPEAT 0x1134 + +/* cl_filter_mode */ +#define CL_FILTER_NEAREST 0x1140 +#define CL_FILTER_LINEAR 0x1141 + +/* cl_sampler_info */ +#define CL_SAMPLER_REFERENCE_COUNT 0x1150 +#define CL_SAMPLER_CONTEXT 0x1151 +#define CL_SAMPLER_NORMALIZED_COORDS 0x1152 +#define CL_SAMPLER_ADDRESSING_MODE 0x1153 +#define CL_SAMPLER_FILTER_MODE 0x1154 +#define CL_SAMPLER_MIP_FILTER_MODE 0x1155 +#define CL_SAMPLER_LOD_MIN 0x1156 +#define CL_SAMPLER_LOD_MAX 0x1157 + +/* cl_map_flags - bitfield */ +#define CL_MAP_READ (1 << 0) +#define CL_MAP_WRITE (1 << 1) +#define CL_MAP_WRITE_INVALIDATE_REGION (1 << 2) + +/* cl_program_info */ +#define CL_PROGRAM_REFERENCE_COUNT 0x1160 +#define CL_PROGRAM_CONTEXT 0x1161 +#define CL_PROGRAM_NUM_DEVICES 0x1162 +#define CL_PROGRAM_DEVICES 0x1163 +#define CL_PROGRAM_SOURCE 0x1164 +#define CL_PROGRAM_BINARY_SIZES 0x1165 +#define CL_PROGRAM_BINARIES 0x1166 +#define CL_PROGRAM_NUM_KERNELS 0x1167 +#define CL_PROGRAM_KERNEL_NAMES 0x1168 +#define CL_PROGRAM_IL 0x1169 + +/* cl_program_build_info */ +#define CL_PROGRAM_BUILD_STATUS 0x1181 +#define CL_PROGRAM_BUILD_OPTIONS 0x1182 +#define CL_PROGRAM_BUILD_LOG 0x1183 +#define CL_PROGRAM_BINARY_TYPE 0x1184 +#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185 + +/* cl_program_binary_type */ +#define CL_PROGRAM_BINARY_TYPE_NONE 0x0 +#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT 0x1 +#define CL_PROGRAM_BINARY_TYPE_LIBRARY 0x2 +#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE 0x4 + +/* cl_build_status */ +#define CL_BUILD_SUCCESS 0 +#define CL_BUILD_NONE -1 +#define CL_BUILD_ERROR -2 +#define CL_BUILD_IN_PROGRESS -3 + +/* cl_kernel_info */ +#define CL_KERNEL_FUNCTION_NAME 0x1190 +#define CL_KERNEL_NUM_ARGS 0x1191 +#define CL_KERNEL_REFERENCE_COUNT 0x1192 +#define CL_KERNEL_CONTEXT 0x1193 +#define CL_KERNEL_PROGRAM 0x1194 +#define CL_KERNEL_ATTRIBUTES 0x1195 +#define CL_KERNEL_MAX_NUM_SUB_GROUPS 0x11B9 +#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS 0x11BA + +/* cl_kernel_arg_info */ +#define CL_KERNEL_ARG_ADDRESS_QUALIFIER 0x1196 +#define CL_KERNEL_ARG_ACCESS_QUALIFIER 0x1197 +#define CL_KERNEL_ARG_TYPE_NAME 0x1198 +#define CL_KERNEL_ARG_TYPE_QUALIFIER 0x1199 +#define CL_KERNEL_ARG_NAME 0x119A + +/* cl_kernel_arg_address_qualifier */ +#define CL_KERNEL_ARG_ADDRESS_GLOBAL 0x119B +#define CL_KERNEL_ARG_ADDRESS_LOCAL 0x119C +#define CL_KERNEL_ARG_ADDRESS_CONSTANT 0x119D +#define CL_KERNEL_ARG_ADDRESS_PRIVATE 0x119E + +/* cl_kernel_arg_access_qualifier */ +#define CL_KERNEL_ARG_ACCESS_READ_ONLY 0x11A0 +#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY 0x11A1 +#define CL_KERNEL_ARG_ACCESS_READ_WRITE 0x11A2 +#define CL_KERNEL_ARG_ACCESS_NONE 0x11A3 + +/* cl_kernel_arg_type_qualifer */ +#define CL_KERNEL_ARG_TYPE_NONE 0 +#define CL_KERNEL_ARG_TYPE_CONST (1 << 0) +#define CL_KERNEL_ARG_TYPE_RESTRICT (1 << 1) +#define CL_KERNEL_ARG_TYPE_VOLATILE (1 << 2) +#define CL_KERNEL_ARG_TYPE_PIPE (1 << 3) + +/* cl_kernel_work_group_info */ +#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0 +#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1 +#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2 +#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3 +#define CL_KERNEL_PRIVATE_MEM_SIZE 0x11B4 +#define CL_KERNEL_GLOBAL_WORK_SIZE 0x11B5 + +/* cl_kernel_sub_group_info */ +#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE 0x2033 +#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE 0x2034 +#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT 0x11B8 + +/* cl_kernel_exec_info */ +#define CL_KERNEL_EXEC_INFO_SVM_PTRS 0x11B6 +#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM 0x11B7 + +/* cl_event_info */ +#define CL_EVENT_COMMAND_QUEUE 0x11D0 +#define CL_EVENT_COMMAND_TYPE 0x11D1 +#define CL_EVENT_REFERENCE_COUNT 0x11D2 +#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3 +#define CL_EVENT_CONTEXT 0x11D4 + +/* cl_command_type */ +#define CL_COMMAND_NDRANGE_KERNEL 0x11F0 +#define CL_COMMAND_TASK 0x11F1 +#define CL_COMMAND_NATIVE_KERNEL 0x11F2 +#define CL_COMMAND_READ_BUFFER 0x11F3 +#define CL_COMMAND_WRITE_BUFFER 0x11F4 +#define CL_COMMAND_COPY_BUFFER 0x11F5 +#define CL_COMMAND_READ_IMAGE 0x11F6 +#define CL_COMMAND_WRITE_IMAGE 0x11F7 +#define CL_COMMAND_COPY_IMAGE 0x11F8 +#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9 +#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA +#define CL_COMMAND_MAP_BUFFER 0x11FB +#define CL_COMMAND_MAP_IMAGE 0x11FC +#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD +#define CL_COMMAND_MARKER 0x11FE +#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x11FF +#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1200 +#define CL_COMMAND_READ_BUFFER_RECT 0x1201 +#define CL_COMMAND_WRITE_BUFFER_RECT 0x1202 +#define CL_COMMAND_COPY_BUFFER_RECT 0x1203 +#define CL_COMMAND_USER 0x1204 +#define CL_COMMAND_BARRIER 0x1205 +#define CL_COMMAND_MIGRATE_MEM_OBJECTS 0x1206 +#define CL_COMMAND_FILL_BUFFER 0x1207 +#define CL_COMMAND_FILL_IMAGE 0x1208 +#define CL_COMMAND_SVM_FREE 0x1209 +#define CL_COMMAND_SVM_MEMCPY 0x120A +#define CL_COMMAND_SVM_MEMFILL 0x120B +#define CL_COMMAND_SVM_MAP 0x120C +#define CL_COMMAND_SVM_UNMAP 0x120D + +/* command execution status */ +#define CL_COMPLETE 0x0 +#define CL_RUNNING 0x1 +#define CL_SUBMITTED 0x2 +#define CL_QUEUED 0x3 + +/* cl_buffer_create_type */ +#define CL_BUFFER_CREATE_TYPE_REGION 0x1220 + +/* cl_profiling_info */ +#define CL_PROFILING_COMMAND_QUEUED 0x1280 +#define CL_PROFILING_COMMAND_SUBMIT 0x1281 +#define CL_PROFILING_COMMAND_START 0x1282 +#define CL_PROFILING_COMMAND_END 0x1283 +#define CL_PROFILING_COMMAND_COMPLETE 0x1284 + +/********************************************************************************************************/ + +/* Platform API */ +extern CL_API_ENTRY cl_int CL_API_CALL +clGetPlatformIDs(cl_uint /* num_entries */, + cl_platform_id * /* platforms */, + cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetPlatformInfo(cl_platform_id /* platform */, + cl_platform_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Device APIs */ +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceIDs(cl_platform_id /* platform */, + cl_device_type /* device_type */, + cl_uint /* num_entries */, + cl_device_id * /* devices */, + cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceInfo(cl_device_id /* device */, + cl_device_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clCreateSubDevices(cl_device_id /* in_device */, + const cl_device_partition_property * /* properties */, + cl_uint /* num_devices */, + cl_device_id * /* out_devices */, + cl_uint * /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetDefaultDeviceCommandQueue(cl_context /* context */, + cl_device_id /* device */, + cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_2_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceAndHostTimer(cl_device_id /* device */, + cl_ulong* /* device_timestamp */, + cl_ulong* /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetHostTimer(cl_device_id /* device */, + cl_ulong * /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1; + + +/* Context APIs */ +extern CL_API_ENTRY cl_context CL_API_CALL +clCreateContext(const cl_context_properties * /* properties */, + cl_uint /* num_devices */, + const cl_device_id * /* devices */, + void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *), + void * /* user_data */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_context CL_API_CALL +clCreateContextFromType(const cl_context_properties * /* properties */, + cl_device_type /* device_type */, + void (CL_CALLBACK * /* pfn_notify*/ )(const char *, const void *, size_t, void *), + void * /* user_data */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetContextInfo(cl_context /* context */, + cl_context_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Command Queue APIs */ +extern CL_API_ENTRY cl_command_queue CL_API_CALL +clCreateCommandQueueWithProperties(cl_context /* context */, + cl_device_id /* device */, + const cl_queue_properties * /* properties */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetCommandQueueInfo(cl_command_queue /* command_queue */, + cl_command_queue_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Memory Object APIs */ +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateBuffer(cl_context /* context */, + cl_mem_flags /* flags */, + size_t /* size */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateSubBuffer(cl_mem /* buffer */, + cl_mem_flags /* flags */, + cl_buffer_create_type /* buffer_create_type */, + const void * /* buffer_create_info */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateImage(cl_context /* context */, + cl_mem_flags /* flags */, + const cl_image_format * /* image_format */, + const cl_image_desc * /* image_desc */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreatePipe(cl_context /* context */, + cl_mem_flags /* flags */, + cl_uint /* pipe_packet_size */, + cl_uint /* pipe_max_packets */, + const cl_pipe_properties * /* properties */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetSupportedImageFormats(cl_context /* context */, + cl_mem_flags /* flags */, + cl_mem_object_type /* image_type */, + cl_uint /* num_entries */, + cl_image_format * /* image_formats */, + cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetMemObjectInfo(cl_mem /* memobj */, + cl_mem_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetImageInfo(cl_mem /* image */, + cl_image_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetPipeInfo(cl_mem /* pipe */, + cl_pipe_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0; + + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetMemObjectDestructorCallback(cl_mem /* memobj */, + void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), + void * /*user_data */ ) CL_API_SUFFIX__VERSION_1_1; + +/* SVM Allocation APIs */ +extern CL_API_ENTRY void * CL_API_CALL +clSVMAlloc(cl_context /* context */, + cl_svm_mem_flags /* flags */, + size_t /* size */, + cl_uint /* alignment */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY void CL_API_CALL +clSVMFree(cl_context /* context */, + void * /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0; + +/* Sampler APIs */ +extern CL_API_ENTRY cl_sampler CL_API_CALL +clCreateSamplerWithProperties(cl_context /* context */, + const cl_sampler_properties * /* normalized_coords */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetSamplerInfo(cl_sampler /* sampler */, + cl_sampler_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Program Object APIs */ +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithSource(cl_context /* context */, + cl_uint /* count */, + const char ** /* strings */, + const size_t * /* lengths */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithBinary(cl_context /* context */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const size_t * /* lengths */, + const unsigned char ** /* binaries */, + cl_int * /* binary_status */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithBuiltInKernels(cl_context /* context */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* kernel_names */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithIL(cl_context /* context */, + const void* /* il */, + size_t /* length */, + cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1; + + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clBuildProgram(cl_program /* program */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* options */, + void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), + void * /* user_data */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clCompileProgram(cl_program /* program */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* options */, + cl_uint /* num_input_headers */, + const cl_program * /* input_headers */, + const char ** /* header_include_names */, + void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), + void * /* user_data */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_program CL_API_CALL +clLinkProgram(cl_context /* context */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* options */, + cl_uint /* num_input_programs */, + const cl_program * /* input_programs */, + void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), + void * /* user_data */, + cl_int * /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2; + + +extern CL_API_ENTRY cl_int CL_API_CALL +clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetProgramInfo(cl_program /* program */, + cl_program_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetProgramBuildInfo(cl_program /* program */, + cl_device_id /* device */, + cl_program_build_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Kernel Object APIs */ +extern CL_API_ENTRY cl_kernel CL_API_CALL +clCreateKernel(cl_program /* program */, + const char * /* kernel_name */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clCreateKernelsInProgram(cl_program /* program */, + cl_uint /* num_kernels */, + cl_kernel * /* kernels */, + cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_kernel CL_API_CALL +clCloneKernel(cl_kernel /* source_kernel */, + cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetKernelArg(cl_kernel /* kernel */, + cl_uint /* arg_index */, + size_t /* arg_size */, + const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetKernelArgSVMPointer(cl_kernel /* kernel */, + cl_uint /* arg_index */, + const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetKernelExecInfo(cl_kernel /* kernel */, + cl_kernel_exec_info /* param_name */, + size_t /* param_value_size */, + const void * /* param_value */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelInfo(cl_kernel /* kernel */, + cl_kernel_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelArgInfo(cl_kernel /* kernel */, + cl_uint /* arg_indx */, + cl_kernel_arg_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelWorkGroupInfo(cl_kernel /* kernel */, + cl_device_id /* device */, + cl_kernel_work_group_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelSubGroupInfo(cl_kernel /* kernel */, + cl_device_id /* device */, + cl_kernel_sub_group_info /* param_name */, + size_t /* input_value_size */, + const void* /*input_value */, + size_t /* param_value_size */, + void* /* param_value */, + size_t* /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1; + + +/* Event Object APIs */ +extern CL_API_ENTRY cl_int CL_API_CALL +clWaitForEvents(cl_uint /* num_events */, + const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetEventInfo(cl_event /* event */, + cl_event_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_event CL_API_CALL +clCreateUserEvent(cl_context /* context */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetUserEventStatus(cl_event /* event */, + cl_int /* execution_status */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetEventCallback( cl_event /* event */, + cl_int /* command_exec_callback_type */, + void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *), + void * /* user_data */) CL_API_SUFFIX__VERSION_1_1; + +/* Profiling APIs */ +extern CL_API_ENTRY cl_int CL_API_CALL +clGetEventProfilingInfo(cl_event /* event */, + cl_profiling_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Flush and Finish APIs */ +extern CL_API_ENTRY cl_int CL_API_CALL +clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +/* Enqueued Commands APIs */ +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReadBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_read */, + size_t /* offset */, + size_t /* size */, + void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReadBufferRect(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_read */, + const size_t * /* buffer_offset */, + const size_t * /* host_offset */, + const size_t * /* region */, + size_t /* buffer_row_pitch */, + size_t /* buffer_slice_pitch */, + size_t /* host_row_pitch */, + size_t /* host_slice_pitch */, + void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWriteBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_write */, + size_t /* offset */, + size_t /* size */, + const void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWriteBufferRect(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_write */, + const size_t * /* buffer_offset */, + const size_t * /* host_offset */, + const size_t * /* region */, + size_t /* buffer_row_pitch */, + size_t /* buffer_slice_pitch */, + size_t /* host_row_pitch */, + size_t /* host_slice_pitch */, + const void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueFillBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + const void * /* pattern */, + size_t /* pattern_size */, + size_t /* offset */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyBuffer(cl_command_queue /* command_queue */, + cl_mem /* src_buffer */, + cl_mem /* dst_buffer */, + size_t /* src_offset */, + size_t /* dst_offset */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyBufferRect(cl_command_queue /* command_queue */, + cl_mem /* src_buffer */, + cl_mem /* dst_buffer */, + const size_t * /* src_origin */, + const size_t * /* dst_origin */, + const size_t * /* region */, + size_t /* src_row_pitch */, + size_t /* src_slice_pitch */, + size_t /* dst_row_pitch */, + size_t /* dst_slice_pitch */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReadImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_read */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t /* row_pitch */, + size_t /* slice_pitch */, + void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWriteImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_write */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t /* input_row_pitch */, + size_t /* input_slice_pitch */, + const void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueFillImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + const void * /* fill_color */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyImage(cl_command_queue /* command_queue */, + cl_mem /* src_image */, + cl_mem /* dst_image */, + const size_t * /* src_origin[3] */, + const size_t * /* dst_origin[3] */, + const size_t * /* region[3] */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */, + cl_mem /* src_image */, + cl_mem /* dst_buffer */, + const size_t * /* src_origin[3] */, + const size_t * /* region[3] */, + size_t /* dst_offset */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */, + cl_mem /* src_buffer */, + cl_mem /* dst_image */, + size_t /* src_offset */, + const size_t * /* dst_origin[3] */, + const size_t * /* region[3] */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY void * CL_API_CALL +clEnqueueMapBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_map */, + cl_map_flags /* map_flags */, + size_t /* offset */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY void * CL_API_CALL +clEnqueueMapImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_map */, + cl_map_flags /* map_flags */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t * /* image_row_pitch */, + size_t * /* image_slice_pitch */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueUnmapMemObject(cl_command_queue /* command_queue */, + cl_mem /* memobj */, + void * /* mapped_ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueMigrateMemObjects(cl_command_queue /* command_queue */, + cl_uint /* num_mem_objects */, + const cl_mem * /* mem_objects */, + cl_mem_migration_flags /* flags */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueNDRangeKernel(cl_command_queue /* command_queue */, + cl_kernel /* kernel */, + cl_uint /* work_dim */, + const size_t * /* global_work_offset */, + const size_t * /* global_work_size */, + const size_t * /* local_work_size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueNativeKernel(cl_command_queue /* command_queue */, + void (CL_CALLBACK * /*user_func*/)(void *), + void * /* args */, + size_t /* cb_args */, + cl_uint /* num_mem_objects */, + const cl_mem * /* mem_list */, + const void ** /* args_mem_loc */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueMarkerWithWaitList(cl_command_queue /* command_queue */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueBarrierWithWaitList(cl_command_queue /* command_queue */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMFree(cl_command_queue /* command_queue */, + cl_uint /* num_svm_pointers */, + void *[] /* svm_pointers[] */, + void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */, + cl_uint /* num_svm_pointers */, + void *[] /* svm_pointers[] */, + void * /* user_data */), + void * /* user_data */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMMemcpy(cl_command_queue /* command_queue */, + cl_bool /* blocking_copy */, + void * /* dst_ptr */, + const void * /* src_ptr */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMMemFill(cl_command_queue /* command_queue */, + void * /* svm_ptr */, + const void * /* pattern */, + size_t /* pattern_size */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMMap(cl_command_queue /* command_queue */, + cl_bool /* blocking_map */, + cl_map_flags /* flags */, + void * /* svm_ptr */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMUnmap(cl_command_queue /* command_queue */, + void * /* svm_ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMMigrateMem(cl_command_queue /* command_queue */, + cl_uint /* num_svm_pointers */, + const void ** /* svm_pointers */, + const size_t * /* sizes */, + cl_mem_migration_flags /* flags */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_1; + + +/* Extension function access + * + * Returns the extension function address for the given function name, + * or NULL if a valid function can not be found. The client must + * check to make sure the address is not NULL, before using or + * calling the returned function address. + */ +extern CL_API_ENTRY void * CL_API_CALL +clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */, + const char * /* func_name */) CL_API_SUFFIX__VERSION_1_2; + + +/* Deprecated OpenCL 1.1 APIs */ +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL +clCreateImage2D(cl_context /* context */, + cl_mem_flags /* flags */, + const cl_image_format * /* image_format */, + size_t /* image_width */, + size_t /* image_height */, + size_t /* image_row_pitch */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL +clCreateImage3D(cl_context /* context */, + cl_mem_flags /* flags */, + const cl_image_format * /* image_format */, + size_t /* image_width */, + size_t /* image_height */, + size_t /* image_depth */, + size_t /* image_row_pitch */, + size_t /* image_slice_pitch */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL +clEnqueueMarker(cl_command_queue /* command_queue */, + cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL +clEnqueueWaitForEvents(cl_command_queue /* command_queue */, + cl_uint /* num_events */, + const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL +clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL +clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL +clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +/* Deprecated OpenCL 2.0 APIs */ +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL +clCreateCommandQueue(cl_context /* context */, + cl_device_id /* device */, + cl_command_queue_properties /* properties */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; + + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL +clCreateSampler(cl_context /* context */, + cl_bool /* normalized_coords */, + cl_addressing_mode /* addressing_mode */, + cl_filter_mode /* filter_mode */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL +clEnqueueTask(cl_command_queue /* command_queue */, + cl_kernel /* kernel */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_H */ + diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h new file mode 100644 index 0000000000..d5960a43f7 --- /dev/null +++ b/third_party/opencl/include/CL/cl_d3d10.h @@ -0,0 +1,131 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ + +#ifndef __OPENCL_CL_D3D10_H +#define __OPENCL_CL_D3D10_H + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/****************************************************************************** + * cl_khr_d3d10_sharing */ +#define cl_khr_d3d10_sharing 1 + +typedef cl_uint cl_d3d10_device_source_khr; +typedef cl_uint cl_d3d10_device_set_khr; + +/******************************************************************************/ + +/* Error Codes */ +#define CL_INVALID_D3D10_DEVICE_KHR -1002 +#define CL_INVALID_D3D10_RESOURCE_KHR -1003 +#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR -1004 +#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR -1005 + +/* cl_d3d10_device_source_nv */ +#define CL_D3D10_DEVICE_KHR 0x4010 +#define CL_D3D10_DXGI_ADAPTER_KHR 0x4011 + +/* cl_d3d10_device_set_nv */ +#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR 0x4012 +#define CL_ALL_DEVICES_FOR_D3D10_KHR 0x4013 + +/* cl_context_info */ +#define CL_CONTEXT_D3D10_DEVICE_KHR 0x4014 +#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C + +/* cl_mem_info */ +#define CL_MEM_D3D10_RESOURCE_KHR 0x4015 + +/* cl_image_info */ +#define CL_IMAGE_D3D10_SUBRESOURCE_KHR 0x4016 + +/* cl_command_type */ +#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR 0x4017 +#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR 0x4018 + +/******************************************************************************/ + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)( + cl_platform_id platform, + cl_d3d10_device_source_khr d3d_device_source, + void * d3d_object, + cl_d3d10_device_set_khr d3d_device_set, + cl_uint num_entries, + cl_device_id * devices, + cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D10Buffer * resource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D10Texture2D * resource, + UINT subresource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D10Texture3D * resource, + UINT subresource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_0; + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_D3D10_H */ + diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h new file mode 100644 index 0000000000..39f9072398 --- /dev/null +++ b/third_party/opencl/include/CL/cl_d3d11.h @@ -0,0 +1,131 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ + +#ifndef __OPENCL_CL_D3D11_H +#define __OPENCL_CL_D3D11_H + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/****************************************************************************** + * cl_khr_d3d11_sharing */ +#define cl_khr_d3d11_sharing 1 + +typedef cl_uint cl_d3d11_device_source_khr; +typedef cl_uint cl_d3d11_device_set_khr; + +/******************************************************************************/ + +/* Error Codes */ +#define CL_INVALID_D3D11_DEVICE_KHR -1006 +#define CL_INVALID_D3D11_RESOURCE_KHR -1007 +#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR -1008 +#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR -1009 + +/* cl_d3d11_device_source */ +#define CL_D3D11_DEVICE_KHR 0x4019 +#define CL_D3D11_DXGI_ADAPTER_KHR 0x401A + +/* cl_d3d11_device_set */ +#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR 0x401B +#define CL_ALL_DEVICES_FOR_D3D11_KHR 0x401C + +/* cl_context_info */ +#define CL_CONTEXT_D3D11_DEVICE_KHR 0x401D +#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D + +/* cl_mem_info */ +#define CL_MEM_D3D11_RESOURCE_KHR 0x401E + +/* cl_image_info */ +#define CL_IMAGE_D3D11_SUBRESOURCE_KHR 0x401F + +/* cl_command_type */ +#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR 0x4020 +#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR 0x4021 + +/******************************************************************************/ + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)( + cl_platform_id platform, + cl_d3d11_device_source_khr d3d_device_source, + void * d3d_object, + cl_d3d11_device_set_khr d3d_device_set, + cl_uint num_entries, + cl_device_id * devices, + cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D11Buffer * resource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D11Texture2D * resource, + UINT subresource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D11Texture3D * resource, + UINT subresource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_2; + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_D3D11_H */ + diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h new file mode 100644 index 0000000000..2729e8b9e8 --- /dev/null +++ b/third_party/opencl/include/CL/cl_dx9_media_sharing.h @@ -0,0 +1,132 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ + +#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H +#define __OPENCL_CL_DX9_MEDIA_SHARING_H + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/******************************************************************************/ +/* cl_khr_dx9_media_sharing */ +#define cl_khr_dx9_media_sharing 1 + +typedef cl_uint cl_dx9_media_adapter_type_khr; +typedef cl_uint cl_dx9_media_adapter_set_khr; + +#if defined(_WIN32) +#include +typedef struct _cl_dx9_surface_info_khr +{ + IDirect3DSurface9 *resource; + HANDLE shared_handle; +} cl_dx9_surface_info_khr; +#endif + + +/******************************************************************************/ + +/* Error Codes */ +#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR -1010 +#define CL_INVALID_DX9_MEDIA_SURFACE_KHR -1011 +#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR -1012 +#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR -1013 + +/* cl_media_adapter_type_khr */ +#define CL_ADAPTER_D3D9_KHR 0x2020 +#define CL_ADAPTER_D3D9EX_KHR 0x2021 +#define CL_ADAPTER_DXVA_KHR 0x2022 + +/* cl_media_adapter_set_khr */ +#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2023 +#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2024 + +/* cl_context_info */ +#define CL_CONTEXT_ADAPTER_D3D9_KHR 0x2025 +#define CL_CONTEXT_ADAPTER_D3D9EX_KHR 0x2026 +#define CL_CONTEXT_ADAPTER_DXVA_KHR 0x2027 + +/* cl_mem_info */ +#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR 0x2028 +#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR 0x2029 + +/* cl_image_info */ +#define CL_IMAGE_DX9_MEDIA_PLANE_KHR 0x202A + +/* cl_command_type */ +#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR 0x202B +#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR 0x202C + +/******************************************************************************/ + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)( + cl_platform_id platform, + cl_uint num_media_adapters, + cl_dx9_media_adapter_type_khr * media_adapter_type, + void * media_adapters, + cl_dx9_media_adapter_set_khr media_adapter_set, + cl_uint num_entries, + cl_device_id * devices, + cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)( + cl_context context, + cl_mem_flags flags, + cl_dx9_media_adapter_type_khr adapter_type, + void * surface_info, + cl_uint plane, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_2; + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_DX9_MEDIA_SHARING_H */ + diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h new file mode 100644 index 0000000000..a765bd5266 --- /dev/null +++ b/third_party/opencl/include/CL/cl_egl.h @@ -0,0 +1,136 @@ +/******************************************************************************* + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +#ifndef __OPENCL_CL_EGL_H +#define __OPENCL_CL_EGL_H + +#ifdef __APPLE__ + +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + + +/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */ +#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR 0x202F +#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR 0x202D +#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR 0x202E + +/* Error type for clCreateFromEGLImageKHR */ +#define CL_INVALID_EGL_OBJECT_KHR -1093 +#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR -1092 + +/* CLeglImageKHR is an opaque handle to an EGLImage */ +typedef void* CLeglImageKHR; + +/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */ +typedef void* CLeglDisplayKHR; + +/* CLeglSyncKHR is an opaque handle to an EGLSync object */ +typedef void* CLeglSyncKHR; + +/* properties passed to clCreateFromEGLImageKHR */ +typedef intptr_t cl_egl_image_properties_khr; + + +#define cl_khr_egl_image 1 + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromEGLImageKHR(cl_context /* context */, + CLeglDisplayKHR /* egldisplay */, + CLeglImageKHR /* eglimage */, + cl_mem_flags /* flags */, + const cl_egl_image_properties_khr * /* properties */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)( + cl_context context, + CLeglDisplayKHR egldisplay, + CLeglImageKHR eglimage, + cl_mem_flags flags, + const cl_egl_image_properties_khr * properties, + cl_int * errcode_ret); + + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event); + + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event); + + +#define cl_khr_egl_event 1 + +extern CL_API_ENTRY cl_event CL_API_CALL +clCreateEventFromEGLSyncKHR(cl_context /* context */, + CLeglSyncKHR /* sync */, + CLeglDisplayKHR /* display */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)( + cl_context context, + CLeglSyncKHR sync, + CLeglDisplayKHR display, + cl_int * errcode_ret); + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_EGL_H */ diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h new file mode 100644 index 0000000000..7941583895 --- /dev/null +++ b/third_party/opencl/include/CL/cl_ext.h @@ -0,0 +1,391 @@ +/******************************************************************************* + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */ + +/* cl_ext.h contains OpenCL extensions which don't have external */ +/* (OpenGL, D3D) dependencies. */ + +#ifndef __CL_EXT_H +#define __CL_EXT_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef __APPLE__ + #include + #include +#else + #include +#endif + +/* cl_khr_fp16 extension - no extension #define since it has no functions */ +#define CL_DEVICE_HALF_FP_CONFIG 0x1033 + +/* Memory object destruction + * + * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR + * + * Registers a user callback function that will be called when the memory object is deleted and its resources + * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback + * stack associated with memobj. The registered user callback functions are called in the reverse order in + * which they were registered. The user callback functions are called and then the memory object is deleted + * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be + * notified when the memory referenced by host_ptr, specified when the memory object is created and used as + * the storage bits for the memory object, can be reused or freed. + * + * The application may not call CL api's with the cl_mem object passed to the pfn_notify. + * + * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS) + * before using. + */ +#define cl_APPLE_SetMemObjectDestructor 1 +cl_int CL_API_ENTRY clSetMemObjectDestructorAPPLE( cl_mem /* memobj */, + void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), + void * /*user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; + + +/* Context Logging Functions + * + * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext(). + * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS) + * before using. + * + * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger + */ +#define cl_APPLE_ContextLoggingFunctions 1 +extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE( const char * /* errstr */, + const void * /* private_info */, + size_t /* cb */, + void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; + +/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */ +extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE( const char * /* errstr */, + const void * /* private_info */, + size_t /* cb */, + void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; + +/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */ +extern void CL_API_ENTRY clLogMessagesToStderrAPPLE( const char * /* errstr */, + const void * /* private_info */, + size_t /* cb */, + void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; + + +/************************ +* cl_khr_icd extension * +************************/ +#define cl_khr_icd 1 + +/* cl_platform_info */ +#define CL_PLATFORM_ICD_SUFFIX_KHR 0x0920 + +/* Additional Error Codes */ +#define CL_PLATFORM_NOT_FOUND_KHR -1001 + +extern CL_API_ENTRY cl_int CL_API_CALL +clIcdGetPlatformIDsKHR(cl_uint /* num_entries */, + cl_platform_id * /* platforms */, + cl_uint * /* num_platforms */); + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)( + cl_uint /* num_entries */, + cl_platform_id * /* platforms */, + cl_uint * /* num_platforms */); + + +/* Extension: cl_khr_image2D_buffer + * + * This extension allows a 2D image to be created from a cl_mem buffer without a copy. + * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t. + * Both the sampler and sampler-less read_image built-in functions are supported for 2D images + * and 2D images created from a buffer. Similarly, the write_image built-ins are also supported + * for 2D images created from a buffer. + * + * When the 2D image from buffer is created, the client must specify the width, + * height, image format (i.e. channel order and channel data type) and optionally the row pitch + * + * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels. + * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels. + */ + +/************************************* + * cl_khr_initalize_memory extension * + *************************************/ + +#define CL_CONTEXT_MEMORY_INITIALIZE_KHR 0x2030 + + +/************************************** + * cl_khr_terminate_context extension * + **************************************/ + +#define CL_DEVICE_TERMINATE_CAPABILITY_KHR 0x2031 +#define CL_CONTEXT_TERMINATE_KHR 0x2032 + +#define cl_khr_terminate_context 1 +extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2; + + +/* + * Extension: cl_khr_spir + * + * This extension adds support to create an OpenCL program object from a + * Standard Portable Intermediate Representation (SPIR) instance + */ + +#define CL_DEVICE_SPIR_VERSIONS 0x40E0 +#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE 0x40E1 + + +/****************************************** +* cl_nv_device_attribute_query extension * +******************************************/ +/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */ +#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV 0x4000 +#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV 0x4001 +#define CL_DEVICE_REGISTERS_PER_BLOCK_NV 0x4002 +#define CL_DEVICE_WARP_SIZE_NV 0x4003 +#define CL_DEVICE_GPU_OVERLAP_NV 0x4004 +#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV 0x4005 +#define CL_DEVICE_INTEGRATED_MEMORY_NV 0x4006 + +/********************************* +* cl_amd_device_attribute_query * +*********************************/ +#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD 0x4036 + +/********************************* +* cl_arm_printf extension +*********************************/ +#define CL_PRINTF_CALLBACK_ARM 0x40B0 +#define CL_PRINTF_BUFFERSIZE_ARM 0x40B1 + +#ifdef CL_VERSION_1_1 + /*********************************** + * cl_ext_device_fission extension * + ***********************************/ + #define cl_ext_device_fission 1 + + extern CL_API_ENTRY cl_int CL_API_CALL + clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + typedef CL_API_ENTRY cl_int + (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + extern CL_API_ENTRY cl_int CL_API_CALL + clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + typedef CL_API_ENTRY cl_int + (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + typedef cl_ulong cl_device_partition_property_ext; + extern CL_API_ENTRY cl_int CL_API_CALL + clCreateSubDevicesEXT( cl_device_id /*in_device*/, + const cl_device_partition_property_ext * /* properties */, + cl_uint /*num_entries*/, + cl_device_id * /*out_devices*/, + cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + typedef CL_API_ENTRY cl_int + ( CL_API_CALL * clCreateSubDevicesEXT_fn)( cl_device_id /*in_device*/, + const cl_device_partition_property_ext * /* properties */, + cl_uint /*num_entries*/, + cl_device_id * /*out_devices*/, + cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + /* cl_device_partition_property_ext */ + #define CL_DEVICE_PARTITION_EQUALLY_EXT 0x4050 + #define CL_DEVICE_PARTITION_BY_COUNTS_EXT 0x4051 + #define CL_DEVICE_PARTITION_BY_NAMES_EXT 0x4052 + #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT 0x4053 + + /* clDeviceGetInfo selectors */ + #define CL_DEVICE_PARENT_DEVICE_EXT 0x4054 + #define CL_DEVICE_PARTITION_TYPES_EXT 0x4055 + #define CL_DEVICE_AFFINITY_DOMAINS_EXT 0x4056 + #define CL_DEVICE_REFERENCE_COUNT_EXT 0x4057 + #define CL_DEVICE_PARTITION_STYLE_EXT 0x4058 + + /* error codes */ + #define CL_DEVICE_PARTITION_FAILED_EXT -1057 + #define CL_INVALID_PARTITION_COUNT_EXT -1058 + #define CL_INVALID_PARTITION_NAME_EXT -1059 + + /* CL_AFFINITY_DOMAINs */ + #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT 0x1 + #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT 0x2 + #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT 0x3 + #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT 0x4 + #define CL_AFFINITY_DOMAIN_NUMA_EXT 0x10 + #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT 0x100 + + /* cl_device_partition_property_ext list terminators */ + #define CL_PROPERTIES_LIST_END_EXT ((cl_device_partition_property_ext) 0) + #define CL_PARTITION_BY_COUNTS_LIST_END_EXT ((cl_device_partition_property_ext) 0) + #define CL_PARTITION_BY_NAMES_LIST_END_EXT ((cl_device_partition_property_ext) 0 - 1) + +/********************************* +* cl_qcom_ext_host_ptr extension +*********************************/ + +#define CL_MEM_EXT_HOST_PTR_QCOM (1 << 29) + +#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM 0x40A0 +#define CL_DEVICE_PAGE_SIZE_QCOM 0x40A1 +#define CL_IMAGE_ROW_ALIGNMENT_QCOM 0x40A2 +#define CL_IMAGE_SLICE_ALIGNMENT_QCOM 0x40A3 +#define CL_MEM_HOST_UNCACHED_QCOM 0x40A4 +#define CL_MEM_HOST_WRITEBACK_QCOM 0x40A5 +#define CL_MEM_HOST_WRITETHROUGH_QCOM 0x40A6 +#define CL_MEM_HOST_WRITE_COMBINING_QCOM 0x40A7 + +typedef cl_uint cl_image_pitch_info_qcom; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceImageInfoQCOM(cl_device_id device, + size_t image_width, + size_t image_height, + const cl_image_format *image_format, + cl_image_pitch_info_qcom param_name, + size_t param_value_size, + void *param_value, + size_t *param_value_size_ret); + +typedef struct _cl_mem_ext_host_ptr +{ + /* Type of external memory allocation. */ + /* Legal values will be defined in layered extensions. */ + cl_uint allocation_type; + + /* Host cache policy for this external memory allocation. */ + cl_uint host_cache_policy; + +} cl_mem_ext_host_ptr; + +/********************************* +* cl_qcom_ion_host_ptr extension +*********************************/ + +#define CL_MEM_ION_HOST_PTR_QCOM 0x40A8 + +typedef struct _cl_mem_ion_host_ptr +{ + /* Type of external memory allocation. */ + /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */ + cl_mem_ext_host_ptr ext_host_ptr; + + /* ION file descriptor */ + int ion_filedesc; + + /* Host pointer to the ION allocated memory */ + void* ion_hostptr; + +} cl_mem_ion_host_ptr; + +#endif /* CL_VERSION_1_1 */ + + +#ifdef CL_VERSION_2_0 +/********************************* +* cl_khr_sub_groups extension +*********************************/ +#define cl_khr_sub_groups 1 + +typedef cl_uint cl_kernel_sub_group_info_khr; + +/* cl_khr_sub_group_info */ +#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR 0x2033 +#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR 0x2034 + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */, + cl_device_id /*in_device*/, + cl_kernel_sub_group_info_khr /* param_name */, + size_t /*input_value_size*/, + const void * /*input_value*/, + size_t /*param_value_size*/, + void* /*param_value*/, + size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED; + +typedef CL_API_ENTRY cl_int + ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */, + cl_device_id /*in_device*/, + cl_kernel_sub_group_info_khr /* param_name */, + size_t /*input_value_size*/, + const void * /*input_value*/, + size_t /*param_value_size*/, + void* /*param_value*/, + size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED; +#endif /* CL_VERSION_2_0 */ + +#ifdef CL_VERSION_2_1 +/********************************* +* cl_khr_priority_hints extension +*********************************/ +#define cl_khr_priority_hints 1 + +typedef cl_uint cl_queue_priority_khr; + +/* cl_command_queue_properties */ +#define CL_QUEUE_PRIORITY_KHR 0x1096 + +/* cl_queue_priority_khr */ +#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0) +#define CL_QUEUE_PRIORITY_MED_KHR (1<<1) +#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2) + +#endif /* CL_VERSION_2_1 */ + +#ifdef CL_VERSION_2_1 +/********************************* +* cl_khr_throttle_hints extension +*********************************/ +#define cl_khr_throttle_hints 1 + +typedef cl_uint cl_queue_throttle_khr; + +/* cl_command_queue_properties */ +#define CL_QUEUE_THROTTLE_KHR 0x1097 + +/* cl_queue_throttle_khr */ +#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0) +#define CL_QUEUE_THROTTLE_MED_KHR (1<<1) +#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2) + +#endif /* CL_VERSION_2_1 */ + +#ifdef __cplusplus +} +#endif + + +#endif /* __CL_EXT_H */ diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h new file mode 100644 index 0000000000..6328a1cd93 --- /dev/null +++ b/third_party/opencl/include/CL/cl_ext_qcom.h @@ -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 +#include +#include + +#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 */ diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h new file mode 100644 index 0000000000..945daa83d7 --- /dev/null +++ b/third_party/opencl/include/CL/cl_gl.h @@ -0,0 +1,167 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +#ifndef __OPENCL_CL_GL_H +#define __OPENCL_CL_GL_H + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +typedef cl_uint cl_gl_object_type; +typedef cl_uint cl_gl_texture_info; +typedef cl_uint cl_gl_platform_info; +typedef struct __GLsync *cl_GLsync; + +/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken */ +#define CL_GL_OBJECT_BUFFER 0x2000 +#define CL_GL_OBJECT_TEXTURE2D 0x2001 +#define CL_GL_OBJECT_TEXTURE3D 0x2002 +#define CL_GL_OBJECT_RENDERBUFFER 0x2003 +#define CL_GL_OBJECT_TEXTURE2D_ARRAY 0x200E +#define CL_GL_OBJECT_TEXTURE1D 0x200F +#define CL_GL_OBJECT_TEXTURE1D_ARRAY 0x2010 +#define CL_GL_OBJECT_TEXTURE_BUFFER 0x2011 + +/* cl_gl_texture_info */ +#define CL_GL_TEXTURE_TARGET 0x2004 +#define CL_GL_MIPMAP_LEVEL 0x2005 +#define CL_GL_NUM_SAMPLES 0x2012 + + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLBuffer(cl_context /* context */, + cl_mem_flags /* flags */, + cl_GLuint /* bufobj */, + int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLTexture(cl_context /* context */, + cl_mem_flags /* flags */, + cl_GLenum /* target */, + cl_GLint /* miplevel */, + cl_GLuint /* texture */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLRenderbuffer(cl_context /* context */, + cl_mem_flags /* flags */, + cl_GLuint /* renderbuffer */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetGLObjectInfo(cl_mem /* memobj */, + cl_gl_object_type * /* gl_object_type */, + cl_GLuint * /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetGLTextureInfo(cl_mem /* memobj */, + cl_gl_texture_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueAcquireGLObjects(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReleaseGLObjects(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + + +/* Deprecated OpenCL 1.1 APIs */ +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL +clCreateFromGLTexture2D(cl_context /* context */, + cl_mem_flags /* flags */, + cl_GLenum /* target */, + cl_GLint /* miplevel */, + cl_GLuint /* texture */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL +clCreateFromGLTexture3D(cl_context /* context */, + cl_mem_flags /* flags */, + cl_GLenum /* target */, + cl_GLint /* miplevel */, + cl_GLuint /* texture */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +/* cl_khr_gl_sharing extension */ + +#define cl_khr_gl_sharing 1 + +typedef cl_uint cl_gl_context_info; + +/* Additional Error Codes */ +#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR -1000 + +/* cl_gl_context_info */ +#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR 0x2006 +#define CL_DEVICES_FOR_GL_CONTEXT_KHR 0x2007 + +/* Additional cl_context_properties */ +#define CL_GL_CONTEXT_KHR 0x2008 +#define CL_EGL_DISPLAY_KHR 0x2009 +#define CL_GLX_DISPLAY_KHR 0x200A +#define CL_WGL_HDC_KHR 0x200B +#define CL_CGL_SHAREGROUP_KHR 0x200C + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetGLContextInfoKHR(const cl_context_properties * /* properties */, + cl_gl_context_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)( + const cl_context_properties * properties, + cl_gl_context_info param_name, + size_t param_value_size, + void * param_value, + size_t * param_value_size_ret); + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_GL_H */ diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h new file mode 100644 index 0000000000..e3c14c6408 --- /dev/null +++ b/third_party/opencl/include/CL/cl_gl_ext.h @@ -0,0 +1,74 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ + +/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have */ +/* OpenGL dependencies. */ + +#ifndef __OPENCL_CL_GL_EXT_H +#define __OPENCL_CL_GL_EXT_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef __APPLE__ + #include +#else + #include +#endif + +/* + * For each extension, follow this template + * cl_VEN_extname extension */ +/* #define cl_VEN_extname 1 + * ... define new types, if any + * ... define new tokens, if any + * ... define new APIs, if any + * + * If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header + * This allows us to avoid having to decide whether to include GL headers or GLES here. + */ + +/* + * cl_khr_gl_event extension + * See section 9.9 in the OpenCL 1.1 spec for more information + */ +#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR 0x200D + +extern CL_API_ENTRY cl_event CL_API_CALL +clCreateEventFromGLsyncKHR(cl_context /* context */, + cl_GLsync /* cl_GLsync */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1; + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_GL_EXT_H */ diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h new file mode 100644 index 0000000000..4e334a2918 --- /dev/null +++ b/third_party/opencl/include/CL/cl_platform.h @@ -0,0 +1,1333 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */ + +#ifndef __CL_PLATFORM_H +#define __CL_PLATFORM_H + +#ifdef __APPLE__ + /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */ + #include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +#if defined(_WIN32) + #define CL_API_ENTRY + #define CL_API_CALL __stdcall + #define CL_CALLBACK __stdcall +#else + #define CL_API_ENTRY + #define CL_API_CALL + #define CL_CALLBACK +#endif + +/* + * Deprecation flags refer to the last version of the header in which the + * feature was not deprecated. + * + * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without + * deprecation but is deprecated in versions later than 1.1. + */ + +#ifdef __APPLE__ + #define CL_EXTENSION_WEAK_LINK __attribute__((weak_import)) + #define CL_API_SUFFIX__VERSION_1_0 AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_0 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER + #define CL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define GCL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7 + + #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER + #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER + #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8 + #else + #warning This path should never happen outside of internal operating system development. AvailabilityMacros do not function correctly here! + #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #endif +#else + #define CL_EXTENSION_WEAK_LINK + #define CL_API_SUFFIX__VERSION_1_0 + #define CL_EXT_SUFFIX__VERSION_1_0 + #define CL_API_SUFFIX__VERSION_1_1 + #define CL_EXT_SUFFIX__VERSION_1_1 + #define CL_API_SUFFIX__VERSION_1_2 + #define CL_EXT_SUFFIX__VERSION_1_2 + #define CL_API_SUFFIX__VERSION_2_0 + #define CL_EXT_SUFFIX__VERSION_2_0 + #define CL_API_SUFFIX__VERSION_2_1 + #define CL_EXT_SUFFIX__VERSION_2_1 + + #ifdef __GNUC__ + #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated)) + #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated)) + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS + #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated)) + #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS + #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated)) + #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED + #endif + #elif _WIN32 + #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated) + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated) + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS + #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated) + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS + #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated) + #endif + #else + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED + + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + + #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED + + #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED + #endif +#endif + +#if (defined (_WIN32) && defined(_MSC_VER)) + +/* scalar types */ +typedef signed __int8 cl_char; +typedef unsigned __int8 cl_uchar; +typedef signed __int16 cl_short; +typedef unsigned __int16 cl_ushort; +typedef signed __int32 cl_int; +typedef unsigned __int32 cl_uint; +typedef signed __int64 cl_long; +typedef unsigned __int64 cl_ulong; + +typedef unsigned __int16 cl_half; +typedef float cl_float; +typedef double cl_double; + +/* Macro names and corresponding values defined by OpenCL */ +#define CL_CHAR_BIT 8 +#define CL_SCHAR_MAX 127 +#define CL_SCHAR_MIN (-127-1) +#define CL_CHAR_MAX CL_SCHAR_MAX +#define CL_CHAR_MIN CL_SCHAR_MIN +#define CL_UCHAR_MAX 255 +#define CL_SHRT_MAX 32767 +#define CL_SHRT_MIN (-32767-1) +#define CL_USHRT_MAX 65535 +#define CL_INT_MAX 2147483647 +#define CL_INT_MIN (-2147483647-1) +#define CL_UINT_MAX 0xffffffffU +#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) +#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) +#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) + +#define CL_FLT_DIG 6 +#define CL_FLT_MANT_DIG 24 +#define CL_FLT_MAX_10_EXP +38 +#define CL_FLT_MAX_EXP +128 +#define CL_FLT_MIN_10_EXP -37 +#define CL_FLT_MIN_EXP -125 +#define CL_FLT_RADIX 2 +#define CL_FLT_MAX 340282346638528859811704183484516925440.0f +#define CL_FLT_MIN 1.175494350822287507969e-38f +#define CL_FLT_EPSILON 0x1.0p-23f + +#define CL_DBL_DIG 15 +#define CL_DBL_MANT_DIG 53 +#define CL_DBL_MAX_10_EXP +308 +#define CL_DBL_MAX_EXP +1024 +#define CL_DBL_MIN_10_EXP -307 +#define CL_DBL_MIN_EXP -1021 +#define CL_DBL_RADIX 2 +#define CL_DBL_MAX 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0 +#define CL_DBL_MIN 2.225073858507201383090e-308 +#define CL_DBL_EPSILON 2.220446049250313080847e-16 + +#define CL_M_E 2.718281828459045090796 +#define CL_M_LOG2E 1.442695040888963387005 +#define CL_M_LOG10E 0.434294481903251816668 +#define CL_M_LN2 0.693147180559945286227 +#define CL_M_LN10 2.302585092994045901094 +#define CL_M_PI 3.141592653589793115998 +#define CL_M_PI_2 1.570796326794896557999 +#define CL_M_PI_4 0.785398163397448278999 +#define CL_M_1_PI 0.318309886183790691216 +#define CL_M_2_PI 0.636619772367581382433 +#define CL_M_2_SQRTPI 1.128379167095512558561 +#define CL_M_SQRT2 1.414213562373095145475 +#define CL_M_SQRT1_2 0.707106781186547572737 + +#define CL_M_E_F 2.71828174591064f +#define CL_M_LOG2E_F 1.44269502162933f +#define CL_M_LOG10E_F 0.43429449200630f +#define CL_M_LN2_F 0.69314718246460f +#define CL_M_LN10_F 2.30258512496948f +#define CL_M_PI_F 3.14159274101257f +#define CL_M_PI_2_F 1.57079637050629f +#define CL_M_PI_4_F 0.78539818525314f +#define CL_M_1_PI_F 0.31830987334251f +#define CL_M_2_PI_F 0.63661974668503f +#define CL_M_2_SQRTPI_F 1.12837922573090f +#define CL_M_SQRT2_F 1.41421353816986f +#define CL_M_SQRT1_2_F 0.70710676908493f + +#define CL_NAN (CL_INFINITY - CL_INFINITY) +#define CL_HUGE_VALF ((cl_float) 1e50) +#define CL_HUGE_VAL ((cl_double) 1e500) +#define CL_MAXFLOAT CL_FLT_MAX +#define CL_INFINITY CL_HUGE_VALF + +#else + +#include + +/* scalar types */ +typedef int8_t cl_char; +typedef uint8_t cl_uchar; +typedef int16_t cl_short __attribute__((aligned(2))); +typedef uint16_t cl_ushort __attribute__((aligned(2))); +typedef int32_t cl_int __attribute__((aligned(4))); +typedef uint32_t cl_uint __attribute__((aligned(4))); +typedef int64_t cl_long __attribute__((aligned(8))); +typedef uint64_t cl_ulong __attribute__((aligned(8))); + +typedef uint16_t cl_half __attribute__((aligned(2))); +typedef float cl_float __attribute__((aligned(4))); +typedef double cl_double __attribute__((aligned(8))); + +/* Macro names and corresponding values defined by OpenCL */ +#define CL_CHAR_BIT 8 +#define CL_SCHAR_MAX 127 +#define CL_SCHAR_MIN (-127-1) +#define CL_CHAR_MAX CL_SCHAR_MAX +#define CL_CHAR_MIN CL_SCHAR_MIN +#define CL_UCHAR_MAX 255 +#define CL_SHRT_MAX 32767 +#define CL_SHRT_MIN (-32767-1) +#define CL_USHRT_MAX 65535 +#define CL_INT_MAX 2147483647 +#define CL_INT_MIN (-2147483647-1) +#define CL_UINT_MAX 0xffffffffU +#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) +#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) +#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) + +#define CL_FLT_DIG 6 +#define CL_FLT_MANT_DIG 24 +#define CL_FLT_MAX_10_EXP +38 +#define CL_FLT_MAX_EXP +128 +#define CL_FLT_MIN_10_EXP -37 +#define CL_FLT_MIN_EXP -125 +#define CL_FLT_RADIX 2 +#define CL_FLT_MAX 0x1.fffffep127f +#define CL_FLT_MIN 0x1.0p-126f +#define CL_FLT_EPSILON 0x1.0p-23f + +#define CL_DBL_DIG 15 +#define CL_DBL_MANT_DIG 53 +#define CL_DBL_MAX_10_EXP +308 +#define CL_DBL_MAX_EXP +1024 +#define CL_DBL_MIN_10_EXP -307 +#define CL_DBL_MIN_EXP -1021 +#define CL_DBL_RADIX 2 +#define CL_DBL_MAX 0x1.fffffffffffffp1023 +#define CL_DBL_MIN 0x1.0p-1022 +#define CL_DBL_EPSILON 0x1.0p-52 + +#define CL_M_E 2.718281828459045090796 +#define CL_M_LOG2E 1.442695040888963387005 +#define CL_M_LOG10E 0.434294481903251816668 +#define CL_M_LN2 0.693147180559945286227 +#define CL_M_LN10 2.302585092994045901094 +#define CL_M_PI 3.141592653589793115998 +#define CL_M_PI_2 1.570796326794896557999 +#define CL_M_PI_4 0.785398163397448278999 +#define CL_M_1_PI 0.318309886183790691216 +#define CL_M_2_PI 0.636619772367581382433 +#define CL_M_2_SQRTPI 1.128379167095512558561 +#define CL_M_SQRT2 1.414213562373095145475 +#define CL_M_SQRT1_2 0.707106781186547572737 + +#define CL_M_E_F 2.71828174591064f +#define CL_M_LOG2E_F 1.44269502162933f +#define CL_M_LOG10E_F 0.43429449200630f +#define CL_M_LN2_F 0.69314718246460f +#define CL_M_LN10_F 2.30258512496948f +#define CL_M_PI_F 3.14159274101257f +#define CL_M_PI_2_F 1.57079637050629f +#define CL_M_PI_4_F 0.78539818525314f +#define CL_M_1_PI_F 0.31830987334251f +#define CL_M_2_PI_F 0.63661974668503f +#define CL_M_2_SQRTPI_F 1.12837922573090f +#define CL_M_SQRT2_F 1.41421353816986f +#define CL_M_SQRT1_2_F 0.70710676908493f + +#if defined( __GNUC__ ) + #define CL_HUGE_VALF __builtin_huge_valf() + #define CL_HUGE_VAL __builtin_huge_val() + #define CL_NAN __builtin_nanf( "" ) +#else + #define CL_HUGE_VALF ((cl_float) 1e50) + #define CL_HUGE_VAL ((cl_double) 1e500) + float nanf( const char * ); + #define CL_NAN nanf( "" ) +#endif +#define CL_MAXFLOAT CL_FLT_MAX +#define CL_INFINITY CL_HUGE_VALF + +#endif + +#include + +/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */ +typedef unsigned int cl_GLuint; +typedef int cl_GLint; +typedef unsigned int cl_GLenum; + +/* + * Vector types + * + * Note: OpenCL requires that all types be naturally aligned. + * This means that vector types must be naturally aligned. + * For example, a vector of four floats must be aligned to + * a 16 byte boundary (calculated as 4 * the natural 4-byte + * alignment of the float). The alignment qualifiers here + * will only function properly if your compiler supports them + * and if you don't actively work to defeat them. For example, + * in order for a cl_float4 to be 16 byte aligned in a struct, + * the start of the struct must itself be 16-byte aligned. + * + * Maintaining proper alignment is the user's responsibility. + */ + +/* Define basic vector types */ +#if defined( __VEC__ ) + #include /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */ + typedef vector unsigned char __cl_uchar16; + typedef vector signed char __cl_char16; + typedef vector unsigned short __cl_ushort8; + typedef vector signed short __cl_short8; + typedef vector unsigned int __cl_uint4; + typedef vector signed int __cl_int4; + typedef vector float __cl_float4; + #define __CL_UCHAR16__ 1 + #define __CL_CHAR16__ 1 + #define __CL_USHORT8__ 1 + #define __CL_SHORT8__ 1 + #define __CL_UINT4__ 1 + #define __CL_INT4__ 1 + #define __CL_FLOAT4__ 1 +#endif + +#if defined( __SSE__ ) + #if defined( __MINGW64__ ) + #include + #else + #include + #endif + #if defined( __GNUC__ ) + typedef float __cl_float4 __attribute__((vector_size(16))); + #else + typedef __m128 __cl_float4; + #endif + #define __CL_FLOAT4__ 1 +#endif + +#if defined( __SSE2__ ) + #if defined( __MINGW64__ ) + #include + #else + #include + #endif + #if defined( __GNUC__ ) + typedef cl_uchar __cl_uchar16 __attribute__((vector_size(16))); + typedef cl_char __cl_char16 __attribute__((vector_size(16))); + typedef cl_ushort __cl_ushort8 __attribute__((vector_size(16))); + typedef cl_short __cl_short8 __attribute__((vector_size(16))); + typedef cl_uint __cl_uint4 __attribute__((vector_size(16))); + typedef cl_int __cl_int4 __attribute__((vector_size(16))); + typedef cl_ulong __cl_ulong2 __attribute__((vector_size(16))); + typedef cl_long __cl_long2 __attribute__((vector_size(16))); + typedef cl_double __cl_double2 __attribute__((vector_size(16))); + #else + typedef __m128i __cl_uchar16; + typedef __m128i __cl_char16; + typedef __m128i __cl_ushort8; + typedef __m128i __cl_short8; + typedef __m128i __cl_uint4; + typedef __m128i __cl_int4; + typedef __m128i __cl_ulong2; + typedef __m128i __cl_long2; + typedef __m128d __cl_double2; + #endif + #define __CL_UCHAR16__ 1 + #define __CL_CHAR16__ 1 + #define __CL_USHORT8__ 1 + #define __CL_SHORT8__ 1 + #define __CL_INT4__ 1 + #define __CL_UINT4__ 1 + #define __CL_ULONG2__ 1 + #define __CL_LONG2__ 1 + #define __CL_DOUBLE2__ 1 +#endif + +#if defined( __MMX__ ) + #include + #if defined( __GNUC__ ) + typedef cl_uchar __cl_uchar8 __attribute__((vector_size(8))); + typedef cl_char __cl_char8 __attribute__((vector_size(8))); + typedef cl_ushort __cl_ushort4 __attribute__((vector_size(8))); + typedef cl_short __cl_short4 __attribute__((vector_size(8))); + typedef cl_uint __cl_uint2 __attribute__((vector_size(8))); + typedef cl_int __cl_int2 __attribute__((vector_size(8))); + typedef cl_ulong __cl_ulong1 __attribute__((vector_size(8))); + typedef cl_long __cl_long1 __attribute__((vector_size(8))); + typedef cl_float __cl_float2 __attribute__((vector_size(8))); + #else + typedef __m64 __cl_uchar8; + typedef __m64 __cl_char8; + typedef __m64 __cl_ushort4; + typedef __m64 __cl_short4; + typedef __m64 __cl_uint2; + typedef __m64 __cl_int2; + typedef __m64 __cl_ulong1; + typedef __m64 __cl_long1; + typedef __m64 __cl_float2; + #endif + #define __CL_UCHAR8__ 1 + #define __CL_CHAR8__ 1 + #define __CL_USHORT4__ 1 + #define __CL_SHORT4__ 1 + #define __CL_INT2__ 1 + #define __CL_UINT2__ 1 + #define __CL_ULONG1__ 1 + #define __CL_LONG1__ 1 + #define __CL_FLOAT2__ 1 +#endif + +#if defined( __AVX__ ) + #if defined( __MINGW64__ ) + #include + #else + #include + #endif + #if defined( __GNUC__ ) + typedef cl_float __cl_float8 __attribute__((vector_size(32))); + typedef cl_double __cl_double4 __attribute__((vector_size(32))); + #else + typedef __m256 __cl_float8; + typedef __m256d __cl_double4; + #endif + #define __CL_FLOAT8__ 1 + #define __CL_DOUBLE4__ 1 +#endif + +/* Define capabilities for anonymous struct members. */ +#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ ) +#define __CL_HAS_ANON_STRUCT__ 1 +#define __CL_ANON_STRUCT__ __extension__ +#elif defined( _WIN32) && (_MSC_VER >= 1500) + /* Microsoft Developer Studio 2008 supports anonymous structs, but + * complains by default. */ +#define __CL_HAS_ANON_STRUCT__ 1 +#define __CL_ANON_STRUCT__ + /* Disable warning C4201: nonstandard extension used : nameless + * struct/union */ +#pragma warning( push ) +#pragma warning( disable : 4201 ) +#else +#define __CL_HAS_ANON_STRUCT__ 0 +#define __CL_ANON_STRUCT__ +#endif + +/* Define alignment keys */ +#if defined( __GNUC__ ) + #define CL_ALIGNED(_x) __attribute__ ((aligned(_x))) +#elif defined( _WIN32) && (_MSC_VER) + /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements */ + /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx */ + /* #include */ + /* #define CL_ALIGNED(_x) _CRT_ALIGN(_x) */ + #define CL_ALIGNED(_x) +#else + #warning Need to implement some method to align data here + #define CL_ALIGNED(_x) +#endif + +/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */ +#if __CL_HAS_ANON_STRUCT__ + /* .xyzw and .s0123...{f|F} are supported */ + #define CL_HAS_NAMED_VECTOR_FIELDS 1 + /* .hi and .lo are supported */ + #define CL_HAS_HI_LO_VECTOR_FIELDS 1 +#endif + +/* Define cl_vector types */ + +/* ---- cl_charn ---- */ +typedef union +{ + cl_char CL_ALIGNED(2) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_char x, y; }; + __CL_ANON_STRUCT__ struct{ cl_char s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_char lo, hi; }; +#endif +#if defined( __CL_CHAR2__) + __cl_char2 v2; +#endif +}cl_char2; + +typedef union +{ + cl_char CL_ALIGNED(4) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; }; +#endif +#if defined( __CL_CHAR2__) + __cl_char2 v2[2]; +#endif +#if defined( __CL_CHAR4__) + __cl_char4 v4; +#endif +}cl_char4; + +/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */ +typedef cl_char4 cl_char3; + +typedef union +{ + cl_char CL_ALIGNED(8) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; }; +#endif +#if defined( __CL_CHAR2__) + __cl_char2 v2[4]; +#endif +#if defined( __CL_CHAR4__) + __cl_char4 v4[2]; +#endif +#if defined( __CL_CHAR8__ ) + __cl_char8 v8; +#endif +}cl_char8; + +typedef union +{ + cl_char CL_ALIGNED(16) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; }; +#endif +#if defined( __CL_CHAR2__) + __cl_char2 v2[8]; +#endif +#if defined( __CL_CHAR4__) + __cl_char4 v4[4]; +#endif +#if defined( __CL_CHAR8__ ) + __cl_char8 v8[2]; +#endif +#if defined( __CL_CHAR16__ ) + __cl_char16 v16; +#endif +}cl_char16; + + +/* ---- cl_ucharn ---- */ +typedef union +{ + cl_uchar CL_ALIGNED(2) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uchar x, y; }; + __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_uchar lo, hi; }; +#endif +#if defined( __cl_uchar2__) + __cl_uchar2 v2; +#endif +}cl_uchar2; + +typedef union +{ + cl_uchar CL_ALIGNED(4) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; }; +#endif +#if defined( __CL_UCHAR2__) + __cl_uchar2 v2[2]; +#endif +#if defined( __CL_UCHAR4__) + __cl_uchar4 v4; +#endif +}cl_uchar4; + +/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */ +typedef cl_uchar4 cl_uchar3; + +typedef union +{ + cl_uchar CL_ALIGNED(8) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; }; +#endif +#if defined( __CL_UCHAR2__) + __cl_uchar2 v2[4]; +#endif +#if defined( __CL_UCHAR4__) + __cl_uchar4 v4[2]; +#endif +#if defined( __CL_UCHAR8__ ) + __cl_uchar8 v8; +#endif +}cl_uchar8; + +typedef union +{ + cl_uchar CL_ALIGNED(16) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; }; +#endif +#if defined( __CL_UCHAR2__) + __cl_uchar2 v2[8]; +#endif +#if defined( __CL_UCHAR4__) + __cl_uchar4 v4[4]; +#endif +#if defined( __CL_UCHAR8__ ) + __cl_uchar8 v8[2]; +#endif +#if defined( __CL_UCHAR16__ ) + __cl_uchar16 v16; +#endif +}cl_uchar16; + + +/* ---- cl_shortn ---- */ +typedef union +{ + cl_short CL_ALIGNED(4) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_short x, y; }; + __CL_ANON_STRUCT__ struct{ cl_short s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_short lo, hi; }; +#endif +#if defined( __CL_SHORT2__) + __cl_short2 v2; +#endif +}cl_short2; + +typedef union +{ + cl_short CL_ALIGNED(8) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; }; +#endif +#if defined( __CL_SHORT2__) + __cl_short2 v2[2]; +#endif +#if defined( __CL_SHORT4__) + __cl_short4 v4; +#endif +}cl_short4; + +/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */ +typedef cl_short4 cl_short3; + +typedef union +{ + cl_short CL_ALIGNED(16) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; }; +#endif +#if defined( __CL_SHORT2__) + __cl_short2 v2[4]; +#endif +#if defined( __CL_SHORT4__) + __cl_short4 v4[2]; +#endif +#if defined( __CL_SHORT8__ ) + __cl_short8 v8; +#endif +}cl_short8; + +typedef union +{ + cl_short CL_ALIGNED(32) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; }; +#endif +#if defined( __CL_SHORT2__) + __cl_short2 v2[8]; +#endif +#if defined( __CL_SHORT4__) + __cl_short4 v4[4]; +#endif +#if defined( __CL_SHORT8__ ) + __cl_short8 v8[2]; +#endif +#if defined( __CL_SHORT16__ ) + __cl_short16 v16; +#endif +}cl_short16; + + +/* ---- cl_ushortn ---- */ +typedef union +{ + cl_ushort CL_ALIGNED(4) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ushort x, y; }; + __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_ushort lo, hi; }; +#endif +#if defined( __CL_USHORT2__) + __cl_ushort2 v2; +#endif +}cl_ushort2; + +typedef union +{ + cl_ushort CL_ALIGNED(8) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; }; +#endif +#if defined( __CL_USHORT2__) + __cl_ushort2 v2[2]; +#endif +#if defined( __CL_USHORT4__) + __cl_ushort4 v4; +#endif +}cl_ushort4; + +/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */ +typedef cl_ushort4 cl_ushort3; + +typedef union +{ + cl_ushort CL_ALIGNED(16) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; }; +#endif +#if defined( __CL_USHORT2__) + __cl_ushort2 v2[4]; +#endif +#if defined( __CL_USHORT4__) + __cl_ushort4 v4[2]; +#endif +#if defined( __CL_USHORT8__ ) + __cl_ushort8 v8; +#endif +}cl_ushort8; + +typedef union +{ + cl_ushort CL_ALIGNED(32) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; }; +#endif +#if defined( __CL_USHORT2__) + __cl_ushort2 v2[8]; +#endif +#if defined( __CL_USHORT4__) + __cl_ushort4 v4[4]; +#endif +#if defined( __CL_USHORT8__ ) + __cl_ushort8 v8[2]; +#endif +#if defined( __CL_USHORT16__ ) + __cl_ushort16 v16; +#endif +}cl_ushort16; + +/* ---- cl_intn ---- */ +typedef union +{ + cl_int CL_ALIGNED(8) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_int x, y; }; + __CL_ANON_STRUCT__ struct{ cl_int s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_int lo, hi; }; +#endif +#if defined( __CL_INT2__) + __cl_int2 v2; +#endif +}cl_int2; + +typedef union +{ + cl_int CL_ALIGNED(16) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; }; +#endif +#if defined( __CL_INT2__) + __cl_int2 v2[2]; +#endif +#if defined( __CL_INT4__) + __cl_int4 v4; +#endif +}cl_int4; + +/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */ +typedef cl_int4 cl_int3; + +typedef union +{ + cl_int CL_ALIGNED(32) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; }; +#endif +#if defined( __CL_INT2__) + __cl_int2 v2[4]; +#endif +#if defined( __CL_INT4__) + __cl_int4 v4[2]; +#endif +#if defined( __CL_INT8__ ) + __cl_int8 v8; +#endif +}cl_int8; + +typedef union +{ + cl_int CL_ALIGNED(64) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; }; +#endif +#if defined( __CL_INT2__) + __cl_int2 v2[8]; +#endif +#if defined( __CL_INT4__) + __cl_int4 v4[4]; +#endif +#if defined( __CL_INT8__ ) + __cl_int8 v8[2]; +#endif +#if defined( __CL_INT16__ ) + __cl_int16 v16; +#endif +}cl_int16; + + +/* ---- cl_uintn ---- */ +typedef union +{ + cl_uint CL_ALIGNED(8) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uint x, y; }; + __CL_ANON_STRUCT__ struct{ cl_uint s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_uint lo, hi; }; +#endif +#if defined( __CL_UINT2__) + __cl_uint2 v2; +#endif +}cl_uint2; + +typedef union +{ + cl_uint CL_ALIGNED(16) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; }; +#endif +#if defined( __CL_UINT2__) + __cl_uint2 v2[2]; +#endif +#if defined( __CL_UINT4__) + __cl_uint4 v4; +#endif +}cl_uint4; + +/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */ +typedef cl_uint4 cl_uint3; + +typedef union +{ + cl_uint CL_ALIGNED(32) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; }; +#endif +#if defined( __CL_UINT2__) + __cl_uint2 v2[4]; +#endif +#if defined( __CL_UINT4__) + __cl_uint4 v4[2]; +#endif +#if defined( __CL_UINT8__ ) + __cl_uint8 v8; +#endif +}cl_uint8; + +typedef union +{ + cl_uint CL_ALIGNED(64) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; }; +#endif +#if defined( __CL_UINT2__) + __cl_uint2 v2[8]; +#endif +#if defined( __CL_UINT4__) + __cl_uint4 v4[4]; +#endif +#if defined( __CL_UINT8__ ) + __cl_uint8 v8[2]; +#endif +#if defined( __CL_UINT16__ ) + __cl_uint16 v16; +#endif +}cl_uint16; + +/* ---- cl_longn ---- */ +typedef union +{ + cl_long CL_ALIGNED(16) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_long x, y; }; + __CL_ANON_STRUCT__ struct{ cl_long s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_long lo, hi; }; +#endif +#if defined( __CL_LONG2__) + __cl_long2 v2; +#endif +}cl_long2; + +typedef union +{ + cl_long CL_ALIGNED(32) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; }; +#endif +#if defined( __CL_LONG2__) + __cl_long2 v2[2]; +#endif +#if defined( __CL_LONG4__) + __cl_long4 v4; +#endif +}cl_long4; + +/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */ +typedef cl_long4 cl_long3; + +typedef union +{ + cl_long CL_ALIGNED(64) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; }; +#endif +#if defined( __CL_LONG2__) + __cl_long2 v2[4]; +#endif +#if defined( __CL_LONG4__) + __cl_long4 v4[2]; +#endif +#if defined( __CL_LONG8__ ) + __cl_long8 v8; +#endif +}cl_long8; + +typedef union +{ + cl_long CL_ALIGNED(128) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; }; +#endif +#if defined( __CL_LONG2__) + __cl_long2 v2[8]; +#endif +#if defined( __CL_LONG4__) + __cl_long4 v4[4]; +#endif +#if defined( __CL_LONG8__ ) + __cl_long8 v8[2]; +#endif +#if defined( __CL_LONG16__ ) + __cl_long16 v16; +#endif +}cl_long16; + + +/* ---- cl_ulongn ---- */ +typedef union +{ + cl_ulong CL_ALIGNED(16) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ulong x, y; }; + __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_ulong lo, hi; }; +#endif +#if defined( __CL_ULONG2__) + __cl_ulong2 v2; +#endif +}cl_ulong2; + +typedef union +{ + cl_ulong CL_ALIGNED(32) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; }; +#endif +#if defined( __CL_ULONG2__) + __cl_ulong2 v2[2]; +#endif +#if defined( __CL_ULONG4__) + __cl_ulong4 v4; +#endif +}cl_ulong4; + +/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */ +typedef cl_ulong4 cl_ulong3; + +typedef union +{ + cl_ulong CL_ALIGNED(64) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; }; +#endif +#if defined( __CL_ULONG2__) + __cl_ulong2 v2[4]; +#endif +#if defined( __CL_ULONG4__) + __cl_ulong4 v4[2]; +#endif +#if defined( __CL_ULONG8__ ) + __cl_ulong8 v8; +#endif +}cl_ulong8; + +typedef union +{ + cl_ulong CL_ALIGNED(128) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; }; +#endif +#if defined( __CL_ULONG2__) + __cl_ulong2 v2[8]; +#endif +#if defined( __CL_ULONG4__) + __cl_ulong4 v4[4]; +#endif +#if defined( __CL_ULONG8__ ) + __cl_ulong8 v8[2]; +#endif +#if defined( __CL_ULONG16__ ) + __cl_ulong16 v16; +#endif +}cl_ulong16; + + +/* --- cl_floatn ---- */ + +typedef union +{ + cl_float CL_ALIGNED(8) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_float x, y; }; + __CL_ANON_STRUCT__ struct{ cl_float s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_float lo, hi; }; +#endif +#if defined( __CL_FLOAT2__) + __cl_float2 v2; +#endif +}cl_float2; + +typedef union +{ + cl_float CL_ALIGNED(16) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_float2 lo, hi; }; +#endif +#if defined( __CL_FLOAT2__) + __cl_float2 v2[2]; +#endif +#if defined( __CL_FLOAT4__) + __cl_float4 v4; +#endif +}cl_float4; + +/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */ +typedef cl_float4 cl_float3; + +typedef union +{ + cl_float CL_ALIGNED(32) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_float4 lo, hi; }; +#endif +#if defined( __CL_FLOAT2__) + __cl_float2 v2[4]; +#endif +#if defined( __CL_FLOAT4__) + __cl_float4 v4[2]; +#endif +#if defined( __CL_FLOAT8__ ) + __cl_float8 v8; +#endif +}cl_float8; + +typedef union +{ + cl_float CL_ALIGNED(64) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; }; +#endif +#if defined( __CL_FLOAT2__) + __cl_float2 v2[8]; +#endif +#if defined( __CL_FLOAT4__) + __cl_float4 v4[4]; +#endif +#if defined( __CL_FLOAT8__ ) + __cl_float8 v8[2]; +#endif +#if defined( __CL_FLOAT16__ ) + __cl_float16 v16; +#endif +}cl_float16; + +/* --- cl_doublen ---- */ + +typedef union +{ + cl_double CL_ALIGNED(16) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_double x, y; }; + __CL_ANON_STRUCT__ struct{ cl_double s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_double lo, hi; }; +#endif +#if defined( __CL_DOUBLE2__) + __cl_double2 v2; +#endif +}cl_double2; + +typedef union +{ + cl_double CL_ALIGNED(32) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; }; +#endif +#if defined( __CL_DOUBLE2__) + __cl_double2 v2[2]; +#endif +#if defined( __CL_DOUBLE4__) + __cl_double4 v4; +#endif +}cl_double4; + +/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */ +typedef cl_double4 cl_double3; + +typedef union +{ + cl_double CL_ALIGNED(64) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; }; +#endif +#if defined( __CL_DOUBLE2__) + __cl_double2 v2[4]; +#endif +#if defined( __CL_DOUBLE4__) + __cl_double4 v4[2]; +#endif +#if defined( __CL_DOUBLE8__ ) + __cl_double8 v8; +#endif +}cl_double8; + +typedef union +{ + cl_double CL_ALIGNED(128) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; }; +#endif +#if defined( __CL_DOUBLE2__) + __cl_double2 v2[8]; +#endif +#if defined( __CL_DOUBLE4__) + __cl_double4 v4[4]; +#endif +#if defined( __CL_DOUBLE8__ ) + __cl_double8 v8[2]; +#endif +#if defined( __CL_DOUBLE16__ ) + __cl_double16 v16; +#endif +}cl_double16; + +/* Macro to facilitate debugging + * Usage: + * Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source. + * The first line ends with: CL_PROGRAM_STRING_DEBUG_INFO \" + * Each line thereafter of OpenCL C source must end with: \n\ + * The last line ends in "; + * + * Example: + * + * const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\ + * kernel void foo( int a, float * b ) \n\ + * { \n\ + * // my comment \n\ + * *b[ get_global_id(0)] = a; \n\ + * } \n\ + * "; + * + * This should correctly set up the line, (column) and file information for your source + * string so you can do source level debugging. + */ +#define __CL_STRINGIFY( _x ) # _x +#define _CL_STRINGIFY( _x ) __CL_STRINGIFY( _x ) +#define CL_PROGRAM_STRING_DEBUG_INFO "#line " _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n" + +#ifdef __cplusplus +} +#endif + +#undef __CL_HAS_ANON_STRUCT__ +#undef __CL_ANON_STRUCT__ +#if defined( _WIN32) && (_MSC_VER >= 1500) +#pragma warning( pop ) +#endif + +#endif /* __CL_PLATFORM_H */ diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h new file mode 100644 index 0000000000..9855cd75e7 --- /dev/null +++ b/third_party/opencl/include/CL/opencl.h @@ -0,0 +1,59 @@ +/******************************************************************************* + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ + +#ifndef __OPENCL_H +#define __OPENCL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef __APPLE__ + +#include +#include +#include +#include + +#else + +#include +#include +#include +#include + +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_H */ + diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index b79d046fca..d4cfc67280 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -57,9 +57,11 @@ base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == "Darwin": + base_frameworks.append('OpenCL') base_frameworks.append('QtCharts') base_frameworks.append('QtSerialBus') else: + base_libs.append('OpenCL') base_libs.append('Qt5Charts') base_libs.append('Qt5SerialBus') diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index f428e9972a..5c2131d4bf 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -58,6 +58,9 @@ function install_ubuntu_common_requirements() { libzmq3-dev \ libzstd-dev \ libsqlite3-dev \ + opencl-headers \ + ocl-icd-libopencl1 \ + ocl-icd-opencl-dev \ portaudio19-dev \ qttools5-dev-tools \ libqt5svg5-dev \ diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 698ab9885d..136c4119f6 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -6,6 +6,11 @@ replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations'] base_frameworks = [] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] +if arch == "Darwin": + base_frameworks.append('OpenCL') +else: + base_libs.append('OpenCL') + replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"] if arch != "Darwin": diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 6abbc47935..67ad2cc8cb 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -10,6 +10,10 @@ What's needed: ## Setup openpilot - Follow [this readme](../README.md) to install and build the requirements +- Install OpenCL Driver (Ubuntu) +``` +sudo apt install pocl-opencl-icd +``` ## Connect the hardware - Connect the camera first From db8cd9f411f08d75696b36c5fd0fa6b6cb0bfb2d Mon Sep 17 00:00:00 2001 From: Trey Moen <50057480+greatgitsby@users.noreply.github.com> Date: Sat, 7 Feb 2026 12:52:28 -0700 Subject: [PATCH 30/65] fix: route fetch metadata when first log isnt uploaded (#37114) * fix: route fetch metadata when first log isnt uploaded * default * simple --------- Co-authored-by: Trey Moen --- tools/clip/run.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/tools/clip/run.py b/tools/clip/run.py index 855ac6fea3..d338f097d6 100755 --- a/tools/clip/run.py +++ b/tools/clip/run.py @@ -208,7 +208,10 @@ class FrameQueue: def load_route_metadata(route): from openpilot.common.params import Params, UnknownKeyName - lr = LogReader(route.log_paths()[0]) + path = next((item for item in route.log_paths() if item), None) + if not path: + raise Exception('error getting route metadata: cannot find any uploaded logs') + lr = LogReader(path) init_data, car_params = lr.first('initData'), lr.first('carParams') params = Params() From 0ce28803eccb443a4f90eceaaf1037776366293a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 7 Feb 2026 12:20:34 -0800 Subject: [PATCH 31/65] gitignore .context/ --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index e2a30fb70a..1fef0a1255 100644 --- a/.gitignore +++ b/.gitignore @@ -97,5 +97,6 @@ Pipfile .ionide .claude/ +.context/ PLAN.md TASK.md From bcb13a7229d6c583da7c6f0fdd52785c5cfa993c Mon Sep 17 00:00:00 2001 From: David <49467229+TheSecurityDev@users.noreply.github.com> Date: Sat, 7 Feb 2026 16:19:08 -0600 Subject: [PATCH 32/65] ui diff replay: remove unused frame_data list for individual frame display (#37117) Remove unused base64 encoding and simplify frame data handling in diff video report --- selfdrive/ui/tests/diff/diff.py | 19 ++++--------------- 1 file changed, 4 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py index be7af5438a..a581f68747 100755 --- a/selfdrive/ui/tests/diff/diff.py +++ b/selfdrive/ui/tests/diff/diff.py @@ -3,7 +3,6 @@ import os import sys import subprocess import tempfile -import base64 import webbrowser import argparse from pathlib import Path @@ -25,12 +24,6 @@ def compare_frames(frame1_path, frame2_path): return result.returncode == 0 -def frame_to_data_url(frame_path): - with open(frame_path, 'rb') as f: - data = f.read() - return f"data:image/png;base64,{base64.b64encode(data).decode()}" - - def create_diff_video(video1, video2, output_path): """Create a diff video using ffmpeg blend filter with difference mode.""" print("Creating diff video...") @@ -60,20 +53,16 @@ def find_differences(video1, video2): print(f"Comparing {len(frames1)} frames...") different_frames = [] - frame_data = [] for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)): is_different = not compare_frames(f1, f2) if is_different: different_frames.append(i) - if i < 10 or i >= len(frames1) - 10 or is_different: - frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)}) - - return different_frames, frame_data, len(frames1) + return different_frames, len(frames1) -def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames): +def generate_html_report(video1, video2, basedir, different_frames, total_frames): chunks = [] if different_frames: current_chunk = [different_frames[0]] @@ -177,14 +166,14 @@ def main(): diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4") create_diff_video(args.video1, args.video2, diff_video_path) - different_frames, frame_data, total_frames = find_differences(args.video1, args.video2) + different_frames, total_frames = find_differences(args.video1, args.video2) if different_frames is None: sys.exit(1) print() print("Generating HTML report...") - html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames) + html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, total_frames) with open(DIFF_OUT_DIR / args.output, 'w') as f: f.write(html) From ac17c35cfe898681f7b5cf9e57b98c4a844d7459 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 7 Feb 2026 15:18:00 -0800 Subject: [PATCH 33/65] bridge: move ZMQ handling over (#37118) --- cereal/SConscript | 2 +- cereal/messaging/bridge.cc | 8 +- cereal/messaging/bridge_zmq.cc | 170 ++++++++++++++++++++++++++++++++ cereal/messaging/bridge_zmq.h | 72 ++++++++++++++ cereal/messaging/msgq_to_zmq.cc | 10 +- cereal/messaging/msgq_to_zmq.h | 9 +- 6 files changed, 256 insertions(+), 15 deletions(-) create mode 100644 cereal/messaging/bridge_zmq.cc create mode 100644 cereal/messaging/bridge_zmq.h diff --git a/cereal/SConscript b/cereal/SConscript index a58a9490ce..73dc61844b 100644 --- a/cereal/SConscript +++ b/cereal/SConscript @@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files]) # Build messaging services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET') -env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread']) +env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread']) socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc']) diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc index fb92c575c9..2eb3de32c0 100644 --- a/cereal/messaging/bridge.cc +++ b/cereal/messaging/bridge.cc @@ -25,14 +25,14 @@ void msgq_to_zmq(const std::vector &endpoints, const std::string &i } void zmq_to_msgq(const std::vector &endpoints, const std::string &ip) { - auto poller = std::make_unique(); + auto poller = std::make_unique(); auto pub_context = std::make_unique(); - auto sub_context = std::make_unique(); - std::map sub2pub; + auto sub_context = std::make_unique(); + std::map sub2pub; for (auto endpoint : endpoints) { auto pub_sock = new MSGQPubSocket(); - auto sub_sock = new ZMQSubSocket(); + auto sub_sock = new BridgeZmqSubSocket(); size_t queue_size = services.at(endpoint).queue_size; pub_sock->connect(pub_context.get(), endpoint, true, queue_size); sub_sock->connect(sub_context.get(), endpoint, ip, false); diff --git a/cereal/messaging/bridge_zmq.cc b/cereal/messaging/bridge_zmq.cc new file mode 100644 index 0000000000..5c56673b47 --- /dev/null +++ b/cereal/messaging/bridge_zmq.cc @@ -0,0 +1,170 @@ +#include "cereal/messaging/bridge_zmq.h" + +#include +#include +#include + +static size_t fnv1a_hash(const std::string &str) { + const size_t fnv_prime = 0x100000001b3; + size_t hash_value = 0xcbf29ce484222325; + for (char c : str) { + hash_value ^= (unsigned char)c; + hash_value *= fnv_prime; + } + return hash_value; +} + +// FIXME: This is a hack to get the port number from the socket name, might have collisions. +static int get_port(std::string endpoint) { + size_t hash_value = fnv1a_hash(endpoint); + int start_port = 8023; + int max_port = 65535; + return start_port + (hash_value % (max_port - start_port)); +} + +BridgeZmqContext::BridgeZmqContext() { + context = zmq_ctx_new(); +} + +BridgeZmqContext::~BridgeZmqContext() { + if (context != nullptr) { + zmq_ctx_term(context); + } +} + +void BridgeZmqMessage::init(size_t sz) { + size = sz; + data = new char[size]; +} + +void BridgeZmqMessage::init(char *d, size_t sz) { + size = sz; + data = new char[size]; + memcpy(data, d, size); +} + +void BridgeZmqMessage::close() { + if (size > 0) { + delete[] data; + } + data = nullptr; + size = 0; +} + +BridgeZmqMessage::~BridgeZmqMessage() { + close(); +} + +int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) { + sock = zmq_socket(context->getRawContext(), ZMQ_SUB); + if (sock == nullptr) { + return -1; + } + + zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0); + + if (conflate) { + int arg = 1; + zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int)); + } + + int reconnect_ivl = 500; + zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl)); + + full_endpoint = "tcp://" + address + ":"; + if (check_endpoint) { + full_endpoint += std::to_string(get_port(endpoint)); + } else { + full_endpoint += endpoint; + } + + return zmq_connect(sock, full_endpoint.c_str()); +} + +void BridgeZmqSubSocket::setTimeout(int timeout) { + zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int)); +} + +Message *BridgeZmqSubSocket::receive(bool non_blocking) { + zmq_msg_t msg; + assert(zmq_msg_init(&msg) == 0); + + int flags = non_blocking ? ZMQ_DONTWAIT : 0; + int rc = zmq_msg_recv(&msg, sock, flags); + + Message *ret = nullptr; + if (rc >= 0) { + ret = new BridgeZmqMessage; + ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg)); + } + + zmq_msg_close(&msg); + return ret; +} + +BridgeZmqSubSocket::~BridgeZmqSubSocket() { + if (sock != nullptr) { + zmq_close(sock); + } +} + +int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) { + sock = zmq_socket(context->getRawContext(), ZMQ_PUB); + if (sock == nullptr) { + return -1; + } + + full_endpoint = "tcp://*:"; + if (check_endpoint) { + full_endpoint += std::to_string(get_port(endpoint)); + } else { + full_endpoint += endpoint; + } + + // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same. + pid = getpid(); + + return zmq_bind(sock, full_endpoint.c_str()); +} + +int BridgeZmqPubSocket::sendMessage(Message *message) { + assert(pid == getpid()); + return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT); +} + +int BridgeZmqPubSocket::send(char *data, size_t size) { + assert(pid == getpid()); + return zmq_send(sock, data, size, ZMQ_DONTWAIT); +} + +BridgeZmqPubSocket::~BridgeZmqPubSocket() { + if (sock != nullptr) { + zmq_close(sock); + } +} + +void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) { + assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0]))); + polls[num_polls].socket = socket->getRawSocket(); + polls[num_polls].events = ZMQ_POLLIN; + + sockets.push_back(socket); + num_polls++; +} + +std::vector BridgeZmqPoller::poll(int timeout) { + std::vector ret; + + int rc = zmq_poll(polls, num_polls, timeout); + if (rc < 0) { + return ret; + } + + for (size_t i = 0; i < num_polls; i++) { + if (polls[i].revents) { + ret.push_back(sockets[i]); + } + } + + return ret; +} diff --git a/cereal/messaging/bridge_zmq.h b/cereal/messaging/bridge_zmq.h new file mode 100644 index 0000000000..eab48a91e8 --- /dev/null +++ b/cereal/messaging/bridge_zmq.h @@ -0,0 +1,72 @@ +#pragma once + +#include +#include +#include + +#include + +#include "msgq/ipc.h" + +class BridgeZmqContext { +public: + BridgeZmqContext(); + void *getRawContext() { return context; } + ~BridgeZmqContext(); + +private: + void *context = nullptr; +}; + +class BridgeZmqMessage : public Message { +public: + void init(size_t size) override; + void init(char *data, size_t size) override; + void close() override; + size_t getSize() override { return size; } + char *getData() override { return data; } + ~BridgeZmqMessage() override; + +private: + char *data = nullptr; + size_t size = 0; +}; + +class BridgeZmqSubSocket { +public: + int connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate = false, bool check_endpoint = true); + void setTimeout(int timeout); + Message *receive(bool non_blocking = false); + void *getRawSocket() { return sock; } + ~BridgeZmqSubSocket(); + +private: + void *sock = nullptr; + std::string full_endpoint; +}; + +class BridgeZmqPubSocket { +public: + int connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint = true); + int sendMessage(Message *message); + int send(char *data, size_t size); + void *getRawSocket() { return sock; } + ~BridgeZmqPubSocket(); + +private: + void *sock = nullptr; + std::string full_endpoint; + int pid = -1; +}; + +class BridgeZmqPoller { +public: + void registerSocket(BridgeZmqSubSocket *socket); + std::vector poll(int timeout); + +private: + static constexpr size_t MAX_BRIDGE_ZMQ_POLLERS = 128; + std::vector sockets; + zmq_pollitem_t polls[MAX_BRIDGE_ZMQ_POLLERS] = {}; + size_t num_polls = 0; +}; diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc index 7f8c738d4d..930b617e7b 100644 --- a/cereal/messaging/msgq_to_zmq.cc +++ b/cereal/messaging/msgq_to_zmq.cc @@ -22,14 +22,14 @@ static std::string recv_zmq_msg(void *sock) { } void MsgqToZmq::run(const std::vector &endpoints, const std::string &ip) { - zmq_context = std::make_unique(); + zmq_context = std::make_unique(); msgq_context = std::make_unique(); // Create ZMQPubSockets for each endpoint for (const auto &endpoint : endpoints) { auto &socket_pair = socket_pairs.emplace_back(); socket_pair.endpoint = endpoint; - socket_pair.pub_sock = std::make_unique(); + socket_pair.pub_sock = std::make_unique(); int ret = socket_pair.pub_sock->connect(zmq_context.get(), endpoint); if (ret != 0) { printf("Failed to create ZMQ publisher for [%s]: %s\n", endpoint.c_str(), zmq_strerror(zmq_errno())); @@ -49,7 +49,7 @@ void MsgqToZmq::run(const std::vector &endpoints, const std::string for (auto sub_sock : msgq_poller->poll(100)) { // Process messages for each socket - ZMQPubSocket *pub_sock = sub2pub.at(sub_sock); + BridgeZmqPubSocket *pub_sock = sub2pub.at(sub_sock); for (int i = 0; i < MAX_MESSAGES_PER_SOCKET; ++i) { auto msg = std::unique_ptr(sub_sock->receive(true)); if (!msg) break; @@ -72,7 +72,7 @@ void MsgqToZmq::zmqMonitorThread() { // Set up ZMQ monitor for each pub socket for (int i = 0; i < socket_pairs.size(); ++i) { std::string addr = "inproc://op-bridge-monitor-" + std::to_string(i); - zmq_socket_monitor(socket_pairs[i].pub_sock->sock, addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED); + zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), addr.c_str(), ZMQ_EVENT_ACCEPTED | ZMQ_EVENT_DISCONNECTED); void *monitor_socket = zmq_socket(zmq_context->getRawContext(), ZMQ_PAIR); zmq_connect(monitor_socket, addr.c_str()); @@ -130,7 +130,7 @@ void MsgqToZmq::zmqMonitorThread() { // Clean up monitor sockets for (int i = 0; i < pollitems.size(); ++i) { - zmq_socket_monitor(socket_pairs[i].pub_sock->sock, nullptr, 0); + zmq_socket_monitor(socket_pairs[i].pub_sock->getRawSocket(), nullptr, 0); zmq_close(pollitems[i].socket); } cv.notify_one(); diff --git a/cereal/messaging/msgq_to_zmq.h b/cereal/messaging/msgq_to_zmq.h index ebdbe5df69..ac92631fe7 100644 --- a/cereal/messaging/msgq_to_zmq.h +++ b/cereal/messaging/msgq_to_zmq.h @@ -7,9 +7,8 @@ #include #include -#define private public #include "msgq/impl_msgq.h" -#include "msgq/impl_zmq.h" +#include "cereal/messaging/bridge_zmq.h" class MsgqToZmq { public: @@ -22,16 +21,16 @@ protected: struct SocketPair { std::string endpoint; - std::unique_ptr pub_sock; + std::unique_ptr pub_sock; std::unique_ptr sub_sock; int connected_clients = 0; }; std::unique_ptr msgq_context; - std::unique_ptr zmq_context; + std::unique_ptr zmq_context; std::mutex mutex; std::condition_variable cv; std::unique_ptr msgq_poller; - std::map sub2pub; + std::map sub2pub; std::vector socket_pairs; }; From 55a31d76571afca6a07b8efdc945d009c31d19ae Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 7 Feb 2026 18:27:16 -0800 Subject: [PATCH 34/65] replace tabulate with simple helper (#37122) --- common/utils.py | 86 +++ pyproject.toml | 1 - selfdrive/test/process_replay/model_replay.py | 2 +- selfdrive/test/test_onroad.py | 2 +- system/hardware/tici/tests/test_power_draw.py | 2 +- .../longitudinal_maneuvers/generate_report.py | 2 +- uv.lock | 515 +----------------- 7 files changed, 91 insertions(+), 519 deletions(-) diff --git a/common/utils.py b/common/utils.py index ccc6719f5f..faaa96ecbc 100644 --- a/common/utils.py +++ b/common/utils.py @@ -167,6 +167,92 @@ def managed_proc(cmd: list[str], env: dict[str, str]): proc.kill() +def tabulate(tabular_data, headers=(), tablefmt="simple", floatfmt="g", stralign="left", numalign=None): + rows = [list(row) for row in tabular_data] + + def fmt(val): + if isinstance(val, str): + return val + if isinstance(val, (bool, int)): + return str(val) + try: + return format(val, floatfmt) + except (TypeError, ValueError): + return str(val) + + formatted = [[fmt(c) for c in row] for row in rows] + hdrs = [str(h) for h in headers] if headers else None + + ncols = max((len(r) for r in formatted), default=0) + if hdrs: + ncols = max(ncols, len(hdrs)) + if ncols == 0: + return "" + + for r in formatted: + r.extend([""] * (ncols - len(r))) + if hdrs: + hdrs.extend([""] * (ncols - len(hdrs))) + + widths = [0] * ncols + if hdrs: + for i in range(ncols): + widths[i] = len(hdrs[i]) + for row in formatted: + for i in range(ncols): + widths[i] = max(widths[i], max(len(ln) for ln in row[i].split('\n'))) + + def _align(s, w): + if stralign == "center": + return s.center(w) + return s.ljust(w) + + if tablefmt == "html": + parts = [""] + if hdrs: + parts.append("") + parts.append("" + "".join(f"" for h in hdrs) + "") + parts.append("") + parts.append("") + for row in formatted: + parts.append("" + "".join(f"" for c in row) + "") + parts.append("") + parts.append("
{h}
{c}
") + return "\n".join(parts) + + if tablefmt == "simple_grid": + def _sep(left, mid, right): + return left + mid.join("\u2500" * (w + 2) for w in widths) + right + + top, mid_sep, bot = _sep("\u250c", "\u252c", "\u2510"), _sep("\u251c", "\u253c", "\u2524"), _sep("\u2514", "\u2534", "\u2518") + + def _fmt_row(cells): + split = [c.split('\n') for c in cells] + nlines = max(len(s) for s in split) + for s in split: + s.extend([""] * (nlines - len(s))) + return ["\u2502" + "\u2502".join(f" {_align(split[i][li], widths[i])} " for i in range(ncols)) + "\u2502" for li in range(nlines)] + + lines = [top] + if hdrs: + lines.extend(_fmt_row(hdrs)) + lines.append(mid_sep) + for ri, row in enumerate(formatted): + lines.extend(_fmt_row(row)) + lines.append(mid_sep if ri < len(formatted) - 1 else bot) + return "\n".join(lines) + + # simple + gap = " " + lines = [] + if hdrs: + lines.append(gap.join(h.ljust(w) for h, w in zip(hdrs, widths, strict=True))) + lines.append(gap.join("-" * w for w in widths)) + for row in formatted: + lines.append(gap.join(_align(row[i], widths[i]) for i in range(ncols))) + return "\n".join(lines) + + def retry(attempts=3, delay=1.0, ignore_failure=False): def decorator(func): @functools.wraps(func) diff --git a/pyproject.toml b/pyproject.toml index 2400364c70..8b0f4004d6 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -105,7 +105,6 @@ dev = [ "parameterized >=0.8, <0.9", "pyautogui", "pywinctl", - "tabulate", ] tools = [ diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 9ba599bac9..d35474f373 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -9,7 +9,7 @@ from itertools import zip_longest import matplotlib.pyplot as plt import numpy as np -from tabulate import tabulate +from openpilot.common.utils import tabulate from openpilot.common.git import get_commit from openpilot.system.hardware import PC diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index f57751c067..33e8685a38 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -8,7 +8,7 @@ import time import numpy as np from collections import Counter, defaultdict from pathlib import Path -from tabulate import tabulate +from openpilot.common.utils import tabulate from cereal import log import cereal.messaging as messaging diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index 4fbde81673..a92e4c8de8 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -3,7 +3,7 @@ import pytest import time import numpy as np from dataclasses import dataclass -from tabulate import tabulate +from openpilot.common.utils import tabulate import cereal.messaging as messaging from cereal.services import SERVICE_LIST diff --git a/tools/longitudinal_maneuvers/generate_report.py b/tools/longitudinal_maneuvers/generate_report.py index 8c16e30d56..32bdb5b1c4 100755 --- a/tools/longitudinal_maneuvers/generate_report.py +++ b/tools/longitudinal_maneuvers/generate_report.py @@ -9,7 +9,7 @@ import webbrowser from collections import defaultdict from pathlib import Path import matplotlib.pyplot as plt -from tabulate import tabulate +from openpilot.common.utils import tabulate from openpilot.tools.lib.logreader import LogReader from openpilot.system.hardware.hw import Paths diff --git a/uv.lock b/uv.lock index 054a67cc9a..81e2d91360 100644 --- a/uv.lock +++ b/uv.lock @@ -1,10 +1,6 @@ version = 1 revision = 3 -requires-python = ">=3.11, <3.13" -resolution-markers = [ - 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mem.available) / MB + cached = mem.cached / MB + shared = mem.shared / MB + buffers = mem.buffers / MB + + lines = [ + f" Total: {total:.0f} MB", + f" Used (total-avail): {used:.0f} MB ({pct(used, total):.0f}%)", + f" Cached: {cached:.0f} MB ({pct(cached, total):.0f}%) Buffers: {buffers:.0f} MB ({pct(buffers, total):.0f}%)", + f" Shared/MSGQ: {shared:.0f} MB ({pct(shared, total):.0f}%)", + ] + + if device_states: + mem_pcts = [m.deviceState.memoryUsagePercent for m in device_states] + lines.append(f" deviceState memory: {np.min(mem_pcts)}-{np.max(mem_pcts)}% (avg {np.mean(mem_pcts):.0f}%)") + + print("\n-- Memory Summary --") + print("\n".join(lines)) + return total + + +def collect_per_process_mem(proc_logs, use_pss): + """Collect per-process memory samples. Returns {name: {metric: [values_per_sample_in_MB]}}.""" + by_proc = defaultdict(lambda: defaultdict(list)) + + for msg in proc_logs: + sample = defaultdict(lambda: defaultdict(float)) + for proc in msg.procLog.procs: + name = get_proc_name(proc) + sample[name]['rss'] += proc.memRss / MB + if use_pss: + sample[name]['pss'] += proc.memPss / MB + sample[name]['pss_anon'] += proc.memPssAnon / MB + sample[name]['pss_shmem'] += proc.memPssShmem / MB + + for name, metrics in sample.items(): + for metric, val in metrics.items(): + by_proc[name][metric].append(val) + + return by_proc + + +def _has_pss_detail(by_proc) -> bool: + """Check if any process has non-zero pss_anon/pss_shmem (unavailable on some kernels).""" + return any(sum(v.get('pss_anon', [])) > 0 or sum(v.get('pss_shmem', [])) > 0 for v in by_proc.values()) + + +def process_table_rows(by_proc, total_mb, use_pss, show_detail): + """Build table rows. Returns (rows, total_row).""" + mem_key = 'pss' if use_pss else 'rss' + rows = [] + for name in sorted(by_proc, key=lambda n: np.mean(by_proc[n][mem_key]), reverse=True): + m = by_proc[name] + vals = m[mem_key] + avg = round(np.mean(vals)) + row = [name, f"{avg} MB", f"{round(np.max(vals))} MB", f"{round(pct(avg, total_mb), 1)}%"] + if show_detail: + row.append(f"{round(np.mean(m['pss_anon']))} MB") + row.append(f"{round(np.mean(m['pss_shmem']))} MB") + rows.append(row) + + # Total row + total_row = None + if by_proc: + max_samples = max(len(v[mem_key]) for v in by_proc.values()) + totals = [] + for i in range(max_samples): + s = sum(v[mem_key][i] for v in by_proc.values() if i < len(v[mem_key])) + totals.append(s) + avg_total = round(np.mean(totals)) + total_row = ["TOTAL", f"{avg_total} MB", f"{round(np.max(totals))} MB", f"{round(pct(avg_total, total_mb), 1)}%"] + if show_detail: + total_row.append(f"{round(sum(np.mean(v['pss_anon']) for v in by_proc.values()))} MB") + total_row.append(f"{round(sum(np.mean(v['pss_shmem']) for v in by_proc.values()))} MB") + + return rows, total_row + + +def print_process_tables(op_procs, other_procs, total_mb, use_pss): + all_procs = {**op_procs, **other_procs} + show_detail = use_pss and _has_pss_detail(all_procs) + + header = ["process", "avg", "max", "%"] + if show_detail: + header += ["anon", "shmem"] + + op_rows, op_total = process_table_rows(op_procs, total_mb, use_pss, show_detail) + # filter other: >5MB avg and not bare interpreter paths (test infra noise) + other_filtered = {n: v for n, v in other_procs.items() + if np.mean(v['pss' if use_pss else 'rss']) > 5.0 + and os.path.basename(n.split()[0]) not in ('python', 'python3')} + other_rows, other_total = process_table_rows(other_filtered, total_mb, use_pss, show_detail) + + rows = op_rows + if op_total: + rows.append(op_total) + if other_rows: + sep_width = len(header) + rows.append([""] * sep_width) + rows.extend(other_rows) + if other_total: + other_total[0] = "TOTAL (other)" + rows.append(other_total) + + metric = "PSS (no shared double-count)" if use_pss else "RSS (includes shared, overcounts)" + print(f"\n-- Per-Process Memory: {metric} --") + print(tabulate(rows, header, **TABULATE_OPTS)) + + +def print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss): + last = proc_logs[-1].procLog.mem + used = (last.total - last.available) / MB + shared = last.shared / MB + cached_buf = (last.buffers + last.cached) / MB - shared # shared (MSGQ) is in Cached; separate it + msgq = shared + + mem_key = 'pss' if use_pss else 'rss' + op_total = sum(v[mem_key][-1] for v in op_procs.values()) if op_procs else 0 + other_total = sum(v[mem_key][-1] for v in other_procs.values()) if other_procs else 0 + proc_sum = op_total + other_total + remainder = used - (cached_buf + msgq) - proc_sum + + if not use_pss: + # RSS double-counts shared; add back once to partially correct + remainder += shared + + header = ["", "MB", "%", ""] + label = "PSS" if use_pss else "RSS*" + rows = [ + ["Used (total - avail)", f"{used:.0f}", f"{pct(used, total_mb):.1f}", "memory in use by the system"], + [" Cached + Buffers", f"{cached_buf:.0f}", f"{pct(cached_buf, total_mb):.1f}", "pagecache + fs metadata, reclaimable"], + [" MSGQ (shared)", f"{msgq:.0f}", f"{pct(msgq, total_mb):.1f}", "/dev/shm tmpfs, also in process PSS"], + [f" openpilot {label}", f"{op_total:.0f}", f"{pct(op_total, total_mb):.1f}", "sum of openpilot process memory"], + [f" other {label}", f"{other_total:.0f}", f"{pct(other_total, total_mb):.1f}", "sum of non-openpilot process memory"], + [" kernel/ION/GPU", f"{remainder:.0f}", f"{pct(remainder, total_mb):.1f}", "slab, ION/DMA-BUF, GPU, page tables"], + ] + note = "" if use_pss else " (*RSS overcounts shared mem)" + print(f"\n-- Memory Accounting (last sample){note} --") + print(tabulate(rows, header, tablefmt="simple_grid", stralign="right")) + + +def print_report(proc_logs, device_states=None): + """Print full memory analysis report. Can be called from tests or CLI.""" + if not proc_logs: + print("No procLog messages found") + return + + print(f"{len(proc_logs)} procLog samples, {len(device_states or [])} deviceState samples") + + use_pss = has_pss(proc_logs) + if not use_pss: + print(" (no PSS data — re-record with updated proclogd for accurate numbers)") + + total_mb = print_summary(proc_logs, device_states or []) + + by_proc = collect_per_process_mem(proc_logs, use_pss) + op_procs = {n: v for n, v in by_proc.items() if is_openpilot_proc(n)} + other_procs = {n: v for n, v in by_proc.items() if not is_openpilot_proc(n)} + + print_process_tables(op_procs, other_procs, total_mb, use_pss) + print_memory_accounting(proc_logs, op_procs, other_procs, total_mb, use_pss) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Analyze memory usage from route logs") + parser.add_argument("route", nargs="?", default=None, help="route ID or local rlog path") + parser.add_argument("--demo", action="store_true", help=f"use demo route ({DEMO_ROUTE})") + args = parser.parse_args() + + if args.demo: + route = DEMO_ROUTE + elif args.route: + route = args.route + else: + parser.error("provide a route or use --demo") + + print(f"Reading logs from: {route}") + + proc_logs = [] + device_states = [] + for msg in LogReader(route): + if msg.which() == 'procLog': + proc_logs.append(msg) + elif msg.which() == 'deviceState': + device_states.append(msg) + + print_report(proc_logs, device_states) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 33e8685a38..008b8ebe7f 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -56,7 +56,7 @@ PROCS = { "selfdrive.ui.soundd": 3.0, "selfdrive.ui.feedback.feedbackd": 1.0, "selfdrive.monitoring.dmonitoringd": 4.0, - "system.proclogd": 3.0, + "system.proclogd": 7.0, "system.logmessaged": 1.0, "system.tombstoned": 0, "system.journald": 1.0, @@ -282,9 +282,12 @@ class TestOnroad: print("\n------------------------------------------------") print("--------------- Memory Usage -------------------") print("------------------------------------------------") + + from openpilot.selfdrive.debug.mem_usage import print_report + print_report(self.msgs['procLog'], self.msgs['deviceState']) + offset = int(SERVICE_LIST['deviceState'].frequency * LOG_OFFSET) mems = [m.deviceState.memoryUsagePercent for m in self.msgs['deviceState'][offset:]] - print("Overall memory usage: ", mems) print("MSGQ (/dev/shm/) usage: ", subprocess.check_output(["du", "-hs", "/dev/shm"]).split()[0].decode()) # check for big leaks. note that memory usage is diff --git a/system/proclogd.py b/system/proclogd.py index 3279425b7b..b008f8ed9b 100755 --- a/system/proclogd.py +++ b/system/proclogd.py @@ -115,6 +115,55 @@ def _parse_proc_stat(stat: str) -> ProcStat | None: cloudlog.exception("failed to parse /proc//stat") return None +class SmapsData(TypedDict): + pss: int # bytes + pss_anon: int # bytes + pss_shmem: int # bytes + + +_SMAPS_KEYS = {b'Pss:', b'Pss_Anon:', b'Pss_Shmem:'} + +# smaps_rollup (kernel 4.14+) is ideal but missing on some BSP kernels; +# fall back to per-VMA smaps (any kernel). Pss_Anon/Pss_Shmem only in 5.x+. +_smaps_path: str | None = None # auto-detected on first call + +# per-VMA smaps is expensive (kernel walks page tables for every VMA). +# cache results and only refresh every N cycles to keep CPU low. +_smaps_cache: dict[int, SmapsData] = {} +_smaps_cycle = 0 +_SMAPS_EVERY = 20 # refresh every 20th cycle (40s at 0.5Hz) + + +def _read_smaps(pid: int) -> SmapsData: + global _smaps_path + try: + if _smaps_path is None: + _smaps_path = 'smaps_rollup' if os.path.exists(f'/proc/{pid}/smaps_rollup') else 'smaps' + + result: SmapsData = {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0} + with open(f'/proc/{pid}/{_smaps_path}', 'rb') as f: + for line in f: + parts = line.split() + if len(parts) >= 2 and parts[0] in _SMAPS_KEYS: + val = int(parts[1]) * 1024 # kB -> bytes + if parts[0] == b'Pss:': + result['pss'] += val + elif parts[0] == b'Pss_Anon:': + result['pss_anon'] += val + elif parts[0] == b'Pss_Shmem:': + result['pss_shmem'] += val + return result + except (FileNotFoundError, PermissionError, ProcessLookupError, OSError): + return {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0} + + +def _get_smaps_cached(pid: int) -> SmapsData: + """Return cached smaps data, refreshing every _SMAPS_EVERY cycles.""" + if _smaps_cycle == 0 or pid not in _smaps_cache: + _smaps_cache[pid] = _read_smaps(pid) + return _smaps_cache.get(pid, {'pss': 0, 'pss_anon': 0, 'pss_shmem': 0}) + + class ProcExtra(TypedDict): pid: int name: str @@ -189,6 +238,13 @@ def build_proc_log_message(msg) -> None: for j, arg in enumerate(extra['cmdline']): cmdline[j] = arg + # smaps is expensive (kernel walks page tables); skip small processes, use cache + if r['rss'] * PAGE_SIZE > 5 * 1024 * 1024: + smaps = _get_smaps_cached(r['pid']) + proc.memPss = smaps['pss'] + proc.memPssAnon = smaps['pss_anon'] + proc.memPssShmem = smaps['pss_shmem'] + cpu_times = _cpu_times() cpu_list = pl.init('cpuTimes', len(cpu_times)) for i, ct in enumerate(cpu_times): @@ -212,6 +268,9 @@ def build_proc_log_message(msg) -> None: pl.mem.inactive = mem_info["Inactive:"] pl.mem.shared = mem_info["Shmem:"] + global _smaps_cycle + _smaps_cycle = (_smaps_cycle + 1) % _SMAPS_EVERY + def main() -> NoReturn: pm = messaging.PubMaster(['procLog']) From 667f3bb32f696b8bdcd93bce9143cd4171e436a3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 7 Feb 2026 21:36:44 -0800 Subject: [PATCH 36/65] Revert "revert tg calib and opencl cleanup (#37113)" (#37115) * Revert "revert tg calib and opencl cleanup (#37113)" This reverts commit 51312afd3da58ac73cc98d5c908cbebd70498ba5. * power draw is a lil higher * just don't miss a cycle * fix warp targets * fix tinygrad dep --- Dockerfile.openpilot_base | 37 - SConstruct | 1 - common/SConscript | 1 - common/clutil.cc | 98 -- common/clutil.h | 28 - common/mat.h | 85 - msgq_repo | 2 +- selfdrive/modeld/SConscript | 56 +- selfdrive/modeld/compile_warp.py | 206 +++ selfdrive/modeld/dmonitoringmodeld.py | 33 +- selfdrive/modeld/modeld.py | 59 +- selfdrive/modeld/models/commonmodel.cc | 64 - selfdrive/modeld/models/commonmodel.h | 97 -- selfdrive/modeld/models/commonmodel.pxd | 27 - selfdrive/modeld/models/commonmodel_pyx.pxd | 13 - selfdrive/modeld/models/commonmodel_pyx.pyx | 74 - selfdrive/modeld/runners/tinygrad_helpers.py | 8 - selfdrive/modeld/transforms/loadyuv.cc | 76 - selfdrive/modeld/transforms/loadyuv.cl | 47 - selfdrive/modeld/transforms/loadyuv.h | 20 - selfdrive/modeld/transforms/transform.cc | 97 -- selfdrive/modeld/transforms/transform.cl | 54 - selfdrive/modeld/transforms/transform.h | 25 - selfdrive/test/process_replay/model_replay.py | 4 +- .../test/process_replay/process_replay.py | 15 +- system/camerad/SConscript | 2 +- system/camerad/cameras/camera_common.cc | 5 +- system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 22 +- system/camerad/cameras/spectra.cc | 4 +- system/camerad/cameras/spectra.h | 2 +- system/hardware/tici/tests/test_power_draw.py | 2 +- system/loggerd/SConscript | 5 +- third_party/opencl/include/CL/cl.h | 1452 ----------------- third_party/opencl/include/CL/cl_d3d10.h | 131 -- third_party/opencl/include/CL/cl_d3d11.h | 131 -- .../opencl/include/CL/cl_dx9_media_sharing.h | 132 -- third_party/opencl/include/CL/cl_egl.h | 136 -- third_party/opencl/include/CL/cl_ext.h | 391 ----- third_party/opencl/include/CL/cl_ext_qcom.h | 255 --- third_party/opencl/include/CL/cl_gl.h | 167 -- third_party/opencl/include/CL/cl_gl_ext.h | 74 - third_party/opencl/include/CL/cl_platform.h | 1333 --------------- third_party/opencl/include/CL/opencl.h | 59 - tools/cabana/SConscript | 2 - tools/install_ubuntu_dependencies.sh | 3 - tools/replay/SConscript | 5 - tools/webcam/README.md | 4 - 48 files changed, 309 insertions(+), 5237 deletions(-) delete mode 100644 common/clutil.cc delete mode 100644 common/clutil.h delete mode 100644 common/mat.h create mode 100755 selfdrive/modeld/compile_warp.py delete mode 100644 selfdrive/modeld/models/commonmodel.cc delete mode 100644 selfdrive/modeld/models/commonmodel.h delete mode 100644 selfdrive/modeld/models/commonmodel.pxd delete mode 100644 selfdrive/modeld/models/commonmodel_pyx.pxd delete mode 100644 selfdrive/modeld/models/commonmodel_pyx.pyx delete mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py delete mode 100644 selfdrive/modeld/transforms/loadyuv.cc delete mode 100644 selfdrive/modeld/transforms/loadyuv.cl delete mode 100644 selfdrive/modeld/transforms/loadyuv.h delete mode 100644 selfdrive/modeld/transforms/transform.cc delete mode 100644 selfdrive/modeld/transforms/transform.cl delete mode 100644 selfdrive/modeld/transforms/transform.h delete mode 100644 third_party/opencl/include/CL/cl.h delete mode 100644 third_party/opencl/include/CL/cl_d3d10.h delete mode 100644 third_party/opencl/include/CL/cl_d3d11.h delete mode 100644 third_party/opencl/include/CL/cl_dx9_media_sharing.h delete mode 100644 third_party/opencl/include/CL/cl_egl.h delete mode 100644 third_party/opencl/include/CL/cl_ext.h delete mode 100644 third_party/opencl/include/CL/cl_ext_qcom.h delete mode 100644 third_party/opencl/include/CL/cl_gl.h delete mode 100644 third_party/opencl/include/CL/cl_gl_ext.h delete mode 100644 third_party/opencl/include/CL/cl_platform.h delete mode 100644 third_party/opencl/include/CL/opencl.h diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 44d8d95e95..8a60412993 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -18,43 +18,6 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \ cd /usr/lib/gcc/arm-none-eabi/* && \ rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp -# Add OpenCL -RUN apt-get update && apt-get install -y --no-install-recommends \ - apt-utils \ - alien \ - unzip \ - tar \ - curl \ - xz-utils \ - dbus \ - gcc-arm-none-eabi \ - tmux \ - vim \ - libx11-6 \ - wget \ - && rm -rf /var/lib/apt/lists/* - -RUN mkdir -p /tmp/opencl-driver-intel && \ - cd /tmp/opencl-driver-intel && \ - wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ - wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \ - mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ - cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ - tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ - mkdir -p /etc/OpenCL/vendors && \ - echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \ - cd /opt/intel && \ - tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ - mkdir -p /etc/ld.so.conf.d && \ - echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \ - ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \ - cd / && \ - rm -rf /tmp/opencl-driver-intel - ENV NVIDIA_VISIBLE_DEVICES=all ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute ENV QTWEBENGINE_DISABLE_SANDBOX=1 diff --git a/SConstruct b/SConstruct index ca5b7b6cb7..4f04be624c 100644 --- a/SConstruct +++ b/SConstruct @@ -94,7 +94,6 @@ env = Environment( # Arch-specific flags and paths if arch == "larch64": - env.Append(CPPPATH=["#third_party/opencl/include"]) env.Append(LIBPATH=[ "/usr/local/lib", "/system/vendor/lib64", diff --git a/common/SConscript b/common/SConscript index 1c68cf05c7..15a0e5eff1 100644 --- a/common/SConscript +++ b/common/SConscript @@ -5,7 +5,6 @@ common_libs = [ 'swaglog.cc', 'util.cc', 'ratekeeper.cc', - 'clutil.cc', ] _common = env.Library('common', common_libs, LIBS="json11") diff --git a/common/clutil.cc b/common/clutil.cc deleted file mode 100644 index f8381a7e09..0000000000 --- a/common/clutil.cc +++ /dev/null @@ -1,98 +0,0 @@ -#include "common/clutil.h" - -#include -#include -#include - -#include "common/util.h" -#include "common/swaglog.h" - -namespace { // helper functions - -template -std::string get_info(Func get_info_func, Id id, Name param_name) { - size_t size = 0; - CL_CHECK(get_info_func(id, param_name, 0, NULL, &size)); - std::string info(size, '\0'); - CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL)); - return info; -} -inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); } -inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); } - -void cl_print_info(cl_platform_id platform, cl_device_id device) { - size_t work_group_size = 0; - cl_device_type device_type = 0; - clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL); - clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL); - const char *type_str = "Other..."; - switch (device_type) { - case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break; - case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break; - case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break; - } - - LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str()); - LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str()); - LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str()); - LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str()); - LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str()); - LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str()); - LOGD("max work group size: %zu", work_group_size); - LOGD("type = %d, %s", (int)device_type, type_str); -} - -void cl_print_build_errors(cl_program program, cl_device_id device) { - cl_build_status status; - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL); - size_t log_size; - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size); - std::string log(log_size, '\0'); - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL); - - LOGE("build failed; status=%d, log: %s", status, log.c_str()); -} - -} // namespace - -cl_device_id cl_get_device_id(cl_device_type device_type) { - cl_uint num_platforms = 0; - CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms)); - std::unique_ptr platform_ids = std::make_unique(num_platforms); - CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL)); - - for (size_t i = 0; i < num_platforms; ++i) { - LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str()); - - // Get first device - if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) { - cl_print_info(platform_ids[i], device_id); - return device_id; - } - } - LOGE("No valid openCL platform found"); - assert(0); - return nullptr; -} - -cl_context cl_create_context(cl_device_id device_id) { - return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); -} - -void cl_release_context(cl_context context) { - clReleaseContext(context); -} - -cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) { - return cl_program_from_source(ctx, device_id, util::read_file(path), args); -} - -cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) { - const char *csrc = src.c_str(); - cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err)); - if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) { - cl_print_build_errors(prg, device_id); - assert(0); - } - return prg; -} diff --git a/common/clutil.h b/common/clutil.h deleted file mode 100644 index b364e79d45..0000000000 --- a/common/clutil.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include - -#define CL_CHECK(_expr) \ - do { \ - assert(CL_SUCCESS == (_expr)); \ - } while (0) - -#define CL_CHECK_ERR(_expr) \ - ({ \ - cl_int err = CL_INVALID_VALUE; \ - __typeof__(_expr) _ret = _expr; \ - assert(_ret&& err == CL_SUCCESS); \ - _ret; \ - }) - -cl_device_id cl_get_device_id(cl_device_type device_type); -cl_context cl_create_context(cl_device_id device_id); -void cl_release_context(cl_context context); -cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr); -cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args); diff --git a/common/mat.h b/common/mat.h deleted file mode 100644 index 8e10d61971..0000000000 --- a/common/mat.h +++ /dev/null @@ -1,85 +0,0 @@ -#pragma once - -typedef struct vec3 { - float v[3]; -} vec3; - -typedef struct vec4 { - float v[4]; -} vec4; - -typedef struct mat3 { - float v[3*3]; -} mat3; - -typedef struct mat4 { - float v[4*4]; -} mat4; - -static inline mat3 matmul3(const mat3 &a, const mat3 &b) { - mat3 ret = {{0.0}}; - for (int r=0; r<3; r++) { - for (int c=0; c<3; c++) { - float v = 0.0; - for (int k=0; k<3; k++) { - v += a.v[r*3+k] * b.v[k*3+c]; - } - ret.v[r*3+c] = v; - } - } - return ret; -} - -static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) { - vec3 ret = {{0.0}}; - for (int r=0; r<3; r++) { - for (int c=0; c<3; c++) { - ret.v[r] += a.v[r*3+c] * b.v[c]; - } - } - return ret; -} - -static inline mat4 matmul(const mat4 &a, const mat4 &b) { - mat4 ret = {{0.0}}; - for (int r=0; r<4; r++) { - for (int c=0; c<4; c++) { - float v = 0.0; - for (int k=0; k<4; k++) { - v += a.v[r*4+k] * b.v[k*4+c]; - } - ret.v[r*4+c] = v; - } - } - return ret; -} - -static inline vec4 matvecmul(const mat4 &a, const vec4 &b) { - vec4 ret = {{0.0}}; - for (int r=0; r<4; r++) { - for (int c=0; c<4; c++) { - ret.v[r] += a.v[r*4+c] * b.v[c]; - } - } - return ret; -} - -// scales the input and output space of a transformation matrix -// that assumes pixel-center origin. -static inline mat3 transform_scale_buffer(const mat3 &in, float s) { - // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s - - mat3 transform_out = {{ - 1.0f/s, 0.0f, 0.5f, - 0.0f, 1.0f/s, 0.5f, - 0.0f, 0.0f, 1.0f, - }}; - - mat3 transform_in = {{ - s, 0.0f, -0.5f*s, - 0.0f, s, -0.5f*s, - 0.0f, 0.0f, 1.0f, - }}; - - return matmul3(transform_in, matmul3(in, transform_out)); -} diff --git a/msgq_repo b/msgq_repo index 20f2493855..f9ebdca885 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 20f2493855ef32339b80f0ad76b3cb82210dc474 +Subproject commit f9ebdca885cfe25295d09de9fd57023a10758de5 diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 91f3597447..84e94df4a5 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,35 +1,12 @@ import os import glob -Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc') +Import('env', 'arch') lenv = env.Clone() -lenvCython = envCython.Clone() -libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread'] -frameworks = [] - -common_src = [ - "models/commonmodel.cc", - "transforms/loadyuv.cc", - "transforms/transform.cc", -] - -# OpenCL is a framework on Mac -if arch == "Darwin": - frameworks += ['OpenCL'] -else: - libs += ['OpenCL'] - -# Set path definitions -for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items(): - for xenv in (lenv, lenvCython): - xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') - -# Compile cython -cython_libs = envCython["LIBS"] + libs -commonmodel_lib = lenv.Library('commonmodel', common_src) -lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) -tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]) +tinygrad_root = env.Dir("#").abspath +tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root) + if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))] # Get model metadata for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: @@ -38,22 +15,35 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd) +# compile warp +tg_flags = { + 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0', + 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env +}.get(arch, 'DEV=CPU CPU_LLVM=1') +image_flag = { + 'larch64': 'IMAGE=2', +}.get(arch, 'IMAGE=0') +script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)] +cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py ' +from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye +warp_targets = [] +for cam in [_ar_ox_fisheye, _os_fisheye]: + w, h = cam.width, cam.height + warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath] +lenv.Command(warp_targets, tinygrad_files + script_files, cmd) + def tg_compile(flags, model_name): pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' fn = File(f"models/{model_name}").abspath return lenv.Command( fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, - f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' + f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' ) # Compile small models for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: - flags = { - 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0', - 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env - }.get(arch, 'DEV=CPU CPU_LLVM=1') - tg_compile(flags, model_name) + tg_compile(tg_flags, model_name) # Compile BIG model if USB GPU is available if "USBGPU" in os.environ: diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py new file mode 100755 index 0000000000..5adb60e624 --- /dev/null +++ b/selfdrive/modeld/compile_warp.py @@ -0,0 +1,206 @@ +#!/usr/bin/env python3 +import time +import pickle +import numpy as np +from pathlib import Path +from tinygrad.tensor import Tensor +from tinygrad.helpers import Context +from tinygrad.device import Device +from tinygrad.engine.jit import TinyJit + +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info +from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE +from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye + +MODELS_DIR = Path(__file__).parent / 'models' + +CAMERA_CONFIGS = [ + (_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208 + (_os_fisheye.width, _os_fisheye.height), # mici: 1344x760 +] + +UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32) +UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX) + +IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2) + + +def warp_pkl_path(w, h): + return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' + + +def dm_warp_pkl_path(w, h): + return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl' + + +def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, ratio): + w_dst, h_dst = dst_shape + h_src, w_src = src_shape + + x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst) + y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst) + ones = Tensor.ones_like(x) + dst_coords = x.reshape(1, -1).cat(y.reshape(1, -1)).cat(ones.reshape(1, -1)) + + src_coords = M_inv @ dst_coords + src_coords = src_coords / src_coords[2:3, :] + + x_nn_clipped = Tensor.round(src_coords[0]).clip(0, w_src - 1).cast('int') + y_nn_clipped = Tensor.round(src_coords[1]).clip(0, h_src - 1).cast('int') + idx = y_nn_clipped * w_src + (y_nn_clipped * ratio).cast('int') * stride_pad + x_nn_clipped + + sampled = src_flat[idx] + return sampled + + +def frames_to_tensor(frames, model_w, model_h): + H = (frames.shape[0] * 2) // 3 + W = frames.shape[1] + in_img1 = Tensor.cat(frames[0:H:2, 0::2], + frames[1:H:2, 0::2], + frames[0:H:2, 1::2], + frames[1:H:2, 1::2], + frames[H:H+H//4].reshape((H//2, W//2)), + frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2)) + return in_img1 + + +def make_frame_prepare(cam_w, cam_h, model_w, model_h): + stride, y_height, _, _ = get_nv12_info(cam_w, cam_h) + uv_offset = stride * y_height + stride_pad = stride - cam_w + + def frame_prepare_tinygrad(input_frame, M_inv): + tg_scale = Tensor(UV_SCALE_MATRIX) + M_inv_uv = tg_scale @ M_inv @ Tensor(UV_SCALE_MATRIX_INV) + with Context(SPLIT_REDUCEOP=0): + y = warp_perspective_tinygrad(input_frame[:cam_h*stride], + M_inv, (model_w, model_h), + (cam_h, cam_w), stride_pad, 1).realize() + u = warp_perspective_tinygrad(input_frame[uv_offset:uv_offset + (cam_h//4)*stride], + M_inv_uv, (model_w//2, model_h//2), + (cam_h//2, cam_w//2), stride_pad, 0.5).realize() + v = warp_perspective_tinygrad(input_frame[uv_offset + (cam_h//4)*stride:uv_offset + (cam_h//2)*stride], + M_inv_uv, (model_w//2, model_h//2), + (cam_h//2, cam_w//2), stride_pad, 0.5).realize() + yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w)) + tensor = frames_to_tensor(yuv, model_w, model_h) + return tensor + return frame_prepare_tinygrad + + +def make_update_img_input(frame_prepare, model_w, model_h): + def update_img_input_tinygrad(tensor, frame, M_inv): + M_inv = M_inv.to(Device.DEFAULT) + new_img = frame_prepare(frame, M_inv) + full_buffer = tensor[6:].cat(new_img, dim=0).contiguous() + return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2) + return update_img_input_tinygrad + + +def make_update_both_imgs(frame_prepare, model_w, model_h): + update_img = make_update_img_input(frame_prepare, model_w, model_h) + + def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv, + calib_big_img_buffer, new_big_img, M_inv_big): + calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv) + calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big) + return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair + return update_both_imgs_tinygrad + + +def make_warp_dm(cam_w, cam_h, dm_w, dm_h): + stride, y_height, _, _ = get_nv12_info(cam_w, cam_h) + stride_pad = stride - cam_w + + def warp_dm(input_frame, M_inv): + M_inv = M_inv.to(Device.DEFAULT) + with Context(SPLIT_REDUCEOP=0): + result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad, 1).reshape(-1, dm_h * dm_w) + return result + return warp_dm + + +def compile_modeld_warp(cam_w, cam_h): + model_w, model_h = MEDMODEL_INPUT_SIZE + _, _, _, yuv_size = get_nv12_info(cam_w, cam_h) + + print(f"Compiling modeld warp for {cam_w}x{cam_h}...") + + frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h) + update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h) + update_img_jit = TinyJit(update_both_imgs, prune=True) + + full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize() + big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize() + full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8) + big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8) + + for i in range(10): + new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8) + img_inputs = [full_buffer, + Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(), + Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] + new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8) + big_img_inputs = [big_full_buffer, + Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(), + Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] + inputs = img_inputs + big_img_inputs + Device.default.synchronize() + + inputs_np = [x.numpy() for x in inputs] + inputs_np[0] = full_buffer_np + inputs_np[3] = big_full_buffer_np + + st = time.perf_counter() + out = update_img_jit(*inputs) + full_buffer = out[0].contiguous().realize().clone() + big_full_buffer = out[2].contiguous().realize().clone() + mt = time.perf_counter() + Device.default.synchronize() + et = time.perf_counter() + print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") + + pkl_path = warp_pkl_path(cam_w, cam_h) + with open(pkl_path, "wb") as f: + pickle.dump(update_img_jit, f) + print(f" Saved to {pkl_path}") + + jit = pickle.load(open(pkl_path, "rb")) + jit(*inputs) + + +def compile_dm_warp(cam_w, cam_h): + dm_w, dm_h = DM_INPUT_SIZE + _, _, _, yuv_size = get_nv12_info(cam_w, cam_h) + + print(f"Compiling DM warp for {cam_w}x{cam_h}...") + + warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h) + warp_dm_jit = TinyJit(warp_dm, prune=True) + + for i in range(10): + inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'), + Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] + Device.default.synchronize() + st = time.perf_counter() + warp_dm_jit(*inputs) + mt = time.perf_counter() + Device.default.synchronize() + et = time.perf_counter() + print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") + + pkl_path = dm_warp_pkl_path(cam_w, cam_h) + with open(pkl_path, "wb") as f: + pickle.dump(warp_dm_jit, f) + print(f" Saved to {pkl_path}") + + +def run_and_save_pickle(): + for cam_w, cam_h in CAMERA_CONFIGS: + compile_modeld_warp(cam_w, cam_h) + compile_dm_warp(cam_w, cam_h) + + +if __name__ == "__main__": + run_and_save_pickle() diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index fca762c69b..7d4df713c7 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -3,7 +3,6 @@ import os from openpilot.system.hardware import TICI os.environ['DEV'] = 'QCOM' if TICI else 'CPU' from tinygrad.tensor import Tensor -from tinygrad.dtype import dtypes import time import pickle import numpy as np @@ -16,32 +15,34 @@ from openpilot.common.swaglog import cloudlog from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import dmonitoringmodel_intrinsics from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye -from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp -from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl' METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl' - +MODELS_DIR = Path(__file__).parent / 'models' class ModelState: inputs: dict[str, np.ndarray] output: np.ndarray - def __init__(self, cl_ctx): + def __init__(self): with open(METADATA_PATH, 'rb') as f: model_metadata = pickle.load(f) self.input_shapes = model_metadata['input_shapes'] self.output_slices = model_metadata['output_slices'] - self.frame = MonitoringModelFrame(cl_ctx) self.numpy_inputs = { 'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32), } + self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)} + self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()} + self.frame_buf_params = None self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} + self.image_warp = None with open(MODEL_PKL_PATH, "rb") as f: self.model_run = pickle.load(f) @@ -50,14 +51,15 @@ class ModelState: t1 = time.perf_counter() - input_img_cl = self.frame.prepare(buf, transform.flatten()) - if TICI: - # The imgs tensors are backed by opencl memory, only need init once - if 'input_img' not in self.tensor_inputs: - self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, self.input_shapes['input_img'], dtype=dtypes.uint8) - else: - self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize() + if self.image_warp is None: + self.frame_buf_params = get_nv12_info(buf.width, buf.height) + warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl' + with open(warp_path, "rb") as f: + self.image_warp = pickle.load(f) + self.warp_inputs['frame'] = Tensor.from_blob(buf.data.ctypes.data, (self.frame_buf_params[3],), dtype='uint8').realize() + self.warp_inputs_np['transform'][:] = transform[:] + self.tensor_inputs['input_img'] = self.image_warp(self.warp_inputs['frame'], self.warp_inputs['transform']).realize() output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy() @@ -107,12 +109,11 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t def main(): config_realtime_process(7, 5) - cl_context = CLContext() - model = ModelState(cl_context) + model = ModelState() cloudlog.warning("models loaded, dmonitoringmodeld starting") cloudlog.warning("connecting to driver stream") - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context) + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True) while not vipc_client.connect(False): time.sleep(0.1) assert vipc_client.is_connected() diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 1f347dc32a..7fae365109 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -7,7 +7,6 @@ if USBGPU: os.environ['DEV'] = 'AMD' os.environ['AMD_IFACE'] = 'USB' from tinygrad.tensor import Tensor -from tinygrad.dtype import dtypes import time import pickle import numpy as np @@ -22,14 +21,13 @@ from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.transformations.camera import DEVICE_CAMERAS +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.common.transformations.model import get_warp_matrix from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan -from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext -from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address PROCESS_NAME = "selfdrive.modeld.modeld" @@ -39,11 +37,15 @@ VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl' POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' +MODELS_DIR = Path(__file__).parent / 'models' LAT_SMOOTH_SECONDS = 0.0 LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 +IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256) +assert IMG_QUEUE_SHAPE[0] == 30 + def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: @@ -136,12 +138,11 @@ class InputQueues: return out class ModelState: - frames: dict[str, DrivingModelFrame] inputs: dict[str, np.ndarray] output: np.ndarray prev_desire: np.ndarray # for tracking the rising edge of the pulse - def __init__(self, context: CLContext): + def __init__(self): with open(VISION_METADATA_PATH, 'rb') as f: vision_metadata = pickle.load(f) self.vision_input_shapes = vision_metadata['input_shapes'] @@ -155,7 +156,6 @@ class ModelState: self.policy_output_slices = policy_metadata['output_slices'] policy_output_size = policy_metadata['output_shapes']['outputs'][1] - self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names} self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) # policy inputs @@ -165,12 +165,17 @@ class ModelState: self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape}) self.full_input_queues.reset() - # img buffers are managed in openCL transform code - self.vision_inputs: dict[str, Tensor] = {} + self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(), + 'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),} + self.full_frames : dict[str, Tensor] = {} + self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues} + self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()} self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) self.parser = Parser() + self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {} + self.update_imgs = None with open(VISION_PKL_PATH, "rb") as f: self.vision_run = pickle.load(f) @@ -188,23 +193,28 @@ class ModelState: inputs['desire_pulse'][0] = 0 new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) self.prev_desire[:] = inputs['desire_pulse'] + if self.update_imgs is None: + for key in bufs.keys(): + w, h = bufs[key].width, bufs[key].height + self.frame_buf_params[key] = get_nv12_info(w, h) + warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' + with open(warp_path, "rb") as f: + self.update_imgs = pickle.load(f) - imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} - if TICI and not USBGPU: - # The imgs tensors are backed by opencl memory, only need init once - for key in imgs_cl: - if key not in self.vision_inputs: - self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8) - else: - for key in imgs_cl: - frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key]) - self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize() + for key in bufs.keys(): + self.full_frames[key] = Tensor.from_blob(bufs[key].data.ctypes.data, (self.frame_buf_params[key][3],), dtype='uint8').realize() + self.transforms_np[key][:,:] = transforms[key][:,:] + + out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'], + self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img']) + self.img_queues['img'], self.img_queues['big_img'], = out[0].realize(), out[2].realize() + vision_inputs = {'img': out[1], 'big_img': out[3]} if prepare_only: return None - self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy() + self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy() vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices)) self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire}) @@ -214,7 +224,6 @@ class ModelState: self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) - combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()]) @@ -231,10 +240,8 @@ def main(demo=False): config_realtime_process(7, 54) st = time.monotonic() - cloudlog.warning("setting up CL context") - cl_context = CLContext() - cloudlog.warning("CL context ready; loading model") - model = ModelState(cl_context) + cloudlog.warning("loading model") + model = ModelState() cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting") # visionipc clients @@ -247,8 +254,8 @@ def main(demo=False): time.sleep(.1) vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD - vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) - vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False) cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") while not vipc_client_main.connect(False): diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc deleted file mode 100644 index d3341e76ec..0000000000 --- a/selfdrive/modeld/models/commonmodel.cc +++ /dev/null @@ -1,64 +0,0 @@ -#include "selfdrive/modeld/models/commonmodel.h" - -#include -#include - -#include "common/clutil.h" - -DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) { - input_frames = std::make_unique(buf_size); - temporal_skip = _temporal_skip; - input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); - img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err)); - region.origin = temporal_skip * frame_size_bytes; - region.size = frame_size_bytes; - last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); - - loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT); - init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); -} - -cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { - run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); - - for (int i = 0; i < temporal_skip; i++) { - CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); - } - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); - - copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes); - copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes); - - // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready. - clFinish(q); - return &input_frames_cl; -} - -DrivingModelFrame::~DrivingModelFrame() { - deinit_transform(); - loadyuv_destroy(&loadyuv); - CL_CHECK(clReleaseMemObject(input_frames_cl)); - CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl)); - CL_CHECK(clReleaseMemObject(last_img_cl)); - CL_CHECK(clReleaseCommandQueue(q)); -} - - -MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) { - input_frames = std::make_unique(buf_size); - input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); - - init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); -} - -cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { - run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); - clFinish(q); - return &y_cl; -} - -MonitoringModelFrame::~MonitoringModelFrame() { - deinit_transform(); - CL_CHECK(clReleaseMemObject(input_frame_cl)); - CL_CHECK(clReleaseCommandQueue(q)); -} diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h deleted file mode 100644 index 176d7eb6dc..0000000000 --- a/selfdrive/modeld/models/commonmodel.h +++ /dev/null @@ -1,97 +0,0 @@ -#pragma once - -#include -#include -#include - -#include - -#define CL_USE_DEPRECATED_OPENCL_1_2_APIS -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include "common/mat.h" -#include "selfdrive/modeld/transforms/loadyuv.h" -#include "selfdrive/modeld/transforms/transform.h" - -class ModelFrame { -public: - ModelFrame(cl_device_id device_id, cl_context context) { - q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); - } - virtual ~ModelFrame() {} - virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; } - uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) { - CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr)); - clFinish(q); - return &input_frames[0]; - } - - int MODEL_WIDTH; - int MODEL_HEIGHT; - int MODEL_FRAME_SIZE; - int buf_size; - -protected: - cl_mem y_cl, u_cl, v_cl; - Transform transform; - cl_command_queue q; - std::unique_ptr input_frames; - - void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) { - y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err)); - u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err)); - v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err)); - transform_init(&transform, context, device_id); - } - - void deinit_transform() { - transform_destroy(&transform); - CL_CHECK(clReleaseMemObject(v_cl)); - CL_CHECK(clReleaseMemObject(u_cl)); - CL_CHECK(clReleaseMemObject(y_cl)); - } - - void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { - transform_queue(&transform, q, - yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, - y_cl, u_cl, v_cl, model_width, model_height, projection); - } -}; - -class DrivingModelFrame : public ModelFrame { -public: - DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip); - ~DrivingModelFrame(); - cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); - - const int MODEL_WIDTH = 512; - const int MODEL_HEIGHT = 256; - const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; - const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart - const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); - -private: - LoadYUVState loadyuv; - cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl; - cl_buffer_region region; - int temporal_skip; -}; - -class MonitoringModelFrame : public ModelFrame { -public: - MonitoringModelFrame(cl_device_id device_id, cl_context context); - ~MonitoringModelFrame(); - cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); - - const int MODEL_WIDTH = 1440; - const int MODEL_HEIGHT = 960; - const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT; - const int buf_size = MODEL_FRAME_SIZE; - -private: - cl_mem input_frame_cl; -}; diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd deleted file mode 100644 index 4ac64d9172..0000000000 --- a/selfdrive/modeld/models/commonmodel.pxd +++ /dev/null @@ -1,27 +0,0 @@ -# distutils: language = c++ - -from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem - -cdef extern from "common/mat.h": - cdef struct mat3: - float v[9] - -cdef extern from "common/clutil.h": - cdef unsigned long CL_DEVICE_TYPE_DEFAULT - cl_device_id cl_get_device_id(unsigned long) - cl_context cl_create_context(cl_device_id) - void cl_release_context(cl_context) - -cdef extern from "selfdrive/modeld/models/commonmodel.h": - cppclass ModelFrame: - int buf_size - unsigned char * buffer_from_cl(cl_mem*, int); - cl_mem * prepare(cl_mem, int, int, int, int, mat3) - - cppclass DrivingModelFrame: - int buf_size - DrivingModelFrame(cl_device_id, cl_context, int) - - cppclass MonitoringModelFrame: - int buf_size - MonitoringModelFrame(cl_device_id, cl_context) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd deleted file mode 100644 index 0bb798625b..0000000000 --- a/selfdrive/modeld/models/commonmodel_pyx.pxd +++ /dev/null @@ -1,13 +0,0 @@ -# distutils: language = c++ - -from msgq.visionipc.visionipc cimport cl_mem -from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext - -cdef class CLContext(BaseCLContext): - pass - -cdef class CLMem: - cdef cl_mem * mem - - @staticmethod - cdef create(void*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx deleted file mode 100644 index 5b7d11bc71..0000000000 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ /dev/null @@ -1,74 +0,0 @@ -# distutils: language = c++ -# cython: c_string_encoding=ascii, language_level=3 - -import numpy as np -cimport numpy as cnp -from libc.string cimport memcpy -from libc.stdint cimport uintptr_t - -from msgq.visionipc.visionipc cimport cl_mem -from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext -from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context -from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame - - -cdef class CLContext(BaseCLContext): - def __cinit__(self): - self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) - self.context = cl_create_context(self.device_id) - - def __dealloc__(self): - if self.context: - cl_release_context(self.context) - -cdef class CLMem: - @staticmethod - cdef create(void * cmem): - mem = CLMem() - mem.mem = cmem - return mem - - @property - def mem_address(self): - return (self.mem) - -def cl_from_visionbuf(VisionBuf buf): - return CLMem.create(&buf.buf.buf_cl) - - -cdef class ModelFrame: - cdef cppModelFrame * frame - cdef int buf_size - - def __dealloc__(self): - del self.frame - - def prepare(self, VisionBuf buf, float[:] projection): - cdef mat3 cprojection - memcpy(cprojection.v, &projection[0], 9*sizeof(float)) - cdef cl_mem * data - data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection) - return CLMem.create(data) - - def buffer_from_cl(self, CLMem in_frames): - cdef unsigned char * data2 - data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size) - return np.asarray( data2) - - -cdef class DrivingModelFrame(ModelFrame): - cdef cppDrivingModelFrame * _frame - - def __cinit__(self, CLContext context, int temporal_skip): - self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip) - self.frame = (self._frame) - self.buf_size = self._frame.buf_size - -cdef class MonitoringModelFrame(ModelFrame): - cdef cppMonitoringModelFrame * _frame - - def __cinit__(self, CLContext context): - self._frame = new cppMonitoringModelFrame(context.device_id, context.context) - self.frame = (self._frame) - self.buf_size = self._frame.buf_size - diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py deleted file mode 100644 index 776381341c..0000000000 --- a/selfdrive/modeld/runners/tinygrad_helpers.py +++ /dev/null @@ -1,8 +0,0 @@ - -from tinygrad.tensor import Tensor -from tinygrad.helpers import to_mv - -def qcom_tensor_from_opencl_address(opencl_address, shape, dtype): - cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0] - rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer. - return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM') diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc deleted file mode 100644 index c93f5cd038..0000000000 --- a/selfdrive/modeld/transforms/loadyuv.cc +++ /dev/null @@ -1,76 +0,0 @@ -#include "selfdrive/modeld/transforms/loadyuv.h" - -#include -#include -#include - -void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) { - memset(s, 0, sizeof(*s)); - - s->width = width; - s->height = height; - - char args[1024]; - snprintf(args, sizeof(args), - "-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, LOADYUV_PATH, args); - - s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err)); - s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err)); - s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err)); - - // done with this - CL_CHECK(clReleaseProgram(prg)); -} - -void loadyuv_destroy(LoadYUVState* s) { - CL_CHECK(clReleaseKernel(s->loadys_krnl)); - CL_CHECK(clReleaseKernel(s->loaduv_krnl)); - CL_CHECK(clReleaseKernel(s->copy_krnl)); -} - -void loadyuv_queue(LoadYUVState* s, cl_command_queue q, - cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl) { - cl_int global_out_off = 0; - - CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl)); - CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off)); - - const size_t loadys_work_size = (s->width*s->height)/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL, - &loadys_work_size, NULL, 0, 0, NULL)); - - const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8; - global_out_off += (s->width*s->height); - - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); - - CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, - &loaduv_work_size, NULL, 0, 0, NULL)); - - global_out_off += (s->width/2)*(s->height/2); - - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); - - CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, - &loaduv_work_size, NULL, 0, 0, NULL)); -} - -void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, - size_t src_offset, size_t dst_offset, size_t size) { - CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset)); - const size_t copy_work_size = size/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, - ©_work_size, NULL, 0, 0, NULL)); -} \ No newline at end of file diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl deleted file mode 100644 index 970187a6d7..0000000000 --- a/selfdrive/modeld/transforms/loadyuv.cl +++ /dev/null @@ -1,47 +0,0 @@ -#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) - -__kernel void loadys(__global uchar8 const * const Y, - __global uchar * out, - int out_offset) -{ - const int gid = get_global_id(0); - const int ois = gid * 8; - const int oy = ois / TRANSFORMED_WIDTH; - const int ox = ois % TRANSFORMED_WIDTH; - - const uchar8 ys = Y[gid]; - - // 02 - // 13 - - __global uchar* outy0; - __global uchar* outy1; - if ((oy & 1) == 0) { - outy0 = out + out_offset; //y0 - outy1 = out + out_offset + UV_SIZE*2; //y2 - } else { - outy0 = out + out_offset + UV_SIZE; //y1 - outy1 = out + out_offset + UV_SIZE*3; //y3 - } - - vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); - vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); -} - -__kernel void loaduv(__global uchar8 const * const in, - __global uchar8 * out, - int out_offset) -{ - const int gid = get_global_id(0); - const uchar8 inv = in[gid]; - out[gid + out_offset / 8] = inv; -} - -__kernel void copy(__global uchar8 * in, - __global uchar8 * out, - int in_offset, - int out_offset) -{ - const int gid = get_global_id(0); - out[gid + out_offset / 8] = in[gid + in_offset / 8]; -} diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h deleted file mode 100644 index 659059cd25..0000000000 --- a/selfdrive/modeld/transforms/loadyuv.h +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once - -#include "common/clutil.h" - -typedef struct { - int width, height; - cl_kernel loadys_krnl, loaduv_krnl, copy_krnl; -} LoadYUVState; - -void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height); - -void loadyuv_destroy(LoadYUVState* s); - -void loadyuv_queue(LoadYUVState* s, cl_command_queue q, - cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl); - - -void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, - size_t src_offset, size_t dst_offset, size_t size); \ No newline at end of file diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc deleted file mode 100644 index 305643cf42..0000000000 --- a/selfdrive/modeld/transforms/transform.cc +++ /dev/null @@ -1,97 +0,0 @@ -#include "selfdrive/modeld/transforms/transform.h" - -#include -#include - -#include "common/clutil.h" - -void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) { - memset(s, 0, sizeof(*s)); - - cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, ""); - 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)); -} - -void transform_destroy(Transform* s) { - CL_CHECK(clReleaseMemObject(s->m_y_cl)); - CL_CHECK(clReleaseMemObject(s->m_uv_cl)); - CL_CHECK(clReleaseKernel(s->krnl)); -} - -void transform_queue(Transform* s, - cl_command_queue q, - cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset, - cl_mem out_y, cl_mem out_u, cl_mem out_v, - int out_width, int out_height, - const mat3& projection) { - const int zero = 0; - - // sampled using pixel center origin - // (because that's how fastcv and opencv does it) - - mat3 projection_y = projection; - - // in and out uv is half the size of y. - mat3 projection_uv = transform_scale_buffer(projection, 0.5); - - CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL)); - CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL)); - - const int in_y_width = in_width; - const int in_y_height = in_height; - const int in_y_px_stride = 1; - const int in_uv_width = in_width/2; - const int in_uv_height = in_height/2; - const int in_uv_px_stride = 2; - const int in_u_offset = in_uv_offset; - const int in_v_offset = in_uv_offset + 1; - - const int out_y_width = out_width; - const int out_y_height = out_height; - const int out_uv_width = out_width/2; - const int out_uv_height = out_height/2; - - CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src - CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset - CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows - CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst - CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset - CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows - CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols - CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M - - const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height}; - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_y, NULL, 0, 0, NULL)); - - const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height}; - - CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset - CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows - CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst - CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset - CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows - CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols - CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); -} diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl deleted file mode 100644 index 2ca25920cd..0000000000 --- a/selfdrive/modeld/transforms/transform.cl +++ /dev/null @@ -1,54 +0,0 @@ -#define INTER_BITS 5 -#define INTER_TAB_SIZE (1 << INTER_BITS) -#define INTER_SCALE 1.f / INTER_TAB_SIZE - -#define INTER_REMAP_COEF_BITS 15 -#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS) - -__kernel void warpPerspective(__global const uchar * src, - int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols, - __global uchar * dst, - int dst_row_stride, int dst_offset, int dst_rows, int dst_cols, - __constant float * M) -{ - int dx = get_global_id(0); - int dy = get_global_id(1); - - if (dx < dst_cols && dy < dst_rows) - { - float X0 = M[0] * dx + M[1] * dy + M[2]; - float Y0 = M[3] * dx + M[4] * dy + M[5]; - float W = M[6] * dx + M[7] * dy + M[8]; - W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f; - int X = rint(X0 * W), Y = rint(Y0 * W); - - int sx = convert_short_sat(X >> INTER_BITS); - int sy = convert_short_sat(Y >> INTER_BITS); - - short sx_clamp = clamp(sx, 0, src_cols - 1); - short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1); - short sy_clamp = clamp(sy, 0, src_rows - 1); - short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1); - int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); - int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); - int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); - int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); - - short ay = (short)(Y & (INTER_TAB_SIZE - 1)); - short ax = (short)(X & (INTER_TAB_SIZE - 1)); - float taby = 1.f/INTER_TAB_SIZE*ay; - float tabx = 1.f/INTER_TAB_SIZE*ax; - - int dst_index = mad24(dy, dst_row_stride, dst_offset + dx); - - int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); - int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE ); - int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); - int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE ); - - int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3; - - uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS); - dst[dst_index] = pix; - } -} diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h deleted file mode 100644 index 771a7054b3..0000000000 --- a/selfdrive/modeld/transforms/transform.h +++ /dev/null @@ -1,25 +0,0 @@ -#pragma once - -#define CL_USE_DEPRECATED_OPENCL_1_2_APIS -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include "common/mat.h" - -typedef struct { - cl_kernel krnl; - cl_mem m_y_cl, m_uv_cl; -} Transform; - -void transform_init(Transform* s, cl_context ctx, cl_device_id device_id); - -void transform_destroy(Transform* transform); - -void transform_queue(Transform* s, cl_command_queue q, - cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset, - cl_mem out_y, cl_mem out_u, cl_mem out_v, - int out_width, int out_height, - const mat3& projection); diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index d35474f373..3f671f610d 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -34,8 +34,8 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN) EXEC_TIMINGS = [ # model, instant max, average max - ("modelV2", 0.035, 0.025), - ("driverStateV2", 0.02, 0.015), + ("modelV2", 0.05, 0.028), + ("driverStateV2", 0.05, 0.015), ] def get_log_fn(test_route, ref="master"): diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 8af72e5f4e..5143334bc6 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -4,6 +4,7 @@ import time import copy import heapq import signal +import numpy as np from collections import Counter from dataclasses import dataclass, field from itertools import islice @@ -23,6 +24,7 @@ from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL +from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all @@ -203,7 +205,8 @@ class ProcessContainer: if meta.camera_state in self.cfg.vision_pubs: assert frs[meta.camera_state].pix_fmt == 'nv12' frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h) - vipc_server.create_buffers(meta.stream, 2, *frame_size) + stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1]) + vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height) vipc_server.start_listener() self.vipc_server = vipc_server @@ -300,7 +303,15 @@ class ProcessContainer: camera_meta = meta_from_camera_state(m.which()) assert frs is not None img = frs[m.which()].get(camera_state.frameId) - self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(), + + h, w = frs[m.which()].h, frs[m.which()].w + stride, y_height, _, yuv_size = get_nv12_info(w, h) + uv_offset = stride * y_height + padded_img = np.zeros((yuv_size), dtype=np.uint8).reshape((-1, stride)) + padded_img[:h, :w] = img[:h * w].reshape((-1, w)) + padded_img[uv_offset // stride:uv_offset // stride + h // 2, :w] = img[h * w:].reshape((-1, w)) + + self.vipc_server.send(camera_meta.stream, padded_img.flatten().tobytes(), camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof) self.msg_queue = [] diff --git a/system/camerad/SConscript b/system/camerad/SConscript index e288c6d8b0..c28330b32c 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') -libs = [common, 'OpenCL', messaging, visionipc] +libs = [common, messaging, visionipc] if arch != "Darwin": camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 88bca7f775..329192b63a 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -7,7 +7,7 @@ #include "system/camerad/cameras/spectra.h" -void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { +void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { vipc_server = v; stream_type = type; frame_buf_count = frame_cnt; @@ -21,9 +21,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera * const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; for (int i = 0; i < frame_buf_count; i++) { camera_bufs_raw[i].allocate(raw_frame_size); - camera_bufs_raw[i].init_cl(device_id, context); } - LOGD("allocated %d CL buffers", frame_buf_count); + LOGD("allocated %d buffers", frame_buf_count); } vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index c26859cbc4..7f35e06a83 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -36,7 +36,7 @@ public: CameraBuf() = default; ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); + void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); void sendFrameToVipc(); }; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index d741e13cf3..6a7f599ab6 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -12,16 +12,8 @@ #include #include -#ifdef __TICI__ -#include "CL/cl_ext_qcom.h" -#else -#define CL_PRIORITY_HINT_HIGH_QCOM NULL -#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL -#endif - #include "media/cam_sensor_cmn_header.h" -#include "common/clutil.h" #include "common/params.h" #include "common/swaglog.h" @@ -57,7 +49,7 @@ public: CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {}; ~CameraState(); - void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); + void init(VisionIpcServer *v); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); void set_camera_exposure(float grey_frac); void set_exposure_rect(); @@ -68,8 +60,8 @@ public: } }; -void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { - camera.camera_open(v, device_id, ctx); +void CameraState::init(VisionIpcServer *v) { + camera.camera_open(v); if (!camera.enabled) return; @@ -257,11 +249,7 @@ void CameraState::sendState() { void camerad_thread() { // TODO: centralize enabled handling - cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); - const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0}; - cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err)); - - VisionIpcServer v("camerad", device_id, ctx); + VisionIpcServer v("camerad"); // *** initial ISP init *** SpectraMaster m; @@ -271,7 +259,7 @@ void camerad_thread() { std::vector> cams; for (const auto &config : ALL_CAMERA_CONFIGS) { auto cam = std::make_unique(&m, config); - cam->init(&v, device_id, ctx); + cam->init(&v); cams.emplace_back(std::move(cam)); } diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 5c3e7a9d23..73e0a78da3 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -274,7 +274,7 @@ int SpectraCamera::clear_req_queue() { return ret; } -void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { +void SpectraCamera::camera_open(VisionIpcServer *v) { if (!openSensor()) { return; } @@ -296,7 +296,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c linkDevices(); LOGD("camera init %d", cc.camera_num); - buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type); + buf.init(this, v, ife_buf_depth, cc.stream_type); camera_map_bufs(); clearAndRequeue(1); } diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index 13cb13f98f..a02b8a6cac 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -113,7 +113,7 @@ public: SpectraCamera(SpectraMaster *master, const CameraConfig &config); ~SpectraCamera(); - void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); + void camera_open(VisionIpcServer *v); bool handle_camera_event(const cam_req_mgr_message *event_data); void camera_close(); void camera_map_bufs(); diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index a92e4c8de8..c4401c9583 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -32,7 +32,7 @@ class Proc: PROCS = [ Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), - Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']), + Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']), Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), ] diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index cf169f4dc6..cc8ef7c88f 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -2,16 +2,13 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') libs = [common, messaging, visionipc, 'avformat', 'avcodec', 'avutil', - 'yuv', 'OpenCL', 'pthread', 'zstd'] + 'yuv', 'pthread', 'zstd'] src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc'] if arch != "larch64": src += ['encoder/ffmpeg_encoder.cc'] if arch == "Darwin": - # fix OpenCL - del libs[libs.index('OpenCL')] - env['FRAMEWORKS'] = ['OpenCL'] # exclude v4l del src[src.index('encoder/v4l_encoder.cc')] diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h deleted file mode 100644 index 0086319f5f..0000000000 --- a/third_party/opencl/include/CL/cl.h +++ /dev/null @@ -1,1452 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -#ifndef __OPENCL_CL_H -#define __OPENCL_CL_H - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -/******************************************************************************/ - -typedef struct _cl_platform_id * cl_platform_id; -typedef struct _cl_device_id * cl_device_id; -typedef struct _cl_context * cl_context; -typedef struct _cl_command_queue * cl_command_queue; -typedef struct _cl_mem * cl_mem; -typedef struct _cl_program * cl_program; -typedef struct _cl_kernel * cl_kernel; -typedef struct _cl_event * cl_event; -typedef struct _cl_sampler * cl_sampler; - -typedef cl_uint cl_bool; /* WARNING! Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ -typedef cl_ulong cl_bitfield; -typedef cl_bitfield cl_device_type; -typedef cl_uint cl_platform_info; -typedef cl_uint cl_device_info; -typedef cl_bitfield cl_device_fp_config; -typedef cl_uint cl_device_mem_cache_type; -typedef cl_uint cl_device_local_mem_type; -typedef cl_bitfield cl_device_exec_capabilities; -typedef cl_bitfield cl_device_svm_capabilities; -typedef cl_bitfield cl_command_queue_properties; -typedef intptr_t cl_device_partition_property; -typedef cl_bitfield cl_device_affinity_domain; - -typedef intptr_t cl_context_properties; -typedef cl_uint cl_context_info; -typedef cl_bitfield cl_queue_properties; -typedef cl_uint cl_command_queue_info; -typedef cl_uint cl_channel_order; -typedef cl_uint cl_channel_type; -typedef cl_bitfield cl_mem_flags; -typedef cl_bitfield cl_svm_mem_flags; -typedef cl_uint cl_mem_object_type; -typedef cl_uint cl_mem_info; -typedef cl_bitfield cl_mem_migration_flags; -typedef cl_uint cl_image_info; -typedef cl_uint cl_buffer_create_type; -typedef cl_uint cl_addressing_mode; -typedef cl_uint cl_filter_mode; -typedef cl_uint cl_sampler_info; -typedef cl_bitfield cl_map_flags; -typedef intptr_t cl_pipe_properties; -typedef cl_uint cl_pipe_info; -typedef cl_uint cl_program_info; -typedef cl_uint cl_program_build_info; -typedef cl_uint cl_program_binary_type; -typedef cl_int cl_build_status; -typedef cl_uint cl_kernel_info; -typedef cl_uint cl_kernel_arg_info; -typedef cl_uint cl_kernel_arg_address_qualifier; -typedef cl_uint cl_kernel_arg_access_qualifier; -typedef cl_bitfield cl_kernel_arg_type_qualifier; -typedef cl_uint cl_kernel_work_group_info; -typedef cl_uint cl_kernel_sub_group_info; -typedef cl_uint cl_event_info; -typedef cl_uint cl_command_type; -typedef cl_uint cl_profiling_info; -typedef cl_bitfield cl_sampler_properties; -typedef cl_uint cl_kernel_exec_info; - -typedef struct _cl_image_format { - cl_channel_order image_channel_order; - cl_channel_type image_channel_data_type; -} cl_image_format; - -typedef struct _cl_image_desc { - cl_mem_object_type image_type; - size_t image_width; - size_t image_height; - size_t image_depth; - size_t image_array_size; - size_t image_row_pitch; - size_t image_slice_pitch; - cl_uint num_mip_levels; - cl_uint num_samples; -#ifdef __GNUC__ - __extension__ /* Prevents warnings about anonymous union in -pedantic builds */ -#endif - union { - cl_mem buffer; - cl_mem mem_object; - }; -} cl_image_desc; - -typedef struct _cl_buffer_region { - size_t origin; - size_t size; -} cl_buffer_region; - - -/******************************************************************************/ - -/* Error Codes */ -#define CL_SUCCESS 0 -#define CL_DEVICE_NOT_FOUND -1 -#define CL_DEVICE_NOT_AVAILABLE -2 -#define CL_COMPILER_NOT_AVAILABLE -3 -#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4 -#define CL_OUT_OF_RESOURCES -5 -#define CL_OUT_OF_HOST_MEMORY -6 -#define CL_PROFILING_INFO_NOT_AVAILABLE -7 -#define CL_MEM_COPY_OVERLAP -8 -#define CL_IMAGE_FORMAT_MISMATCH -9 -#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10 -#define CL_BUILD_PROGRAM_FAILURE -11 -#define CL_MAP_FAILURE -12 -#define CL_MISALIGNED_SUB_BUFFER_OFFSET -13 -#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14 -#define CL_COMPILE_PROGRAM_FAILURE -15 -#define CL_LINKER_NOT_AVAILABLE -16 -#define CL_LINK_PROGRAM_FAILURE -17 -#define CL_DEVICE_PARTITION_FAILED -18 -#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE -19 - -#define CL_INVALID_VALUE -30 -#define CL_INVALID_DEVICE_TYPE -31 -#define CL_INVALID_PLATFORM -32 -#define CL_INVALID_DEVICE -33 -#define CL_INVALID_CONTEXT -34 -#define CL_INVALID_QUEUE_PROPERTIES -35 -#define CL_INVALID_COMMAND_QUEUE -36 -#define CL_INVALID_HOST_PTR -37 -#define CL_INVALID_MEM_OBJECT -38 -#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39 -#define CL_INVALID_IMAGE_SIZE -40 -#define CL_INVALID_SAMPLER -41 -#define CL_INVALID_BINARY -42 -#define CL_INVALID_BUILD_OPTIONS -43 -#define CL_INVALID_PROGRAM -44 -#define CL_INVALID_PROGRAM_EXECUTABLE -45 -#define CL_INVALID_KERNEL_NAME -46 -#define CL_INVALID_KERNEL_DEFINITION -47 -#define CL_INVALID_KERNEL -48 -#define CL_INVALID_ARG_INDEX -49 -#define CL_INVALID_ARG_VALUE -50 -#define CL_INVALID_ARG_SIZE -51 -#define CL_INVALID_KERNEL_ARGS -52 -#define CL_INVALID_WORK_DIMENSION -53 -#define CL_INVALID_WORK_GROUP_SIZE -54 -#define CL_INVALID_WORK_ITEM_SIZE -55 -#define CL_INVALID_GLOBAL_OFFSET -56 -#define CL_INVALID_EVENT_WAIT_LIST -57 -#define CL_INVALID_EVENT -58 -#define CL_INVALID_OPERATION -59 -#define CL_INVALID_GL_OBJECT -60 -#define CL_INVALID_BUFFER_SIZE -61 -#define CL_INVALID_MIP_LEVEL -62 -#define CL_INVALID_GLOBAL_WORK_SIZE -63 -#define CL_INVALID_PROPERTY -64 -#define CL_INVALID_IMAGE_DESCRIPTOR -65 -#define CL_INVALID_COMPILER_OPTIONS -66 -#define CL_INVALID_LINKER_OPTIONS -67 -#define CL_INVALID_DEVICE_PARTITION_COUNT -68 -#define CL_INVALID_PIPE_SIZE -69 -#define CL_INVALID_DEVICE_QUEUE -70 - -/* OpenCL Version */ -#define CL_VERSION_1_0 1 -#define CL_VERSION_1_1 1 -#define CL_VERSION_1_2 1 -#define CL_VERSION_2_0 1 -#define CL_VERSION_2_1 1 - -/* cl_bool */ -#define CL_FALSE 0 -#define CL_TRUE 1 -#define CL_BLOCKING CL_TRUE -#define CL_NON_BLOCKING CL_FALSE - -/* cl_platform_info */ -#define CL_PLATFORM_PROFILE 0x0900 -#define CL_PLATFORM_VERSION 0x0901 -#define CL_PLATFORM_NAME 0x0902 -#define CL_PLATFORM_VENDOR 0x0903 -#define CL_PLATFORM_EXTENSIONS 0x0904 -#define CL_PLATFORM_HOST_TIMER_RESOLUTION 0x0905 - -/* cl_device_type - bitfield */ -#define CL_DEVICE_TYPE_DEFAULT (1 << 0) -#define CL_DEVICE_TYPE_CPU (1 << 1) -#define CL_DEVICE_TYPE_GPU (1 << 2) -#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3) -#define CL_DEVICE_TYPE_CUSTOM (1 << 4) -#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF - -/* cl_device_info */ -#define CL_DEVICE_TYPE 0x1000 -#define CL_DEVICE_VENDOR_ID 0x1001 -#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002 -#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003 -#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004 -#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009 -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B -#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C -#define CL_DEVICE_ADDRESS_BITS 0x100D -#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E -#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F -#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010 -#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011 -#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012 -#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013 -#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014 -#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015 -#define CL_DEVICE_IMAGE_SUPPORT 0x1016 -#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017 -#define CL_DEVICE_MAX_SAMPLERS 0x1018 -#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019 -#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A -#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B -#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C -#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D -#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E -#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F -#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020 -#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021 -#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022 -#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023 -#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024 -#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025 -#define CL_DEVICE_ENDIAN_LITTLE 0x1026 -#define CL_DEVICE_AVAILABLE 0x1027 -#define CL_DEVICE_COMPILER_AVAILABLE 0x1028 -#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029 -#define CL_DEVICE_QUEUE_PROPERTIES 0x102A /* deprecated */ -#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES 0x102A -#define CL_DEVICE_NAME 0x102B -#define CL_DEVICE_VENDOR 0x102C -#define CL_DRIVER_VERSION 0x102D -#define CL_DEVICE_PROFILE 0x102E -#define CL_DEVICE_VERSION 0x102F -#define CL_DEVICE_EXTENSIONS 0x1030 -#define CL_DEVICE_PLATFORM 0x1031 -#define CL_DEVICE_DOUBLE_FP_CONFIG 0x1032 -/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */ -#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF 0x1034 -#define CL_DEVICE_HOST_UNIFIED_MEMORY 0x1035 /* deprecated */ -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR 0x1036 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT 0x1037 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT 0x1038 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG 0x1039 -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT 0x103A -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE 0x103B -#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF 0x103C -#define CL_DEVICE_OPENCL_C_VERSION 0x103D -#define CL_DEVICE_LINKER_AVAILABLE 0x103E -#define CL_DEVICE_BUILT_IN_KERNELS 0x103F -#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE 0x1040 -#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE 0x1041 -#define CL_DEVICE_PARENT_DEVICE 0x1042 -#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES 0x1043 -#define CL_DEVICE_PARTITION_PROPERTIES 0x1044 -#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN 0x1045 -#define CL_DEVICE_PARTITION_TYPE 0x1046 -#define CL_DEVICE_REFERENCE_COUNT 0x1047 -#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC 0x1048 -#define CL_DEVICE_PRINTF_BUFFER_SIZE 0x1049 -#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT 0x104A -#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT 0x104B -#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS 0x104C -#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE 0x104D -#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES 0x104E -#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE 0x104F -#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE 0x1050 -#define CL_DEVICE_MAX_ON_DEVICE_QUEUES 0x1051 -#define CL_DEVICE_MAX_ON_DEVICE_EVENTS 0x1052 -#define CL_DEVICE_SVM_CAPABILITIES 0x1053 -#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE 0x1054 -#define CL_DEVICE_MAX_PIPE_ARGS 0x1055 -#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS 0x1056 -#define CL_DEVICE_PIPE_MAX_PACKET_SIZE 0x1057 -#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT 0x1058 -#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT 0x1059 -#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT 0x105A -#define CL_DEVICE_IL_VERSION 0x105B -#define CL_DEVICE_MAX_NUM_SUB_GROUPS 0x105C -#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D - -/* cl_device_fp_config - bitfield */ -#define CL_FP_DENORM (1 << 0) -#define CL_FP_INF_NAN (1 << 1) -#define CL_FP_ROUND_TO_NEAREST (1 << 2) -#define CL_FP_ROUND_TO_ZERO (1 << 3) -#define CL_FP_ROUND_TO_INF (1 << 4) -#define CL_FP_FMA (1 << 5) -#define CL_FP_SOFT_FLOAT (1 << 6) -#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT (1 << 7) - -/* cl_device_mem_cache_type */ -#define CL_NONE 0x0 -#define CL_READ_ONLY_CACHE 0x1 -#define CL_READ_WRITE_CACHE 0x2 - -/* cl_device_local_mem_type */ -#define CL_LOCAL 0x1 -#define CL_GLOBAL 0x2 - -/* cl_device_exec_capabilities - bitfield */ -#define CL_EXEC_KERNEL (1 << 0) -#define CL_EXEC_NATIVE_KERNEL (1 << 1) - -/* cl_command_queue_properties - bitfield */ -#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0) -#define CL_QUEUE_PROFILING_ENABLE (1 << 1) -#define CL_QUEUE_ON_DEVICE (1 << 2) -#define CL_QUEUE_ON_DEVICE_DEFAULT (1 << 3) - -/* cl_context_info */ -#define CL_CONTEXT_REFERENCE_COUNT 0x1080 -#define CL_CONTEXT_DEVICES 0x1081 -#define CL_CONTEXT_PROPERTIES 0x1082 -#define CL_CONTEXT_NUM_DEVICES 0x1083 - -/* cl_context_properties */ -#define CL_CONTEXT_PLATFORM 0x1084 -#define CL_CONTEXT_INTEROP_USER_SYNC 0x1085 - -/* cl_device_partition_property */ -#define CL_DEVICE_PARTITION_EQUALLY 0x1086 -#define CL_DEVICE_PARTITION_BY_COUNTS 0x1087 -#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END 0x0 -#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN 0x1088 - -/* cl_device_affinity_domain */ -#define CL_DEVICE_AFFINITY_DOMAIN_NUMA (1 << 0) -#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE (1 << 1) -#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE (1 << 2) -#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE (1 << 3) -#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE (1 << 4) -#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5) - -/* cl_device_svm_capabilities */ -#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER (1 << 0) -#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER (1 << 1) -#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM (1 << 2) -#define CL_DEVICE_SVM_ATOMICS (1 << 3) - -/* cl_command_queue_info */ -#define CL_QUEUE_CONTEXT 0x1090 -#define CL_QUEUE_DEVICE 0x1091 -#define CL_QUEUE_REFERENCE_COUNT 0x1092 -#define CL_QUEUE_PROPERTIES 0x1093 -#define CL_QUEUE_SIZE 0x1094 -#define CL_QUEUE_DEVICE_DEFAULT 0x1095 - -/* cl_mem_flags and cl_svm_mem_flags - bitfield */ -#define CL_MEM_READ_WRITE (1 << 0) -#define CL_MEM_WRITE_ONLY (1 << 1) -#define CL_MEM_READ_ONLY (1 << 2) -#define CL_MEM_USE_HOST_PTR (1 << 3) -#define CL_MEM_ALLOC_HOST_PTR (1 << 4) -#define CL_MEM_COPY_HOST_PTR (1 << 5) -/* reserved (1 << 6) */ -#define CL_MEM_HOST_WRITE_ONLY (1 << 7) -#define CL_MEM_HOST_READ_ONLY (1 << 8) -#define CL_MEM_HOST_NO_ACCESS (1 << 9) -#define CL_MEM_SVM_FINE_GRAIN_BUFFER (1 << 10) /* used by cl_svm_mem_flags only */ -#define CL_MEM_SVM_ATOMICS (1 << 11) /* used by cl_svm_mem_flags only */ -#define CL_MEM_KERNEL_READ_AND_WRITE (1 << 12) - -/* cl_mem_migration_flags - bitfield */ -#define CL_MIGRATE_MEM_OBJECT_HOST (1 << 0) -#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED (1 << 1) - -/* cl_channel_order */ -#define CL_R 0x10B0 -#define CL_A 0x10B1 -#define CL_RG 0x10B2 -#define CL_RA 0x10B3 -#define CL_RGB 0x10B4 -#define CL_RGBA 0x10B5 -#define CL_BGRA 0x10B6 -#define CL_ARGB 0x10B7 -#define CL_INTENSITY 0x10B8 -#define CL_LUMINANCE 0x10B9 -#define CL_Rx 0x10BA -#define CL_RGx 0x10BB -#define CL_RGBx 0x10BC -#define CL_DEPTH 0x10BD -#define CL_DEPTH_STENCIL 0x10BE -#define CL_sRGB 0x10BF -#define CL_sRGBx 0x10C0 -#define CL_sRGBA 0x10C1 -#define CL_sBGRA 0x10C2 -#define CL_ABGR 0x10C3 - -/* cl_channel_type */ -#define CL_SNORM_INT8 0x10D0 -#define CL_SNORM_INT16 0x10D1 -#define CL_UNORM_INT8 0x10D2 -#define CL_UNORM_INT16 0x10D3 -#define CL_UNORM_SHORT_565 0x10D4 -#define CL_UNORM_SHORT_555 0x10D5 -#define CL_UNORM_INT_101010 0x10D6 -#define CL_SIGNED_INT8 0x10D7 -#define CL_SIGNED_INT16 0x10D8 -#define CL_SIGNED_INT32 0x10D9 -#define CL_UNSIGNED_INT8 0x10DA -#define CL_UNSIGNED_INT16 0x10DB -#define CL_UNSIGNED_INT32 0x10DC -#define CL_HALF_FLOAT 0x10DD -#define CL_FLOAT 0x10DE -#define CL_UNORM_INT24 0x10DF -#define CL_UNORM_INT_101010_2 0x10E0 - -/* cl_mem_object_type */ -#define CL_MEM_OBJECT_BUFFER 0x10F0 -#define CL_MEM_OBJECT_IMAGE2D 0x10F1 -#define CL_MEM_OBJECT_IMAGE3D 0x10F2 -#define CL_MEM_OBJECT_IMAGE2D_ARRAY 0x10F3 -#define CL_MEM_OBJECT_IMAGE1D 0x10F4 -#define CL_MEM_OBJECT_IMAGE1D_ARRAY 0x10F5 -#define CL_MEM_OBJECT_IMAGE1D_BUFFER 0x10F6 -#define CL_MEM_OBJECT_PIPE 0x10F7 - -/* cl_mem_info */ -#define CL_MEM_TYPE 0x1100 -#define CL_MEM_FLAGS 0x1101 -#define CL_MEM_SIZE 0x1102 -#define CL_MEM_HOST_PTR 0x1103 -#define CL_MEM_MAP_COUNT 0x1104 -#define CL_MEM_REFERENCE_COUNT 0x1105 -#define CL_MEM_CONTEXT 0x1106 -#define CL_MEM_ASSOCIATED_MEMOBJECT 0x1107 -#define CL_MEM_OFFSET 0x1108 -#define CL_MEM_USES_SVM_POINTER 0x1109 - -/* cl_image_info */ -#define CL_IMAGE_FORMAT 0x1110 -#define CL_IMAGE_ELEMENT_SIZE 0x1111 -#define CL_IMAGE_ROW_PITCH 0x1112 -#define CL_IMAGE_SLICE_PITCH 0x1113 -#define CL_IMAGE_WIDTH 0x1114 -#define CL_IMAGE_HEIGHT 0x1115 -#define CL_IMAGE_DEPTH 0x1116 -#define CL_IMAGE_ARRAY_SIZE 0x1117 -#define CL_IMAGE_BUFFER 0x1118 -#define CL_IMAGE_NUM_MIP_LEVELS 0x1119 -#define CL_IMAGE_NUM_SAMPLES 0x111A - -/* cl_pipe_info */ -#define CL_PIPE_PACKET_SIZE 0x1120 -#define CL_PIPE_MAX_PACKETS 0x1121 - -/* cl_addressing_mode */ -#define CL_ADDRESS_NONE 0x1130 -#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131 -#define CL_ADDRESS_CLAMP 0x1132 -#define CL_ADDRESS_REPEAT 0x1133 -#define CL_ADDRESS_MIRRORED_REPEAT 0x1134 - -/* cl_filter_mode */ -#define CL_FILTER_NEAREST 0x1140 -#define CL_FILTER_LINEAR 0x1141 - -/* cl_sampler_info */ -#define CL_SAMPLER_REFERENCE_COUNT 0x1150 -#define CL_SAMPLER_CONTEXT 0x1151 -#define CL_SAMPLER_NORMALIZED_COORDS 0x1152 -#define CL_SAMPLER_ADDRESSING_MODE 0x1153 -#define CL_SAMPLER_FILTER_MODE 0x1154 -#define CL_SAMPLER_MIP_FILTER_MODE 0x1155 -#define CL_SAMPLER_LOD_MIN 0x1156 -#define CL_SAMPLER_LOD_MAX 0x1157 - -/* cl_map_flags - bitfield */ -#define CL_MAP_READ (1 << 0) -#define CL_MAP_WRITE (1 << 1) -#define CL_MAP_WRITE_INVALIDATE_REGION (1 << 2) - -/* cl_program_info */ -#define CL_PROGRAM_REFERENCE_COUNT 0x1160 -#define CL_PROGRAM_CONTEXT 0x1161 -#define CL_PROGRAM_NUM_DEVICES 0x1162 -#define CL_PROGRAM_DEVICES 0x1163 -#define CL_PROGRAM_SOURCE 0x1164 -#define CL_PROGRAM_BINARY_SIZES 0x1165 -#define CL_PROGRAM_BINARIES 0x1166 -#define CL_PROGRAM_NUM_KERNELS 0x1167 -#define CL_PROGRAM_KERNEL_NAMES 0x1168 -#define CL_PROGRAM_IL 0x1169 - -/* cl_program_build_info */ -#define CL_PROGRAM_BUILD_STATUS 0x1181 -#define CL_PROGRAM_BUILD_OPTIONS 0x1182 -#define CL_PROGRAM_BUILD_LOG 0x1183 -#define CL_PROGRAM_BINARY_TYPE 0x1184 -#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185 - -/* cl_program_binary_type */ -#define CL_PROGRAM_BINARY_TYPE_NONE 0x0 -#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT 0x1 -#define CL_PROGRAM_BINARY_TYPE_LIBRARY 0x2 -#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE 0x4 - -/* cl_build_status */ -#define CL_BUILD_SUCCESS 0 -#define CL_BUILD_NONE -1 -#define CL_BUILD_ERROR -2 -#define CL_BUILD_IN_PROGRESS -3 - -/* cl_kernel_info */ -#define CL_KERNEL_FUNCTION_NAME 0x1190 -#define CL_KERNEL_NUM_ARGS 0x1191 -#define CL_KERNEL_REFERENCE_COUNT 0x1192 -#define CL_KERNEL_CONTEXT 0x1193 -#define CL_KERNEL_PROGRAM 0x1194 -#define CL_KERNEL_ATTRIBUTES 0x1195 -#define CL_KERNEL_MAX_NUM_SUB_GROUPS 0x11B9 -#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS 0x11BA - -/* cl_kernel_arg_info */ -#define CL_KERNEL_ARG_ADDRESS_QUALIFIER 0x1196 -#define CL_KERNEL_ARG_ACCESS_QUALIFIER 0x1197 -#define CL_KERNEL_ARG_TYPE_NAME 0x1198 -#define CL_KERNEL_ARG_TYPE_QUALIFIER 0x1199 -#define CL_KERNEL_ARG_NAME 0x119A - -/* cl_kernel_arg_address_qualifier */ -#define CL_KERNEL_ARG_ADDRESS_GLOBAL 0x119B -#define CL_KERNEL_ARG_ADDRESS_LOCAL 0x119C -#define CL_KERNEL_ARG_ADDRESS_CONSTANT 0x119D -#define CL_KERNEL_ARG_ADDRESS_PRIVATE 0x119E - -/* cl_kernel_arg_access_qualifier */ -#define CL_KERNEL_ARG_ACCESS_READ_ONLY 0x11A0 -#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY 0x11A1 -#define CL_KERNEL_ARG_ACCESS_READ_WRITE 0x11A2 -#define CL_KERNEL_ARG_ACCESS_NONE 0x11A3 - -/* cl_kernel_arg_type_qualifer */ -#define CL_KERNEL_ARG_TYPE_NONE 0 -#define CL_KERNEL_ARG_TYPE_CONST (1 << 0) -#define CL_KERNEL_ARG_TYPE_RESTRICT (1 << 1) -#define CL_KERNEL_ARG_TYPE_VOLATILE (1 << 2) -#define CL_KERNEL_ARG_TYPE_PIPE (1 << 3) - -/* cl_kernel_work_group_info */ -#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0 -#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1 -#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2 -#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3 -#define CL_KERNEL_PRIVATE_MEM_SIZE 0x11B4 -#define CL_KERNEL_GLOBAL_WORK_SIZE 0x11B5 - -/* cl_kernel_sub_group_info */ -#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE 0x2033 -#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE 0x2034 -#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT 0x11B8 - -/* cl_kernel_exec_info */ -#define CL_KERNEL_EXEC_INFO_SVM_PTRS 0x11B6 -#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM 0x11B7 - -/* cl_event_info */ -#define CL_EVENT_COMMAND_QUEUE 0x11D0 -#define CL_EVENT_COMMAND_TYPE 0x11D1 -#define CL_EVENT_REFERENCE_COUNT 0x11D2 -#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3 -#define CL_EVENT_CONTEXT 0x11D4 - -/* cl_command_type */ -#define CL_COMMAND_NDRANGE_KERNEL 0x11F0 -#define CL_COMMAND_TASK 0x11F1 -#define CL_COMMAND_NATIVE_KERNEL 0x11F2 -#define CL_COMMAND_READ_BUFFER 0x11F3 -#define CL_COMMAND_WRITE_BUFFER 0x11F4 -#define CL_COMMAND_COPY_BUFFER 0x11F5 -#define CL_COMMAND_READ_IMAGE 0x11F6 -#define CL_COMMAND_WRITE_IMAGE 0x11F7 -#define CL_COMMAND_COPY_IMAGE 0x11F8 -#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9 -#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA -#define CL_COMMAND_MAP_BUFFER 0x11FB -#define CL_COMMAND_MAP_IMAGE 0x11FC -#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD -#define CL_COMMAND_MARKER 0x11FE -#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x11FF -#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1200 -#define CL_COMMAND_READ_BUFFER_RECT 0x1201 -#define CL_COMMAND_WRITE_BUFFER_RECT 0x1202 -#define CL_COMMAND_COPY_BUFFER_RECT 0x1203 -#define CL_COMMAND_USER 0x1204 -#define CL_COMMAND_BARRIER 0x1205 -#define CL_COMMAND_MIGRATE_MEM_OBJECTS 0x1206 -#define CL_COMMAND_FILL_BUFFER 0x1207 -#define CL_COMMAND_FILL_IMAGE 0x1208 -#define CL_COMMAND_SVM_FREE 0x1209 -#define CL_COMMAND_SVM_MEMCPY 0x120A -#define CL_COMMAND_SVM_MEMFILL 0x120B -#define CL_COMMAND_SVM_MAP 0x120C -#define CL_COMMAND_SVM_UNMAP 0x120D - -/* command execution status */ -#define CL_COMPLETE 0x0 -#define CL_RUNNING 0x1 -#define CL_SUBMITTED 0x2 -#define CL_QUEUED 0x3 - -/* cl_buffer_create_type */ -#define CL_BUFFER_CREATE_TYPE_REGION 0x1220 - -/* cl_profiling_info */ -#define CL_PROFILING_COMMAND_QUEUED 0x1280 -#define CL_PROFILING_COMMAND_SUBMIT 0x1281 -#define CL_PROFILING_COMMAND_START 0x1282 -#define CL_PROFILING_COMMAND_END 0x1283 -#define CL_PROFILING_COMMAND_COMPLETE 0x1284 - -/********************************************************************************************************/ - -/* Platform API */ -extern CL_API_ENTRY cl_int CL_API_CALL -clGetPlatformIDs(cl_uint /* num_entries */, - cl_platform_id * /* platforms */, - cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetPlatformInfo(cl_platform_id /* platform */, - cl_platform_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Device APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceIDs(cl_platform_id /* platform */, - cl_device_type /* device_type */, - cl_uint /* num_entries */, - cl_device_id * /* devices */, - cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceInfo(cl_device_id /* device */, - cl_device_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clCreateSubDevices(cl_device_id /* in_device */, - const cl_device_partition_property * /* properties */, - cl_uint /* num_devices */, - cl_device_id * /* out_devices */, - cl_uint * /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetDefaultDeviceCommandQueue(cl_context /* context */, - cl_device_id /* device */, - cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_2_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceAndHostTimer(cl_device_id /* device */, - cl_ulong* /* device_timestamp */, - cl_ulong* /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetHostTimer(cl_device_id /* device */, - cl_ulong * /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1; - - -/* Context APIs */ -extern CL_API_ENTRY cl_context CL_API_CALL -clCreateContext(const cl_context_properties * /* properties */, - cl_uint /* num_devices */, - const cl_device_id * /* devices */, - void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *), - void * /* user_data */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_context CL_API_CALL -clCreateContextFromType(const cl_context_properties * /* properties */, - cl_device_type /* device_type */, - void (CL_CALLBACK * /* pfn_notify*/ )(const char *, const void *, size_t, void *), - void * /* user_data */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetContextInfo(cl_context /* context */, - cl_context_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Command Queue APIs */ -extern CL_API_ENTRY cl_command_queue CL_API_CALL -clCreateCommandQueueWithProperties(cl_context /* context */, - cl_device_id /* device */, - const cl_queue_properties * /* properties */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetCommandQueueInfo(cl_command_queue /* command_queue */, - cl_command_queue_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Memory Object APIs */ -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateBuffer(cl_context /* context */, - cl_mem_flags /* flags */, - size_t /* size */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateSubBuffer(cl_mem /* buffer */, - cl_mem_flags /* flags */, - cl_buffer_create_type /* buffer_create_type */, - const void * /* buffer_create_info */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateImage(cl_context /* context */, - cl_mem_flags /* flags */, - const cl_image_format * /* image_format */, - const cl_image_desc * /* image_desc */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreatePipe(cl_context /* context */, - cl_mem_flags /* flags */, - cl_uint /* pipe_packet_size */, - cl_uint /* pipe_max_packets */, - const cl_pipe_properties * /* properties */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetSupportedImageFormats(cl_context /* context */, - cl_mem_flags /* flags */, - cl_mem_object_type /* image_type */, - cl_uint /* num_entries */, - cl_image_format * /* image_formats */, - cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetMemObjectInfo(cl_mem /* memobj */, - cl_mem_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetImageInfo(cl_mem /* image */, - cl_image_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetPipeInfo(cl_mem /* pipe */, - cl_pipe_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0; - - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetMemObjectDestructorCallback(cl_mem /* memobj */, - void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), - void * /*user_data */ ) CL_API_SUFFIX__VERSION_1_1; - -/* SVM Allocation APIs */ -extern CL_API_ENTRY void * CL_API_CALL -clSVMAlloc(cl_context /* context */, - cl_svm_mem_flags /* flags */, - size_t /* size */, - cl_uint /* alignment */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY void CL_API_CALL -clSVMFree(cl_context /* context */, - void * /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0; - -/* Sampler APIs */ -extern CL_API_ENTRY cl_sampler CL_API_CALL -clCreateSamplerWithProperties(cl_context /* context */, - const cl_sampler_properties * /* normalized_coords */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetSamplerInfo(cl_sampler /* sampler */, - cl_sampler_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Program Object APIs */ -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithSource(cl_context /* context */, - cl_uint /* count */, - const char ** /* strings */, - const size_t * /* lengths */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithBinary(cl_context /* context */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const size_t * /* lengths */, - const unsigned char ** /* binaries */, - cl_int * /* binary_status */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithBuiltInKernels(cl_context /* context */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* kernel_names */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_program CL_API_CALL -clCreateProgramWithIL(cl_context /* context */, - const void* /* il */, - size_t /* length */, - cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1; - - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clBuildProgram(cl_program /* program */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* options */, - void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), - void * /* user_data */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clCompileProgram(cl_program /* program */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* options */, - cl_uint /* num_input_headers */, - const cl_program * /* input_headers */, - const char ** /* header_include_names */, - void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), - void * /* user_data */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_program CL_API_CALL -clLinkProgram(cl_context /* context */, - cl_uint /* num_devices */, - const cl_device_id * /* device_list */, - const char * /* options */, - cl_uint /* num_input_programs */, - const cl_program * /* input_programs */, - void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), - void * /* user_data */, - cl_int * /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2; - - -extern CL_API_ENTRY cl_int CL_API_CALL -clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetProgramInfo(cl_program /* program */, - cl_program_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetProgramBuildInfo(cl_program /* program */, - cl_device_id /* device */, - cl_program_build_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Kernel Object APIs */ -extern CL_API_ENTRY cl_kernel CL_API_CALL -clCreateKernel(cl_program /* program */, - const char * /* kernel_name */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clCreateKernelsInProgram(cl_program /* program */, - cl_uint /* num_kernels */, - cl_kernel * /* kernels */, - cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_kernel CL_API_CALL -clCloneKernel(cl_kernel /* source_kernel */, - cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetKernelArg(cl_kernel /* kernel */, - cl_uint /* arg_index */, - size_t /* arg_size */, - const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetKernelArgSVMPointer(cl_kernel /* kernel */, - cl_uint /* arg_index */, - const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetKernelExecInfo(cl_kernel /* kernel */, - cl_kernel_exec_info /* param_name */, - size_t /* param_value_size */, - const void * /* param_value */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelInfo(cl_kernel /* kernel */, - cl_kernel_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelArgInfo(cl_kernel /* kernel */, - cl_uint /* arg_indx */, - cl_kernel_arg_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelWorkGroupInfo(cl_kernel /* kernel */, - cl_device_id /* device */, - cl_kernel_work_group_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelSubGroupInfo(cl_kernel /* kernel */, - cl_device_id /* device */, - cl_kernel_sub_group_info /* param_name */, - size_t /* input_value_size */, - const void* /*input_value */, - size_t /* param_value_size */, - void* /* param_value */, - size_t* /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1; - - -/* Event Object APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clWaitForEvents(cl_uint /* num_events */, - const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetEventInfo(cl_event /* event */, - cl_event_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_event CL_API_CALL -clCreateUserEvent(cl_context /* context */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetUserEventStatus(cl_event /* event */, - cl_int /* execution_status */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clSetEventCallback( cl_event /* event */, - cl_int /* command_exec_callback_type */, - void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *), - void * /* user_data */) CL_API_SUFFIX__VERSION_1_1; - -/* Profiling APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clGetEventProfilingInfo(cl_event /* event */, - cl_profiling_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -/* Flush and Finish APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; - -/* Enqueued Commands APIs */ -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReadBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_read */, - size_t /* offset */, - size_t /* size */, - void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReadBufferRect(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_read */, - const size_t * /* buffer_offset */, - const size_t * /* host_offset */, - const size_t * /* region */, - size_t /* buffer_row_pitch */, - size_t /* buffer_slice_pitch */, - size_t /* host_row_pitch */, - size_t /* host_slice_pitch */, - void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueWriteBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_write */, - size_t /* offset */, - size_t /* size */, - const void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueWriteBufferRect(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_write */, - const size_t * /* buffer_offset */, - const size_t * /* host_offset */, - const size_t * /* region */, - size_t /* buffer_row_pitch */, - size_t /* buffer_slice_pitch */, - size_t /* host_row_pitch */, - size_t /* host_slice_pitch */, - const void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueFillBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - const void * /* pattern */, - size_t /* pattern_size */, - size_t /* offset */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyBuffer(cl_command_queue /* command_queue */, - cl_mem /* src_buffer */, - cl_mem /* dst_buffer */, - size_t /* src_offset */, - size_t /* dst_offset */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyBufferRect(cl_command_queue /* command_queue */, - cl_mem /* src_buffer */, - cl_mem /* dst_buffer */, - const size_t * /* src_origin */, - const size_t * /* dst_origin */, - const size_t * /* region */, - size_t /* src_row_pitch */, - size_t /* src_slice_pitch */, - size_t /* dst_row_pitch */, - size_t /* dst_slice_pitch */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReadImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - cl_bool /* blocking_read */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - size_t /* row_pitch */, - size_t /* slice_pitch */, - void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueWriteImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - cl_bool /* blocking_write */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - size_t /* input_row_pitch */, - size_t /* input_slice_pitch */, - const void * /* ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueFillImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - const void * /* fill_color */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyImage(cl_command_queue /* command_queue */, - cl_mem /* src_image */, - cl_mem /* dst_image */, - const size_t * /* src_origin[3] */, - const size_t * /* dst_origin[3] */, - const size_t * /* region[3] */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */, - cl_mem /* src_image */, - cl_mem /* dst_buffer */, - const size_t * /* src_origin[3] */, - const size_t * /* region[3] */, - size_t /* dst_offset */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */, - cl_mem /* src_buffer */, - cl_mem /* dst_image */, - size_t /* src_offset */, - const size_t * /* dst_origin[3] */, - const size_t * /* region[3] */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY void * CL_API_CALL -clEnqueueMapBuffer(cl_command_queue /* command_queue */, - cl_mem /* buffer */, - cl_bool /* blocking_map */, - cl_map_flags /* map_flags */, - size_t /* offset */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY void * CL_API_CALL -clEnqueueMapImage(cl_command_queue /* command_queue */, - cl_mem /* image */, - cl_bool /* blocking_map */, - cl_map_flags /* map_flags */, - const size_t * /* origin[3] */, - const size_t * /* region[3] */, - size_t * /* image_row_pitch */, - size_t * /* image_slice_pitch */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueUnmapMemObject(cl_command_queue /* command_queue */, - cl_mem /* memobj */, - void * /* mapped_ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueMigrateMemObjects(cl_command_queue /* command_queue */, - cl_uint /* num_mem_objects */, - const cl_mem * /* mem_objects */, - cl_mem_migration_flags /* flags */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueNDRangeKernel(cl_command_queue /* command_queue */, - cl_kernel /* kernel */, - cl_uint /* work_dim */, - const size_t * /* global_work_offset */, - const size_t * /* global_work_size */, - const size_t * /* local_work_size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueNativeKernel(cl_command_queue /* command_queue */, - void (CL_CALLBACK * /*user_func*/)(void *), - void * /* args */, - size_t /* cb_args */, - cl_uint /* num_mem_objects */, - const cl_mem * /* mem_list */, - const void ** /* args_mem_loc */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueMarkerWithWaitList(cl_command_queue /* command_queue */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueBarrierWithWaitList(cl_command_queue /* command_queue */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMFree(cl_command_queue /* command_queue */, - cl_uint /* num_svm_pointers */, - void *[] /* svm_pointers[] */, - void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */, - cl_uint /* num_svm_pointers */, - void *[] /* svm_pointers[] */, - void * /* user_data */), - void * /* user_data */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMemcpy(cl_command_queue /* command_queue */, - cl_bool /* blocking_copy */, - void * /* dst_ptr */, - const void * /* src_ptr */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMemFill(cl_command_queue /* command_queue */, - void * /* svm_ptr */, - const void * /* pattern */, - size_t /* pattern_size */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMap(cl_command_queue /* command_queue */, - cl_bool /* blocking_map */, - cl_map_flags /* flags */, - void * /* svm_ptr */, - size_t /* size */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMUnmap(cl_command_queue /* command_queue */, - void * /* svm_ptr */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueSVMMigrateMem(cl_command_queue /* command_queue */, - cl_uint /* num_svm_pointers */, - const void ** /* svm_pointers */, - const size_t * /* sizes */, - cl_mem_migration_flags /* flags */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_2_1; - - -/* Extension function access - * - * Returns the extension function address for the given function name, - * or NULL if a valid function can not be found. The client must - * check to make sure the address is not NULL, before using or - * calling the returned function address. - */ -extern CL_API_ENTRY void * CL_API_CALL -clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */, - const char * /* func_name */) CL_API_SUFFIX__VERSION_1_2; - - -/* Deprecated OpenCL 1.1 APIs */ -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateImage2D(cl_context /* context */, - cl_mem_flags /* flags */, - const cl_image_format * /* image_format */, - size_t /* image_width */, - size_t /* image_height */, - size_t /* image_row_pitch */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateImage3D(cl_context /* context */, - cl_mem_flags /* flags */, - const cl_image_format * /* image_format */, - size_t /* image_width */, - size_t /* image_height */, - size_t /* image_depth */, - size_t /* image_row_pitch */, - size_t /* image_slice_pitch */, - void * /* host_ptr */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clEnqueueMarker(cl_command_queue /* command_queue */, - cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clEnqueueWaitForEvents(cl_command_queue /* command_queue */, - cl_uint /* num_events */, - const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL -clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL -clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -/* Deprecated OpenCL 2.0 APIs */ -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL -clCreateCommandQueue(cl_context /* context */, - cl_device_id /* device */, - cl_command_queue_properties /* properties */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; - - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL -clCreateSampler(cl_context /* context */, - cl_bool /* normalized_coords */, - cl_addressing_mode /* addressing_mode */, - cl_filter_mode /* filter_mode */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL -clEnqueueTask(cl_command_queue /* command_queue */, - cl_kernel /* kernel */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_H */ - diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h deleted file mode 100644 index d5960a43f7..0000000000 --- a/third_party/opencl/include/CL/cl_d3d10.h +++ /dev/null @@ -1,131 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_CL_D3D10_H -#define __OPENCL_CL_D3D10_H - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/****************************************************************************** - * cl_khr_d3d10_sharing */ -#define cl_khr_d3d10_sharing 1 - -typedef cl_uint cl_d3d10_device_source_khr; -typedef cl_uint cl_d3d10_device_set_khr; - -/******************************************************************************/ - -/* Error Codes */ -#define CL_INVALID_D3D10_DEVICE_KHR -1002 -#define CL_INVALID_D3D10_RESOURCE_KHR -1003 -#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR -1004 -#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR -1005 - -/* cl_d3d10_device_source_nv */ -#define CL_D3D10_DEVICE_KHR 0x4010 -#define CL_D3D10_DXGI_ADAPTER_KHR 0x4011 - -/* cl_d3d10_device_set_nv */ -#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR 0x4012 -#define CL_ALL_DEVICES_FOR_D3D10_KHR 0x4013 - -/* cl_context_info */ -#define CL_CONTEXT_D3D10_DEVICE_KHR 0x4014 -#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C - -/* cl_mem_info */ -#define CL_MEM_D3D10_RESOURCE_KHR 0x4015 - -/* cl_image_info */ -#define CL_IMAGE_D3D10_SUBRESOURCE_KHR 0x4016 - -/* cl_command_type */ -#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR 0x4017 -#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR 0x4018 - -/******************************************************************************/ - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)( - cl_platform_id platform, - cl_d3d10_device_source_khr d3d_device_source, - void * d3d_object, - cl_d3d10_device_set_khr d3d_device_set, - cl_uint num_entries, - cl_device_id * devices, - cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D10Buffer * resource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D10Texture2D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D10Texture3D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_0; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_D3D10_H */ - diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h deleted file mode 100644 index 39f9072398..0000000000 --- a/third_party/opencl/include/CL/cl_d3d11.h +++ /dev/null @@ -1,131 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_CL_D3D11_H -#define __OPENCL_CL_D3D11_H - -#include -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/****************************************************************************** - * cl_khr_d3d11_sharing */ -#define cl_khr_d3d11_sharing 1 - -typedef cl_uint cl_d3d11_device_source_khr; -typedef cl_uint cl_d3d11_device_set_khr; - -/******************************************************************************/ - -/* Error Codes */ -#define CL_INVALID_D3D11_DEVICE_KHR -1006 -#define CL_INVALID_D3D11_RESOURCE_KHR -1007 -#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR -1008 -#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR -1009 - -/* cl_d3d11_device_source */ -#define CL_D3D11_DEVICE_KHR 0x4019 -#define CL_D3D11_DXGI_ADAPTER_KHR 0x401A - -/* cl_d3d11_device_set */ -#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR 0x401B -#define CL_ALL_DEVICES_FOR_D3D11_KHR 0x401C - -/* cl_context_info */ -#define CL_CONTEXT_D3D11_DEVICE_KHR 0x401D -#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D - -/* cl_mem_info */ -#define CL_MEM_D3D11_RESOURCE_KHR 0x401E - -/* cl_image_info */ -#define CL_IMAGE_D3D11_SUBRESOURCE_KHR 0x401F - -/* cl_command_type */ -#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR 0x4020 -#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR 0x4021 - -/******************************************************************************/ - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)( - cl_platform_id platform, - cl_d3d11_device_source_khr d3d_device_source, - void * d3d_object, - cl_d3d11_device_set_khr d3d_device_set, - cl_uint num_entries, - cl_device_id * devices, - cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D11Buffer * resource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D11Texture2D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)( - cl_context context, - cl_mem_flags flags, - ID3D11Texture3D * resource, - UINT subresource, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_D3D11_H */ - diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h deleted file mode 100644 index 2729e8b9e8..0000000000 --- a/third_party/opencl/include/CL/cl_dx9_media_sharing.h +++ /dev/null @@ -1,132 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H -#define __OPENCL_CL_DX9_MEDIA_SHARING_H - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -/******************************************************************************/ -/* cl_khr_dx9_media_sharing */ -#define cl_khr_dx9_media_sharing 1 - -typedef cl_uint cl_dx9_media_adapter_type_khr; -typedef cl_uint cl_dx9_media_adapter_set_khr; - -#if defined(_WIN32) -#include -typedef struct _cl_dx9_surface_info_khr -{ - IDirect3DSurface9 *resource; - HANDLE shared_handle; -} cl_dx9_surface_info_khr; -#endif - - -/******************************************************************************/ - -/* Error Codes */ -#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR -1010 -#define CL_INVALID_DX9_MEDIA_SURFACE_KHR -1011 -#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR -1012 -#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR -1013 - -/* cl_media_adapter_type_khr */ -#define CL_ADAPTER_D3D9_KHR 0x2020 -#define CL_ADAPTER_D3D9EX_KHR 0x2021 -#define CL_ADAPTER_DXVA_KHR 0x2022 - -/* cl_media_adapter_set_khr */ -#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2023 -#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2024 - -/* cl_context_info */ -#define CL_CONTEXT_ADAPTER_D3D9_KHR 0x2025 -#define CL_CONTEXT_ADAPTER_D3D9EX_KHR 0x2026 -#define CL_CONTEXT_ADAPTER_DXVA_KHR 0x2027 - -/* cl_mem_info */ -#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR 0x2028 -#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR 0x2029 - -/* cl_image_info */ -#define CL_IMAGE_DX9_MEDIA_PLANE_KHR 0x202A - -/* cl_command_type */ -#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR 0x202B -#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR 0x202C - -/******************************************************************************/ - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)( - cl_platform_id platform, - cl_uint num_media_adapters, - cl_dx9_media_adapter_type_khr * media_adapter_type, - void * media_adapters, - cl_dx9_media_adapter_set_khr media_adapter_set, - cl_uint num_entries, - cl_device_id * devices, - cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)( - cl_context context, - cl_mem_flags flags, - cl_dx9_media_adapter_type_khr adapter_type, - void * surface_info, - cl_uint plane, - cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event) CL_API_SUFFIX__VERSION_1_2; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_DX9_MEDIA_SHARING_H */ - diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h deleted file mode 100644 index a765bd5266..0000000000 --- a/third_party/opencl/include/CL/cl_egl.h +++ /dev/null @@ -1,136 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -#ifndef __OPENCL_CL_EGL_H -#define __OPENCL_CL_EGL_H - -#ifdef __APPLE__ - -#else -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - - -/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */ -#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR 0x202F -#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR 0x202D -#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR 0x202E - -/* Error type for clCreateFromEGLImageKHR */ -#define CL_INVALID_EGL_OBJECT_KHR -1093 -#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR -1092 - -/* CLeglImageKHR is an opaque handle to an EGLImage */ -typedef void* CLeglImageKHR; - -/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */ -typedef void* CLeglDisplayKHR; - -/* CLeglSyncKHR is an opaque handle to an EGLSync object */ -typedef void* CLeglSyncKHR; - -/* properties passed to clCreateFromEGLImageKHR */ -typedef intptr_t cl_egl_image_properties_khr; - - -#define cl_khr_egl_image 1 - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromEGLImageKHR(cl_context /* context */, - CLeglDisplayKHR /* egldisplay */, - CLeglImageKHR /* eglimage */, - cl_mem_flags /* flags */, - const cl_egl_image_properties_khr * /* properties */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)( - cl_context context, - CLeglDisplayKHR egldisplay, - CLeglImageKHR eglimage, - cl_mem_flags flags, - const cl_egl_image_properties_khr * properties, - cl_int * errcode_ret); - - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event); - - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)( - cl_command_queue command_queue, - cl_uint num_objects, - const cl_mem * mem_objects, - cl_uint num_events_in_wait_list, - const cl_event * event_wait_list, - cl_event * event); - - -#define cl_khr_egl_event 1 - -extern CL_API_ENTRY cl_event CL_API_CALL -clCreateEventFromEGLSyncKHR(cl_context /* context */, - CLeglSyncKHR /* sync */, - CLeglDisplayKHR /* display */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)( - cl_context context, - CLeglSyncKHR sync, - CLeglDisplayKHR display, - cl_int * errcode_ret); - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_EGL_H */ diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h deleted file mode 100644 index 7941583895..0000000000 --- a/third_party/opencl/include/CL/cl_ext.h +++ /dev/null @@ -1,391 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */ - -/* cl_ext.h contains OpenCL extensions which don't have external */ -/* (OpenGL, D3D) dependencies. */ - -#ifndef __CL_EXT_H -#define __CL_EXT_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef __APPLE__ - #include - #include -#else - #include -#endif - -/* cl_khr_fp16 extension - no extension #define since it has no functions */ -#define CL_DEVICE_HALF_FP_CONFIG 0x1033 - -/* Memory object destruction - * - * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR - * - * Registers a user callback function that will be called when the memory object is deleted and its resources - * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback - * stack associated with memobj. The registered user callback functions are called in the reverse order in - * which they were registered. The user callback functions are called and then the memory object is deleted - * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be - * notified when the memory referenced by host_ptr, specified when the memory object is created and used as - * the storage bits for the memory object, can be reused or freed. - * - * The application may not call CL api's with the cl_mem object passed to the pfn_notify. - * - * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS) - * before using. - */ -#define cl_APPLE_SetMemObjectDestructor 1 -cl_int CL_API_ENTRY clSetMemObjectDestructorAPPLE( cl_mem /* memobj */, - void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), - void * /*user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - - -/* Context Logging Functions - * - * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext(). - * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS) - * before using. - * - * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger - */ -#define cl_APPLE_ContextLoggingFunctions 1 -extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE( const char * /* errstr */, - const void * /* private_info */, - size_t /* cb */, - void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - -/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */ -extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE( const char * /* errstr */, - const void * /* private_info */, - size_t /* cb */, - void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - -/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */ -extern void CL_API_ENTRY clLogMessagesToStderrAPPLE( const char * /* errstr */, - const void * /* private_info */, - size_t /* cb */, - void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; - - -/************************ -* cl_khr_icd extension * -************************/ -#define cl_khr_icd 1 - -/* cl_platform_info */ -#define CL_PLATFORM_ICD_SUFFIX_KHR 0x0920 - -/* Additional Error Codes */ -#define CL_PLATFORM_NOT_FOUND_KHR -1001 - -extern CL_API_ENTRY cl_int CL_API_CALL -clIcdGetPlatformIDsKHR(cl_uint /* num_entries */, - cl_platform_id * /* platforms */, - cl_uint * /* num_platforms */); - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)( - cl_uint /* num_entries */, - cl_platform_id * /* platforms */, - cl_uint * /* num_platforms */); - - -/* Extension: cl_khr_image2D_buffer - * - * This extension allows a 2D image to be created from a cl_mem buffer without a copy. - * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t. - * Both the sampler and sampler-less read_image built-in functions are supported for 2D images - * and 2D images created from a buffer. Similarly, the write_image built-ins are also supported - * for 2D images created from a buffer. - * - * When the 2D image from buffer is created, the client must specify the width, - * height, image format (i.e. channel order and channel data type) and optionally the row pitch - * - * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels. - * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels. - */ - -/************************************* - * cl_khr_initalize_memory extension * - *************************************/ - -#define CL_CONTEXT_MEMORY_INITIALIZE_KHR 0x2030 - - -/************************************** - * cl_khr_terminate_context extension * - **************************************/ - -#define CL_DEVICE_TERMINATE_CAPABILITY_KHR 0x2031 -#define CL_CONTEXT_TERMINATE_KHR 0x2032 - -#define cl_khr_terminate_context 1 -extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2; - - -/* - * Extension: cl_khr_spir - * - * This extension adds support to create an OpenCL program object from a - * Standard Portable Intermediate Representation (SPIR) instance - */ - -#define CL_DEVICE_SPIR_VERSIONS 0x40E0 -#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE 0x40E1 - - -/****************************************** -* cl_nv_device_attribute_query extension * -******************************************/ -/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */ -#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV 0x4000 -#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV 0x4001 -#define CL_DEVICE_REGISTERS_PER_BLOCK_NV 0x4002 -#define CL_DEVICE_WARP_SIZE_NV 0x4003 -#define CL_DEVICE_GPU_OVERLAP_NV 0x4004 -#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV 0x4005 -#define CL_DEVICE_INTEGRATED_MEMORY_NV 0x4006 - -/********************************* -* cl_amd_device_attribute_query * -*********************************/ -#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD 0x4036 - -/********************************* -* cl_arm_printf extension -*********************************/ -#define CL_PRINTF_CALLBACK_ARM 0x40B0 -#define CL_PRINTF_BUFFERSIZE_ARM 0x40B1 - -#ifdef CL_VERSION_1_1 - /*********************************** - * cl_ext_device_fission extension * - ***********************************/ - #define cl_ext_device_fission 1 - - extern CL_API_ENTRY cl_int CL_API_CALL - clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef CL_API_ENTRY cl_int - (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - extern CL_API_ENTRY cl_int CL_API_CALL - clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef CL_API_ENTRY cl_int - (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef cl_ulong cl_device_partition_property_ext; - extern CL_API_ENTRY cl_int CL_API_CALL - clCreateSubDevicesEXT( cl_device_id /*in_device*/, - const cl_device_partition_property_ext * /* properties */, - cl_uint /*num_entries*/, - cl_device_id * /*out_devices*/, - cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - typedef CL_API_ENTRY cl_int - ( CL_API_CALL * clCreateSubDevicesEXT_fn)( cl_device_id /*in_device*/, - const cl_device_partition_property_ext * /* properties */, - cl_uint /*num_entries*/, - cl_device_id * /*out_devices*/, - cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; - - /* cl_device_partition_property_ext */ - #define CL_DEVICE_PARTITION_EQUALLY_EXT 0x4050 - #define CL_DEVICE_PARTITION_BY_COUNTS_EXT 0x4051 - #define CL_DEVICE_PARTITION_BY_NAMES_EXT 0x4052 - #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT 0x4053 - - /* clDeviceGetInfo selectors */ - #define CL_DEVICE_PARENT_DEVICE_EXT 0x4054 - #define CL_DEVICE_PARTITION_TYPES_EXT 0x4055 - #define CL_DEVICE_AFFINITY_DOMAINS_EXT 0x4056 - #define CL_DEVICE_REFERENCE_COUNT_EXT 0x4057 - #define CL_DEVICE_PARTITION_STYLE_EXT 0x4058 - - /* error codes */ - #define CL_DEVICE_PARTITION_FAILED_EXT -1057 - #define CL_INVALID_PARTITION_COUNT_EXT -1058 - #define CL_INVALID_PARTITION_NAME_EXT -1059 - - /* CL_AFFINITY_DOMAINs */ - #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT 0x1 - #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT 0x2 - #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT 0x3 - #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT 0x4 - #define CL_AFFINITY_DOMAIN_NUMA_EXT 0x10 - #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT 0x100 - - /* cl_device_partition_property_ext list terminators */ - #define CL_PROPERTIES_LIST_END_EXT ((cl_device_partition_property_ext) 0) - #define CL_PARTITION_BY_COUNTS_LIST_END_EXT ((cl_device_partition_property_ext) 0) - #define CL_PARTITION_BY_NAMES_LIST_END_EXT ((cl_device_partition_property_ext) 0 - 1) - -/********************************* -* cl_qcom_ext_host_ptr extension -*********************************/ - -#define CL_MEM_EXT_HOST_PTR_QCOM (1 << 29) - -#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM 0x40A0 -#define CL_DEVICE_PAGE_SIZE_QCOM 0x40A1 -#define CL_IMAGE_ROW_ALIGNMENT_QCOM 0x40A2 -#define CL_IMAGE_SLICE_ALIGNMENT_QCOM 0x40A3 -#define CL_MEM_HOST_UNCACHED_QCOM 0x40A4 -#define CL_MEM_HOST_WRITEBACK_QCOM 0x40A5 -#define CL_MEM_HOST_WRITETHROUGH_QCOM 0x40A6 -#define CL_MEM_HOST_WRITE_COMBINING_QCOM 0x40A7 - -typedef cl_uint cl_image_pitch_info_qcom; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetDeviceImageInfoQCOM(cl_device_id device, - size_t image_width, - size_t image_height, - const cl_image_format *image_format, - cl_image_pitch_info_qcom param_name, - size_t param_value_size, - void *param_value, - size_t *param_value_size_ret); - -typedef struct _cl_mem_ext_host_ptr -{ - /* Type of external memory allocation. */ - /* Legal values will be defined in layered extensions. */ - cl_uint allocation_type; - - /* Host cache policy for this external memory allocation. */ - cl_uint host_cache_policy; - -} cl_mem_ext_host_ptr; - -/********************************* -* cl_qcom_ion_host_ptr extension -*********************************/ - -#define CL_MEM_ION_HOST_PTR_QCOM 0x40A8 - -typedef struct _cl_mem_ion_host_ptr -{ - /* Type of external memory allocation. */ - /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */ - cl_mem_ext_host_ptr ext_host_ptr; - - /* ION file descriptor */ - int ion_filedesc; - - /* Host pointer to the ION allocated memory */ - void* ion_hostptr; - -} cl_mem_ion_host_ptr; - -#endif /* CL_VERSION_1_1 */ - - -#ifdef CL_VERSION_2_0 -/********************************* -* cl_khr_sub_groups extension -*********************************/ -#define cl_khr_sub_groups 1 - -typedef cl_uint cl_kernel_sub_group_info_khr; - -/* cl_khr_sub_group_info */ -#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR 0x2033 -#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR 0x2034 - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */, - cl_device_id /*in_device*/, - cl_kernel_sub_group_info_khr /* param_name */, - size_t /*input_value_size*/, - const void * /*input_value*/, - size_t /*param_value_size*/, - void* /*param_value*/, - size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED; - -typedef CL_API_ENTRY cl_int - ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */, - cl_device_id /*in_device*/, - cl_kernel_sub_group_info_khr /* param_name */, - size_t /*input_value_size*/, - const void * /*input_value*/, - size_t /*param_value_size*/, - void* /*param_value*/, - size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED; -#endif /* CL_VERSION_2_0 */ - -#ifdef CL_VERSION_2_1 -/********************************* -* cl_khr_priority_hints extension -*********************************/ -#define cl_khr_priority_hints 1 - -typedef cl_uint cl_queue_priority_khr; - -/* cl_command_queue_properties */ -#define CL_QUEUE_PRIORITY_KHR 0x1096 - -/* cl_queue_priority_khr */ -#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0) -#define CL_QUEUE_PRIORITY_MED_KHR (1<<1) -#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2) - -#endif /* CL_VERSION_2_1 */ - -#ifdef CL_VERSION_2_1 -/********************************* -* cl_khr_throttle_hints extension -*********************************/ -#define cl_khr_throttle_hints 1 - -typedef cl_uint cl_queue_throttle_khr; - -/* cl_command_queue_properties */ -#define CL_QUEUE_THROTTLE_KHR 0x1097 - -/* cl_queue_throttle_khr */ -#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0) -#define CL_QUEUE_THROTTLE_MED_KHR (1<<1) -#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2) - -#endif /* CL_VERSION_2_1 */ - -#ifdef __cplusplus -} -#endif - - -#endif /* __CL_EXT_H */ diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h deleted file mode 100644 index 6328a1cd93..0000000000 --- a/third_party/opencl/include/CL/cl_ext_qcom.h +++ /dev/null @@ -1,255 +0,0 @@ -/* 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 -#include -#include - -#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 */ diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h deleted file mode 100644 index 945daa83d7..0000000000 --- a/third_party/opencl/include/CL/cl_gl.h +++ /dev/null @@ -1,167 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -#ifndef __OPENCL_CL_GL_H -#define __OPENCL_CL_GL_H - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -typedef cl_uint cl_gl_object_type; -typedef cl_uint cl_gl_texture_info; -typedef cl_uint cl_gl_platform_info; -typedef struct __GLsync *cl_GLsync; - -/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken */ -#define CL_GL_OBJECT_BUFFER 0x2000 -#define CL_GL_OBJECT_TEXTURE2D 0x2001 -#define CL_GL_OBJECT_TEXTURE3D 0x2002 -#define CL_GL_OBJECT_RENDERBUFFER 0x2003 -#define CL_GL_OBJECT_TEXTURE2D_ARRAY 0x200E -#define CL_GL_OBJECT_TEXTURE1D 0x200F -#define CL_GL_OBJECT_TEXTURE1D_ARRAY 0x2010 -#define CL_GL_OBJECT_TEXTURE_BUFFER 0x2011 - -/* cl_gl_texture_info */ -#define CL_GL_TEXTURE_TARGET 0x2004 -#define CL_GL_MIPMAP_LEVEL 0x2005 -#define CL_GL_NUM_SAMPLES 0x2012 - - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromGLBuffer(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLuint /* bufobj */, - int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromGLTexture(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLenum /* target */, - cl_GLint /* miplevel */, - cl_GLuint /* texture */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; - -extern CL_API_ENTRY cl_mem CL_API_CALL -clCreateFromGLRenderbuffer(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLuint /* renderbuffer */, - cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetGLObjectInfo(cl_mem /* memobj */, - cl_gl_object_type * /* gl_object_type */, - cl_GLuint * /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetGLTextureInfo(cl_mem /* memobj */, - cl_gl_texture_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueAcquireGLObjects(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - -extern CL_API_ENTRY cl_int CL_API_CALL -clEnqueueReleaseGLObjects(cl_command_queue /* command_queue */, - cl_uint /* num_objects */, - const cl_mem * /* mem_objects */, - cl_uint /* num_events_in_wait_list */, - const cl_event * /* event_wait_list */, - cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; - - -/* Deprecated OpenCL 1.1 APIs */ -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateFromGLTexture2D(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLenum /* target */, - cl_GLint /* miplevel */, - cl_GLuint /* texture */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL -clCreateFromGLTexture3D(cl_context /* context */, - cl_mem_flags /* flags */, - cl_GLenum /* target */, - cl_GLint /* miplevel */, - cl_GLuint /* texture */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; - -/* cl_khr_gl_sharing extension */ - -#define cl_khr_gl_sharing 1 - -typedef cl_uint cl_gl_context_info; - -/* Additional Error Codes */ -#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR -1000 - -/* cl_gl_context_info */ -#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR 0x2006 -#define CL_DEVICES_FOR_GL_CONTEXT_KHR 0x2007 - -/* Additional cl_context_properties */ -#define CL_GL_CONTEXT_KHR 0x2008 -#define CL_EGL_DISPLAY_KHR 0x2009 -#define CL_GLX_DISPLAY_KHR 0x200A -#define CL_WGL_HDC_KHR 0x200B -#define CL_CGL_SHAREGROUP_KHR 0x200C - -extern CL_API_ENTRY cl_int CL_API_CALL -clGetGLContextInfoKHR(const cl_context_properties * /* properties */, - cl_gl_context_info /* param_name */, - size_t /* param_value_size */, - void * /* param_value */, - size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; - -typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)( - const cl_context_properties * properties, - cl_gl_context_info param_name, - size_t param_value_size, - void * param_value, - size_t * param_value_size_ret); - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_GL_H */ diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h deleted file mode 100644 index e3c14c6408..0000000000 --- a/third_party/opencl/include/CL/cl_gl_ext.h +++ /dev/null @@ -1,74 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have */ -/* OpenGL dependencies. */ - -#ifndef __OPENCL_CL_GL_EXT_H -#define __OPENCL_CL_GL_EXT_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef __APPLE__ - #include -#else - #include -#endif - -/* - * For each extension, follow this template - * cl_VEN_extname extension */ -/* #define cl_VEN_extname 1 - * ... define new types, if any - * ... define new tokens, if any - * ... define new APIs, if any - * - * If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header - * This allows us to avoid having to decide whether to include GL headers or GLES here. - */ - -/* - * cl_khr_gl_event extension - * See section 9.9 in the OpenCL 1.1 spec for more information - */ -#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR 0x200D - -extern CL_API_ENTRY cl_event CL_API_CALL -clCreateEventFromGLsyncKHR(cl_context /* context */, - cl_GLsync /* cl_GLsync */, - cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1; - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_CL_GL_EXT_H */ diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h deleted file mode 100644 index 4e334a2918..0000000000 --- a/third_party/opencl/include/CL/cl_platform.h +++ /dev/null @@ -1,1333 +0,0 @@ -/********************************************************************************** - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - **********************************************************************************/ - -/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */ - -#ifndef __CL_PLATFORM_H -#define __CL_PLATFORM_H - -#ifdef __APPLE__ - /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */ - #include -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -#if defined(_WIN32) - #define CL_API_ENTRY - #define CL_API_CALL __stdcall - #define CL_CALLBACK __stdcall -#else - #define CL_API_ENTRY - #define CL_API_CALL - #define CL_CALLBACK -#endif - -/* - * Deprecation flags refer to the last version of the header in which the - * feature was not deprecated. - * - * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without - * deprecation but is deprecated in versions later than 1.1. - */ - -#ifdef __APPLE__ - #define CL_EXTENSION_WEAK_LINK __attribute__((weak_import)) - #define CL_API_SUFFIX__VERSION_1_0 AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_0 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER - #define CL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define GCL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7 - - #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8 - #else - #warning This path should never happen outside of internal operating system development. AvailabilityMacros do not function correctly here! - #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER - #endif -#else - #define CL_EXTENSION_WEAK_LINK - #define CL_API_SUFFIX__VERSION_1_0 - #define CL_EXT_SUFFIX__VERSION_1_0 - #define CL_API_SUFFIX__VERSION_1_1 - #define CL_EXT_SUFFIX__VERSION_1_1 - #define CL_API_SUFFIX__VERSION_1_2 - #define CL_EXT_SUFFIX__VERSION_1_2 - #define CL_API_SUFFIX__VERSION_2_0 - #define CL_EXT_SUFFIX__VERSION_2_0 - #define CL_API_SUFFIX__VERSION_2_1 - #define CL_EXT_SUFFIX__VERSION_2_1 - - #ifdef __GNUC__ - #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated)) - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #endif - #elif _WIN32 - #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated) - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated) - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated) - #endif - - #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #else - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated) - #endif - #else - #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED - - #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED - - #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED - #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED - - #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED - #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED - #endif -#endif - -#if (defined (_WIN32) && defined(_MSC_VER)) - -/* scalar types */ -typedef signed __int8 cl_char; -typedef unsigned __int8 cl_uchar; -typedef signed __int16 cl_short; -typedef unsigned __int16 cl_ushort; -typedef signed __int32 cl_int; -typedef unsigned __int32 cl_uint; -typedef signed __int64 cl_long; -typedef unsigned __int64 cl_ulong; - -typedef unsigned __int16 cl_half; -typedef float cl_float; -typedef double cl_double; - -/* Macro names and corresponding values defined by OpenCL */ -#define CL_CHAR_BIT 8 -#define CL_SCHAR_MAX 127 -#define CL_SCHAR_MIN (-127-1) -#define CL_CHAR_MAX CL_SCHAR_MAX -#define CL_CHAR_MIN CL_SCHAR_MIN -#define CL_UCHAR_MAX 255 -#define CL_SHRT_MAX 32767 -#define CL_SHRT_MIN (-32767-1) -#define CL_USHRT_MAX 65535 -#define CL_INT_MAX 2147483647 -#define CL_INT_MIN (-2147483647-1) -#define CL_UINT_MAX 0xffffffffU -#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) -#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) -#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) - -#define CL_FLT_DIG 6 -#define CL_FLT_MANT_DIG 24 -#define CL_FLT_MAX_10_EXP +38 -#define CL_FLT_MAX_EXP +128 -#define CL_FLT_MIN_10_EXP -37 -#define CL_FLT_MIN_EXP -125 -#define CL_FLT_RADIX 2 -#define CL_FLT_MAX 340282346638528859811704183484516925440.0f -#define CL_FLT_MIN 1.175494350822287507969e-38f -#define CL_FLT_EPSILON 0x1.0p-23f - -#define CL_DBL_DIG 15 -#define CL_DBL_MANT_DIG 53 -#define CL_DBL_MAX_10_EXP +308 -#define CL_DBL_MAX_EXP +1024 -#define CL_DBL_MIN_10_EXP -307 -#define CL_DBL_MIN_EXP -1021 -#define CL_DBL_RADIX 2 -#define CL_DBL_MAX 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0 -#define CL_DBL_MIN 2.225073858507201383090e-308 -#define CL_DBL_EPSILON 2.220446049250313080847e-16 - -#define CL_M_E 2.718281828459045090796 -#define CL_M_LOG2E 1.442695040888963387005 -#define CL_M_LOG10E 0.434294481903251816668 -#define CL_M_LN2 0.693147180559945286227 -#define CL_M_LN10 2.302585092994045901094 -#define CL_M_PI 3.141592653589793115998 -#define CL_M_PI_2 1.570796326794896557999 -#define CL_M_PI_4 0.785398163397448278999 -#define CL_M_1_PI 0.318309886183790691216 -#define CL_M_2_PI 0.636619772367581382433 -#define CL_M_2_SQRTPI 1.128379167095512558561 -#define CL_M_SQRT2 1.414213562373095145475 -#define CL_M_SQRT1_2 0.707106781186547572737 - -#define CL_M_E_F 2.71828174591064f -#define CL_M_LOG2E_F 1.44269502162933f -#define CL_M_LOG10E_F 0.43429449200630f -#define CL_M_LN2_F 0.69314718246460f -#define CL_M_LN10_F 2.30258512496948f -#define CL_M_PI_F 3.14159274101257f -#define CL_M_PI_2_F 1.57079637050629f -#define CL_M_PI_4_F 0.78539818525314f -#define CL_M_1_PI_F 0.31830987334251f -#define CL_M_2_PI_F 0.63661974668503f -#define CL_M_2_SQRTPI_F 1.12837922573090f -#define CL_M_SQRT2_F 1.41421353816986f -#define CL_M_SQRT1_2_F 0.70710676908493f - -#define CL_NAN (CL_INFINITY - CL_INFINITY) -#define CL_HUGE_VALF ((cl_float) 1e50) -#define CL_HUGE_VAL ((cl_double) 1e500) -#define CL_MAXFLOAT CL_FLT_MAX -#define CL_INFINITY CL_HUGE_VALF - -#else - -#include - -/* scalar types */ -typedef int8_t cl_char; -typedef uint8_t cl_uchar; -typedef int16_t cl_short __attribute__((aligned(2))); -typedef uint16_t cl_ushort __attribute__((aligned(2))); -typedef int32_t cl_int __attribute__((aligned(4))); -typedef uint32_t cl_uint __attribute__((aligned(4))); -typedef int64_t cl_long __attribute__((aligned(8))); -typedef uint64_t cl_ulong __attribute__((aligned(8))); - -typedef uint16_t cl_half __attribute__((aligned(2))); -typedef float cl_float __attribute__((aligned(4))); -typedef double cl_double __attribute__((aligned(8))); - -/* Macro names and corresponding values defined by OpenCL */ -#define CL_CHAR_BIT 8 -#define CL_SCHAR_MAX 127 -#define CL_SCHAR_MIN (-127-1) -#define CL_CHAR_MAX CL_SCHAR_MAX -#define CL_CHAR_MIN CL_SCHAR_MIN -#define CL_UCHAR_MAX 255 -#define CL_SHRT_MAX 32767 -#define CL_SHRT_MIN (-32767-1) -#define CL_USHRT_MAX 65535 -#define CL_INT_MAX 2147483647 -#define CL_INT_MIN (-2147483647-1) -#define CL_UINT_MAX 0xffffffffU -#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) -#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) -#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) - -#define CL_FLT_DIG 6 -#define CL_FLT_MANT_DIG 24 -#define CL_FLT_MAX_10_EXP +38 -#define CL_FLT_MAX_EXP +128 -#define CL_FLT_MIN_10_EXP -37 -#define CL_FLT_MIN_EXP -125 -#define CL_FLT_RADIX 2 -#define CL_FLT_MAX 0x1.fffffep127f -#define CL_FLT_MIN 0x1.0p-126f -#define CL_FLT_EPSILON 0x1.0p-23f - -#define CL_DBL_DIG 15 -#define CL_DBL_MANT_DIG 53 -#define CL_DBL_MAX_10_EXP +308 -#define CL_DBL_MAX_EXP +1024 -#define CL_DBL_MIN_10_EXP -307 -#define CL_DBL_MIN_EXP -1021 -#define CL_DBL_RADIX 2 -#define CL_DBL_MAX 0x1.fffffffffffffp1023 -#define CL_DBL_MIN 0x1.0p-1022 -#define CL_DBL_EPSILON 0x1.0p-52 - -#define CL_M_E 2.718281828459045090796 -#define CL_M_LOG2E 1.442695040888963387005 -#define CL_M_LOG10E 0.434294481903251816668 -#define CL_M_LN2 0.693147180559945286227 -#define CL_M_LN10 2.302585092994045901094 -#define CL_M_PI 3.141592653589793115998 -#define CL_M_PI_2 1.570796326794896557999 -#define CL_M_PI_4 0.785398163397448278999 -#define CL_M_1_PI 0.318309886183790691216 -#define CL_M_2_PI 0.636619772367581382433 -#define CL_M_2_SQRTPI 1.128379167095512558561 -#define CL_M_SQRT2 1.414213562373095145475 -#define CL_M_SQRT1_2 0.707106781186547572737 - -#define CL_M_E_F 2.71828174591064f -#define CL_M_LOG2E_F 1.44269502162933f -#define CL_M_LOG10E_F 0.43429449200630f -#define CL_M_LN2_F 0.69314718246460f -#define CL_M_LN10_F 2.30258512496948f -#define CL_M_PI_F 3.14159274101257f -#define CL_M_PI_2_F 1.57079637050629f -#define CL_M_PI_4_F 0.78539818525314f -#define CL_M_1_PI_F 0.31830987334251f -#define CL_M_2_PI_F 0.63661974668503f -#define CL_M_2_SQRTPI_F 1.12837922573090f -#define CL_M_SQRT2_F 1.41421353816986f -#define CL_M_SQRT1_2_F 0.70710676908493f - -#if defined( __GNUC__ ) - #define CL_HUGE_VALF __builtin_huge_valf() - #define CL_HUGE_VAL __builtin_huge_val() - #define CL_NAN __builtin_nanf( "" ) -#else - #define CL_HUGE_VALF ((cl_float) 1e50) - #define CL_HUGE_VAL ((cl_double) 1e500) - float nanf( const char * ); - #define CL_NAN nanf( "" ) -#endif -#define CL_MAXFLOAT CL_FLT_MAX -#define CL_INFINITY CL_HUGE_VALF - -#endif - -#include - -/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */ -typedef unsigned int cl_GLuint; -typedef int cl_GLint; -typedef unsigned int cl_GLenum; - -/* - * Vector types - * - * Note: OpenCL requires that all types be naturally aligned. - * This means that vector types must be naturally aligned. - * For example, a vector of four floats must be aligned to - * a 16 byte boundary (calculated as 4 * the natural 4-byte - * alignment of the float). The alignment qualifiers here - * will only function properly if your compiler supports them - * and if you don't actively work to defeat them. For example, - * in order for a cl_float4 to be 16 byte aligned in a struct, - * the start of the struct must itself be 16-byte aligned. - * - * Maintaining proper alignment is the user's responsibility. - */ - -/* Define basic vector types */ -#if defined( __VEC__ ) - #include /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */ - typedef vector unsigned char __cl_uchar16; - typedef vector signed char __cl_char16; - typedef vector unsigned short __cl_ushort8; - typedef vector signed short __cl_short8; - typedef vector unsigned int __cl_uint4; - typedef vector signed int __cl_int4; - typedef vector float __cl_float4; - #define __CL_UCHAR16__ 1 - #define __CL_CHAR16__ 1 - #define __CL_USHORT8__ 1 - #define __CL_SHORT8__ 1 - #define __CL_UINT4__ 1 - #define __CL_INT4__ 1 - #define __CL_FLOAT4__ 1 -#endif - -#if defined( __SSE__ ) - #if defined( __MINGW64__ ) - #include - #else - #include - #endif - #if defined( __GNUC__ ) - typedef float __cl_float4 __attribute__((vector_size(16))); - #else - typedef __m128 __cl_float4; - #endif - #define __CL_FLOAT4__ 1 -#endif - -#if defined( __SSE2__ ) - #if defined( __MINGW64__ ) - #include - #else - #include - #endif - #if defined( __GNUC__ ) - typedef cl_uchar __cl_uchar16 __attribute__((vector_size(16))); - typedef cl_char __cl_char16 __attribute__((vector_size(16))); - typedef cl_ushort __cl_ushort8 __attribute__((vector_size(16))); - typedef cl_short __cl_short8 __attribute__((vector_size(16))); - typedef cl_uint __cl_uint4 __attribute__((vector_size(16))); - typedef cl_int __cl_int4 __attribute__((vector_size(16))); - typedef cl_ulong __cl_ulong2 __attribute__((vector_size(16))); - typedef cl_long __cl_long2 __attribute__((vector_size(16))); - typedef cl_double __cl_double2 __attribute__((vector_size(16))); - #else - typedef __m128i __cl_uchar16; - typedef __m128i __cl_char16; - typedef __m128i __cl_ushort8; - typedef __m128i __cl_short8; - typedef __m128i __cl_uint4; - typedef __m128i __cl_int4; - typedef __m128i __cl_ulong2; - typedef __m128i __cl_long2; - typedef __m128d __cl_double2; - #endif - #define __CL_UCHAR16__ 1 - #define __CL_CHAR16__ 1 - #define __CL_USHORT8__ 1 - #define __CL_SHORT8__ 1 - #define __CL_INT4__ 1 - #define __CL_UINT4__ 1 - #define __CL_ULONG2__ 1 - #define __CL_LONG2__ 1 - #define __CL_DOUBLE2__ 1 -#endif - -#if defined( __MMX__ ) - #include - #if defined( __GNUC__ ) - typedef cl_uchar __cl_uchar8 __attribute__((vector_size(8))); - typedef cl_char __cl_char8 __attribute__((vector_size(8))); - typedef cl_ushort __cl_ushort4 __attribute__((vector_size(8))); - typedef cl_short __cl_short4 __attribute__((vector_size(8))); - typedef cl_uint __cl_uint2 __attribute__((vector_size(8))); - typedef cl_int __cl_int2 __attribute__((vector_size(8))); - typedef cl_ulong __cl_ulong1 __attribute__((vector_size(8))); - typedef cl_long __cl_long1 __attribute__((vector_size(8))); - typedef cl_float __cl_float2 __attribute__((vector_size(8))); - #else - typedef __m64 __cl_uchar8; - typedef __m64 __cl_char8; - typedef __m64 __cl_ushort4; - typedef __m64 __cl_short4; - typedef __m64 __cl_uint2; - typedef __m64 __cl_int2; - typedef __m64 __cl_ulong1; - typedef __m64 __cl_long1; - typedef __m64 __cl_float2; - #endif - #define __CL_UCHAR8__ 1 - #define __CL_CHAR8__ 1 - #define __CL_USHORT4__ 1 - #define __CL_SHORT4__ 1 - #define __CL_INT2__ 1 - #define __CL_UINT2__ 1 - #define __CL_ULONG1__ 1 - #define __CL_LONG1__ 1 - #define __CL_FLOAT2__ 1 -#endif - -#if defined( __AVX__ ) - #if defined( __MINGW64__ ) - #include - #else - #include - #endif - #if defined( __GNUC__ ) - typedef cl_float __cl_float8 __attribute__((vector_size(32))); - typedef cl_double __cl_double4 __attribute__((vector_size(32))); - #else - typedef __m256 __cl_float8; - typedef __m256d __cl_double4; - #endif - #define __CL_FLOAT8__ 1 - #define __CL_DOUBLE4__ 1 -#endif - -/* Define capabilities for anonymous struct members. */ -#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ ) -#define __CL_HAS_ANON_STRUCT__ 1 -#define __CL_ANON_STRUCT__ __extension__ -#elif defined( _WIN32) && (_MSC_VER >= 1500) - /* Microsoft Developer Studio 2008 supports anonymous structs, but - * complains by default. */ -#define __CL_HAS_ANON_STRUCT__ 1 -#define __CL_ANON_STRUCT__ - /* Disable warning C4201: nonstandard extension used : nameless - * struct/union */ -#pragma warning( push ) -#pragma warning( disable : 4201 ) -#else -#define __CL_HAS_ANON_STRUCT__ 0 -#define __CL_ANON_STRUCT__ -#endif - -/* Define alignment keys */ -#if defined( __GNUC__ ) - #define CL_ALIGNED(_x) __attribute__ ((aligned(_x))) -#elif defined( _WIN32) && (_MSC_VER) - /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements */ - /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx */ - /* #include */ - /* #define CL_ALIGNED(_x) _CRT_ALIGN(_x) */ - #define CL_ALIGNED(_x) -#else - #warning Need to implement some method to align data here - #define CL_ALIGNED(_x) -#endif - -/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */ -#if __CL_HAS_ANON_STRUCT__ - /* .xyzw and .s0123...{f|F} are supported */ - #define CL_HAS_NAMED_VECTOR_FIELDS 1 - /* .hi and .lo are supported */ - #define CL_HAS_HI_LO_VECTOR_FIELDS 1 -#endif - -/* Define cl_vector types */ - -/* ---- cl_charn ---- */ -typedef union -{ - cl_char CL_ALIGNED(2) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_char lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2; -#endif -}cl_char2; - -typedef union -{ - cl_char CL_ALIGNED(4) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2[2]; -#endif -#if defined( __CL_CHAR4__) - __cl_char4 v4; -#endif -}cl_char4; - -/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */ -typedef cl_char4 cl_char3; - -typedef union -{ - cl_char CL_ALIGNED(8) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2[4]; -#endif -#if defined( __CL_CHAR4__) - __cl_char4 v4[2]; -#endif -#if defined( __CL_CHAR8__ ) - __cl_char8 v8; -#endif -}cl_char8; - -typedef union -{ - cl_char CL_ALIGNED(16) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; }; -#endif -#if defined( __CL_CHAR2__) - __cl_char2 v2[8]; -#endif -#if defined( __CL_CHAR4__) - __cl_char4 v4[4]; -#endif -#if defined( __CL_CHAR8__ ) - __cl_char8 v8[2]; -#endif -#if defined( __CL_CHAR16__ ) - __cl_char16 v16; -#endif -}cl_char16; - - -/* ---- cl_ucharn ---- */ -typedef union -{ - cl_uchar CL_ALIGNED(2) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_uchar lo, hi; }; -#endif -#if defined( __cl_uchar2__) - __cl_uchar2 v2; -#endif -}cl_uchar2; - -typedef union -{ - cl_uchar CL_ALIGNED(4) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; }; -#endif -#if defined( __CL_UCHAR2__) - __cl_uchar2 v2[2]; -#endif -#if defined( __CL_UCHAR4__) - __cl_uchar4 v4; -#endif -}cl_uchar4; - -/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */ -typedef cl_uchar4 cl_uchar3; - -typedef union -{ - cl_uchar CL_ALIGNED(8) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; }; -#endif -#if defined( __CL_UCHAR2__) - __cl_uchar2 v2[4]; -#endif -#if defined( __CL_UCHAR4__) - __cl_uchar4 v4[2]; -#endif -#if defined( __CL_UCHAR8__ ) - __cl_uchar8 v8; -#endif -}cl_uchar8; - -typedef union -{ - cl_uchar CL_ALIGNED(16) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; }; -#endif -#if defined( __CL_UCHAR2__) - __cl_uchar2 v2[8]; -#endif -#if defined( __CL_UCHAR4__) - __cl_uchar4 v4[4]; -#endif -#if defined( __CL_UCHAR8__ ) - __cl_uchar8 v8[2]; -#endif -#if defined( __CL_UCHAR16__ ) - __cl_uchar16 v16; -#endif -}cl_uchar16; - - -/* ---- cl_shortn ---- */ -typedef union -{ - cl_short CL_ALIGNED(4) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_short lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2; -#endif -}cl_short2; - -typedef union -{ - cl_short CL_ALIGNED(8) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2[2]; -#endif -#if defined( __CL_SHORT4__) - __cl_short4 v4; -#endif -}cl_short4; - -/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */ -typedef cl_short4 cl_short3; - -typedef union -{ - cl_short CL_ALIGNED(16) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2[4]; -#endif -#if defined( __CL_SHORT4__) - __cl_short4 v4[2]; -#endif -#if defined( __CL_SHORT8__ ) - __cl_short8 v8; -#endif -}cl_short8; - -typedef union -{ - cl_short CL_ALIGNED(32) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; }; -#endif -#if defined( __CL_SHORT2__) - __cl_short2 v2[8]; -#endif -#if defined( __CL_SHORT4__) - __cl_short4 v4[4]; -#endif -#if defined( __CL_SHORT8__ ) - __cl_short8 v8[2]; -#endif -#if defined( __CL_SHORT16__ ) - __cl_short16 v16; -#endif -}cl_short16; - - -/* ---- cl_ushortn ---- */ -typedef union -{ - cl_ushort CL_ALIGNED(4) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_ushort lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2; -#endif -}cl_ushort2; - -typedef union -{ - cl_ushort CL_ALIGNED(8) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2[2]; -#endif -#if defined( __CL_USHORT4__) - __cl_ushort4 v4; -#endif -}cl_ushort4; - -/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */ -typedef cl_ushort4 cl_ushort3; - -typedef union -{ - cl_ushort CL_ALIGNED(16) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2[4]; -#endif -#if defined( __CL_USHORT4__) - __cl_ushort4 v4[2]; -#endif -#if defined( __CL_USHORT8__ ) - __cl_ushort8 v8; -#endif -}cl_ushort8; - -typedef union -{ - cl_ushort CL_ALIGNED(32) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; }; -#endif -#if defined( __CL_USHORT2__) - __cl_ushort2 v2[8]; -#endif -#if defined( __CL_USHORT4__) - __cl_ushort4 v4[4]; -#endif -#if defined( __CL_USHORT8__ ) - __cl_ushort8 v8[2]; -#endif -#if defined( __CL_USHORT16__ ) - __cl_ushort16 v16; -#endif -}cl_ushort16; - -/* ---- cl_intn ---- */ -typedef union -{ - cl_int CL_ALIGNED(8) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_int lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2; -#endif -}cl_int2; - -typedef union -{ - cl_int CL_ALIGNED(16) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2[2]; -#endif -#if defined( __CL_INT4__) - __cl_int4 v4; -#endif -}cl_int4; - -/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */ -typedef cl_int4 cl_int3; - -typedef union -{ - cl_int CL_ALIGNED(32) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2[4]; -#endif -#if defined( __CL_INT4__) - __cl_int4 v4[2]; -#endif -#if defined( __CL_INT8__ ) - __cl_int8 v8; -#endif -}cl_int8; - -typedef union -{ - cl_int CL_ALIGNED(64) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; }; -#endif -#if defined( __CL_INT2__) - __cl_int2 v2[8]; -#endif -#if defined( __CL_INT4__) - __cl_int4 v4[4]; -#endif -#if defined( __CL_INT8__ ) - __cl_int8 v8[2]; -#endif -#if defined( __CL_INT16__ ) - __cl_int16 v16; -#endif -}cl_int16; - - -/* ---- cl_uintn ---- */ -typedef union -{ - cl_uint CL_ALIGNED(8) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_uint lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2; -#endif -}cl_uint2; - -typedef union -{ - cl_uint CL_ALIGNED(16) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2[2]; -#endif -#if defined( __CL_UINT4__) - __cl_uint4 v4; -#endif -}cl_uint4; - -/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */ -typedef cl_uint4 cl_uint3; - -typedef union -{ - cl_uint CL_ALIGNED(32) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2[4]; -#endif -#if defined( __CL_UINT4__) - __cl_uint4 v4[2]; -#endif -#if defined( __CL_UINT8__ ) - __cl_uint8 v8; -#endif -}cl_uint8; - -typedef union -{ - cl_uint CL_ALIGNED(64) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; }; -#endif -#if defined( __CL_UINT2__) - __cl_uint2 v2[8]; -#endif -#if defined( __CL_UINT4__) - __cl_uint4 v4[4]; -#endif -#if defined( __CL_UINT8__ ) - __cl_uint8 v8[2]; -#endif -#if defined( __CL_UINT16__ ) - __cl_uint16 v16; -#endif -}cl_uint16; - -/* ---- cl_longn ---- */ -typedef union -{ - cl_long CL_ALIGNED(16) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_long lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2; -#endif -}cl_long2; - -typedef union -{ - cl_long CL_ALIGNED(32) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2[2]; -#endif -#if defined( __CL_LONG4__) - __cl_long4 v4; -#endif -}cl_long4; - -/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */ -typedef cl_long4 cl_long3; - -typedef union -{ - cl_long CL_ALIGNED(64) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2[4]; -#endif -#if defined( __CL_LONG4__) - __cl_long4 v4[2]; -#endif -#if defined( __CL_LONG8__ ) - __cl_long8 v8; -#endif -}cl_long8; - -typedef union -{ - cl_long CL_ALIGNED(128) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; }; -#endif -#if defined( __CL_LONG2__) - __cl_long2 v2[8]; -#endif -#if defined( __CL_LONG4__) - __cl_long4 v4[4]; -#endif -#if defined( __CL_LONG8__ ) - __cl_long8 v8[2]; -#endif -#if defined( __CL_LONG16__ ) - __cl_long16 v16; -#endif -}cl_long16; - - -/* ---- cl_ulongn ---- */ -typedef union -{ - cl_ulong CL_ALIGNED(16) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_ulong lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2; -#endif -}cl_ulong2; - -typedef union -{ - cl_ulong CL_ALIGNED(32) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2[2]; -#endif -#if defined( __CL_ULONG4__) - __cl_ulong4 v4; -#endif -}cl_ulong4; - -/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */ -typedef cl_ulong4 cl_ulong3; - -typedef union -{ - cl_ulong CL_ALIGNED(64) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2[4]; -#endif -#if defined( __CL_ULONG4__) - __cl_ulong4 v4[2]; -#endif -#if defined( __CL_ULONG8__ ) - __cl_ulong8 v8; -#endif -}cl_ulong8; - -typedef union -{ - cl_ulong CL_ALIGNED(128) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; }; -#endif -#if defined( __CL_ULONG2__) - __cl_ulong2 v2[8]; -#endif -#if defined( __CL_ULONG4__) - __cl_ulong4 v4[4]; -#endif -#if defined( __CL_ULONG8__ ) - __cl_ulong8 v8[2]; -#endif -#if defined( __CL_ULONG16__ ) - __cl_ulong16 v16; -#endif -}cl_ulong16; - - -/* --- cl_floatn ---- */ - -typedef union -{ - cl_float CL_ALIGNED(8) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_float lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2; -#endif -}cl_float2; - -typedef union -{ - cl_float CL_ALIGNED(16) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_float2 lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2[2]; -#endif -#if defined( __CL_FLOAT4__) - __cl_float4 v4; -#endif -}cl_float4; - -/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */ -typedef cl_float4 cl_float3; - -typedef union -{ - cl_float CL_ALIGNED(32) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_float4 lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2[4]; -#endif -#if defined( __CL_FLOAT4__) - __cl_float4 v4[2]; -#endif -#if defined( __CL_FLOAT8__ ) - __cl_float8 v8; -#endif -}cl_float8; - -typedef union -{ - cl_float CL_ALIGNED(64) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; }; -#endif -#if defined( __CL_FLOAT2__) - __cl_float2 v2[8]; -#endif -#if defined( __CL_FLOAT4__) - __cl_float4 v4[4]; -#endif -#if defined( __CL_FLOAT8__ ) - __cl_float8 v8[2]; -#endif -#if defined( __CL_FLOAT16__ ) - __cl_float16 v16; -#endif -}cl_float16; - -/* --- cl_doublen ---- */ - -typedef union -{ - cl_double CL_ALIGNED(16) s[2]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1; }; - __CL_ANON_STRUCT__ struct{ cl_double lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2; -#endif -}cl_double2; - -typedef union -{ - cl_double CL_ALIGNED(32) s[4]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3; }; - __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2[2]; -#endif -#if defined( __CL_DOUBLE4__) - __cl_double4 v4; -#endif -}cl_double4; - -/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */ -typedef cl_double4 cl_double3; - -typedef union -{ - cl_double CL_ALIGNED(64) s[8]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7; }; - __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2[4]; -#endif -#if defined( __CL_DOUBLE4__) - __cl_double4 v4[2]; -#endif -#if defined( __CL_DOUBLE8__ ) - __cl_double8 v8; -#endif -}cl_double8; - -typedef union -{ - cl_double CL_ALIGNED(128) s[16]; -#if __CL_HAS_ANON_STRUCT__ - __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; - __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; - __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; }; -#endif -#if defined( __CL_DOUBLE2__) - __cl_double2 v2[8]; -#endif -#if defined( __CL_DOUBLE4__) - __cl_double4 v4[4]; -#endif -#if defined( __CL_DOUBLE8__ ) - __cl_double8 v8[2]; -#endif -#if defined( __CL_DOUBLE16__ ) - __cl_double16 v16; -#endif -}cl_double16; - -/* Macro to facilitate debugging - * Usage: - * Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source. - * The first line ends with: CL_PROGRAM_STRING_DEBUG_INFO \" - * Each line thereafter of OpenCL C source must end with: \n\ - * The last line ends in "; - * - * Example: - * - * const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\ - * kernel void foo( int a, float * b ) \n\ - * { \n\ - * // my comment \n\ - * *b[ get_global_id(0)] = a; \n\ - * } \n\ - * "; - * - * This should correctly set up the line, (column) and file information for your source - * string so you can do source level debugging. - */ -#define __CL_STRINGIFY( _x ) # _x -#define _CL_STRINGIFY( _x ) __CL_STRINGIFY( _x ) -#define CL_PROGRAM_STRING_DEBUG_INFO "#line " _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n" - -#ifdef __cplusplus -} -#endif - -#undef __CL_HAS_ANON_STRUCT__ -#undef __CL_ANON_STRUCT__ -#if defined( _WIN32) && (_MSC_VER >= 1500) -#pragma warning( pop ) -#endif - -#endif /* __CL_PLATFORM_H */ diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h deleted file mode 100644 index 9855cd75e7..0000000000 --- a/third_party/opencl/include/CL/opencl.h +++ /dev/null @@ -1,59 +0,0 @@ -/******************************************************************************* - * Copyright (c) 2008-2015 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining a - * copy of this software and/or associated documentation files (the - * "Materials"), to deal in the Materials without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Materials, and to - * permit persons to whom the Materials are furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Materials. - * - * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS - * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS - * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT - * https://www.khronos.org/registry/ - * - * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. - ******************************************************************************/ - -/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ - -#ifndef __OPENCL_H -#define __OPENCL_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef __APPLE__ - -#include -#include -#include -#include - -#else - -#include -#include -#include -#include - -#endif - -#ifdef __cplusplus -} -#endif - -#endif /* __OPENCL_H */ - diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d4cfc67280..b79d046fca 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -57,11 +57,9 @@ base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == "Darwin": - base_frameworks.append('OpenCL') base_frameworks.append('QtCharts') base_frameworks.append('QtSerialBus') else: - base_libs.append('OpenCL') base_libs.append('Qt5Charts') base_libs.append('Qt5SerialBus') diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 5c2131d4bf..f428e9972a 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -58,9 +58,6 @@ function install_ubuntu_common_requirements() { libzmq3-dev \ libzstd-dev \ libsqlite3-dev \ - opencl-headers \ - ocl-icd-libopencl1 \ - ocl-icd-opencl-dev \ portaudio19-dev \ qttools5-dev-tools \ libqt5svg5-dev \ diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 136c4119f6..698ab9885d 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -6,11 +6,6 @@ replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations'] base_frameworks = [] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] -if arch == "Darwin": - base_frameworks.append('OpenCL') -else: - base_libs.append('OpenCL') - replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"] if arch != "Darwin": diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 67ad2cc8cb..6abbc47935 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -10,10 +10,6 @@ What's needed: ## Setup openpilot - Follow [this readme](../README.md) to install and build the requirements -- Install OpenCL Driver (Ubuntu) -``` -sudo apt install pocl-opencl-icd -``` ## Connect the hardware - Connect the camera first From 46d65095af09d372735676539c9cabcc37453ccc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 7 Feb 2026 23:04:01 -0800 Subject: [PATCH 37/65] CI: garbage collect tmp jenkins branches (#37125) --- .github/workflows/jenkins-pr-trigger.yaml | 39 ++++++++++++++++++++++- 1 file changed, 38 insertions(+), 1 deletion(-) diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml index f8a53c5ae0..fdd26253fa 100644 --- a/.github/workflows/jenkins-pr-trigger.yaml +++ b/.github/workflows/jenkins-pr-trigger.yaml @@ -5,7 +5,44 @@ on: types: [created, edited] jobs: - # TODO: gc old branches in a separate job in this workflow + cleanup-branches: + runs-on: ubuntu-latest + permissions: + contents: write + steps: + - name: Delete stale Jenkins branches + uses: actions/github-script@v8 + with: + script: | + const cutoff = Date.now() - 24 * 60 * 60 * 1000; + const prefixes = ['tmp-jenkins', '__jenkins']; + + for await (const response of github.paginate.iterator(github.rest.repos.listBranches, { + owner: context.repo.owner, + repo: context.repo.repo, + per_page: 100, + })) { + for (const branch of response.data) { + if (!prefixes.some(p => branch.name.startsWith(p))) continue; + + const { data: commit } = await github.rest.repos.getCommit({ + owner: context.repo.owner, + repo: context.repo.repo, + ref: branch.commit.sha, + }); + + const commitDate = new Date(commit.commit.committer.date).getTime(); + if (commitDate < cutoff) { + console.log(`Deleting branch: ${branch.name} (last commit: ${commit.commit.committer.date})`); + await github.rest.git.deleteRef({ + owner: context.repo.owner, + repo: context.repo.repo, + ref: `heads/${branch.name}`, + }); + } + } + } + scan-comments: runs-on: ubuntu-latest if: ${{ github.event.issue.pull_request }} From ac087d085ec599a3ed8a8d487ccec2b8fc56c75e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 8 Feb 2026 09:59:33 -0800 Subject: [PATCH 38/65] Build vendored artifacts in CI (#37127) * Build vendored artifacts in CI * parallel * deterministic * fix up * fix gitignores * lil more * lil more consistency --- .github/workflows/vendor_third_party.yaml | 51 ++++++++++++++++++ third_party/acados/.gitignore | 6 ++- .../acados/acados_template/gnsf/__init__.py | 1 + third_party/acados/build.sh | 3 ++ third_party/acados/x86_64/lib/libacados.so | 4 +- third_party/acados/x86_64/lib/libblasfeo.so | 4 +- third_party/acados/x86_64/lib/libhpipm.so | 4 +- .../acados/x86_64/lib/libqpOASES_e.so.3.1 | 4 +- third_party/acados/x86_64/t_renderer | 4 +- third_party/build.sh | 53 +++++++++++++++++++ third_party/libyuv/.gitignore | 3 +- third_party/libyuv/build.sh | 3 ++ third_party/libyuv/larch64/lib/libyuv.a | 2 +- third_party/libyuv/x86_64/include | 1 - third_party/libyuv/x86_64/lib/libyuv.a | 4 +- third_party/raylib/.gitignore | 1 + third_party/raylib/Darwin/libraylib.a | 4 +- third_party/raylib/build.sh | 3 ++ third_party/raylib/larch64/libraylib.a | 2 +- third_party/raylib/x86_64/libraylib.a | 4 +- 20 files changed, 140 insertions(+), 21 deletions(-) create mode 100644 .github/workflows/vendor_third_party.yaml create mode 100644 third_party/acados/acados_template/gnsf/__init__.py create mode 100755 third_party/build.sh delete mode 120000 third_party/libyuv/x86_64/include diff --git a/.github/workflows/vendor_third_party.yaml b/.github/workflows/vendor_third_party.yaml new file mode 100644 index 0000000000..df50cfad23 --- /dev/null +++ b/.github/workflows/vendor_third_party.yaml @@ -0,0 +1,51 @@ +name: vendor third_party + +on: + workflow_dispatch: + +jobs: + build: + if: github.ref != 'refs/heads/master' + strategy: + matrix: + os: [ubuntu-24.04, macos-latest] + runs-on: ${{ matrix.os }} + steps: + - uses: actions/checkout@v6 + with: + submodules: true + - name: Build + run: third_party/build.sh + - name: Package artifacts + run: | + git add -A third_party/ + git diff --cached --name-only -- third_party/ | tar -cf /tmp/third_party_build.tar -T - + - uses: actions/upload-artifact@v4 + with: + name: third-party-${{ runner.os }} + path: /tmp/third_party_build.tar + + commit: + needs: build + runs-on: ubuntu-24.04 + permissions: + contents: write + steps: + - uses: actions/checkout@v6 + - uses: actions/download-artifact@v4 + with: + path: /tmp/artifacts + - name: Commit vendored libraries + run: | + for f in /tmp/artifacts/*/third_party_build.tar; do + tar xf "$f" + done + git add third_party/ + if git diff --cached --quiet; then + echo "No changes to commit" + exit 0 + fi + git config user.name "github-actions[bot]" + git config user.email "github-actions[bot]@users.noreply.github.com" + git commit -m "third_party: rebuild vendor libraries" + git push diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore index 68858c62e4..0ae664dff6 100644 --- a/third_party/acados/.gitignore +++ b/third_party/acados/.gitignore @@ -1,5 +1,9 @@ acados_repo/ -lib +/lib !x86_64/ !larch64/ !aarch64/ +!Darwin/ +!*.so +!*.so.* +!*.dylib diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py new file mode 100644 index 0000000000..8b13789179 --- /dev/null +++ b/third_party/acados/acados_template/gnsf/__init__.py @@ -0,0 +1 @@ + diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh index 2b803ef6b2..2c4d839ae7 100755 --- a/third_party/acados/build.sh +++ b/third_party/acados/build.sh @@ -1,6 +1,9 @@ #!/usr/bin/env bash set -e +export SOURCE_DATE_EPOCH=0 +export ZERO_AR_DATE=1 + DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" ARCHNAME="x86_64" diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so index 4e80f7c76b..50d647a862 100644 --- a/third_party/acados/x86_64/lib/libacados.so +++ b/third_party/acados/x86_64/lib/libacados.so @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:821ce18f417d211c4845b60482d465b809f90dc7d04f023d652d8221e87679b1 -size 553544 +oid sha256:05a1ba3cf37fa929cdd56f892608b2f89c35a05ef1b07fedb86b2f0d76607263 +size 540488 diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so index 26d5a3dbe9..a98f45abd2 100644 --- a/third_party/acados/x86_64/lib/libblasfeo.so +++ b/third_party/acados/x86_64/lib/libblasfeo.so @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3feea7927d004064bbc5a13c3287467669ce801cb0a3c616cf9e089816da5a0b -size 2155088 +oid sha256:c0bf22898d9c59b672d3d0961f5f4c804b9957478125d99eb297de3091bedd15 +size 2416112 diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so index 40e2e4e7d4..f40cb487cd 100644 --- a/third_party/acados/x86_64/lib/libhpipm.so +++ b/third_party/acados/x86_64/lib/libhpipm.so @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a042716f515913786581dff39799eb71fc66caddfa18b1c9f0d54f00c1568fd2 -size 1572648 +oid sha256:5b6875fb47940764d4ebb916c2373cb0e04929229feb654b290676c28d48fa9d +size 1531024 diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 index cf5e550faa..81afd059f7 100644 --- a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 +++ b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a6abea4815e3f03cff06fe8a9602e97f9acf102f18f803571460a94595b93be4 -size 262824 +oid sha256:04be908c3f707e5c968022b9cdd79ab75ae7af46e7fa019ceee98f854ddd3f64 +size 262464 diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer index e995a209b7..d41f6c3725 100755 --- a/third_party/acados/x86_64/t_renderer +++ b/third_party/acados/x86_64/t_renderer @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7a360d4b53826b91ada3358156d44a14d497bdd8ace88707fd4b386ed6d194c7 -size 17503920 +oid sha256:a53ae46650c4df5b0ddb87a658f59a0422e41743e8bc2d822da0aefd1d280791 +size 5088536 diff --git a/third_party/build.sh b/third_party/build.sh new file mode 100755 index 0000000000..d3a9c6579c --- /dev/null +++ b/third_party/build.sh @@ -0,0 +1,53 @@ +#!/usr/bin/env bash +set -e + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" + +# Reproducible builds: pin timestamps to epoch +export SOURCE_DATE_EPOCH=0 +export ZERO_AR_DATE=1 + +pids=() +names=() +logs=() + +for script in "$DIR"/*/build.sh; do + [ -f "$script" ] || continue + name=$(basename "$(dirname "$script")") + log=$(mktemp) + names+=("$name") + logs+=("$log") + (cd "$(dirname "$script")" && bash "$(basename "$script")") >"$log" 2>&1 & + pids+=($!) +done + +failed=0 +for i in "${!pids[@]}"; do + echo "--- ${names[$i]} ---" + if wait "${pids[$i]}"; then + echo "OK" + else + echo "FAILED (exit $?)" + failed=1 + fi + cat "${logs[$i]}" + rm -f "${logs[$i]}" + echo +done + +[ $failed -ne 0 ] && exit $failed + +# Repack ar archives with deterministic headers (zero timestamps/uid/gid) +# Skip foreign-platform archives that ar can't read (e.g. Mach-O on Linux) +while IFS= read -r -d '' lib; do + tmpdir=$(mktemp -d) + lib=$(realpath "$lib") + if (cd "$tmpdir" && ar x "$lib" 2>/dev/null); then + (cd "$tmpdir" && ar Drcs repacked.a * && mv repacked.a "$lib") + fi + rm -rf "$tmpdir" +done < <(find "$DIR" -name '*.a' \ + \( -path '*/x86_64/*' -o -path '*/Darwin/*' -o -path '*/larch64/*' -o -path '*/aarch64/*' \) \ + -print0) + +echo -e "\033[32mAll third_party builds succeeded.\033[0m" diff --git a/third_party/libyuv/.gitignore b/third_party/libyuv/.gitignore index 450712e47d..1e943ae6c6 100644 --- a/third_party/libyuv/.gitignore +++ b/third_party/libyuv/.gitignore @@ -1 +1,2 @@ -libyuv/ +/libyuv/ +!*.a diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh index b960f60ef5..35a7d947a2 100755 --- a/third_party/libyuv/build.sh +++ b/third_party/libyuv/build.sh @@ -1,6 +1,9 @@ #!/usr/bin/env bash set -e +export SOURCE_DATE_EPOCH=0 +export ZERO_AR_DATE=1 + DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" ARCHNAME=$(uname -m) diff --git a/third_party/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a index 1c91250231..9c4a32bcdb 100644 --- a/third_party/libyuv/larch64/lib/libyuv.a +++ b/third_party/libyuv/larch64/lib/libyuv.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:320bef5a75a62dd2731a496040921d5000f1ed237ae70fd7aeb6c010a1534363 +oid sha256:adafce26582e425164df7af36253ce58e3ed1dba9965650745c93bd96e42e976 size 462482 diff --git a/third_party/libyuv/x86_64/include b/third_party/libyuv/x86_64/include deleted file mode 120000 index f5030fe889..0000000000 --- a/third_party/libyuv/x86_64/include +++ /dev/null @@ -1 +0,0 @@ -../include \ No newline at end of file diff --git a/third_party/libyuv/x86_64/lib/libyuv.a b/third_party/libyuv/x86_64/lib/libyuv.a index 8915f167dc..391b1c8769 100644 --- a/third_party/libyuv/x86_64/lib/libyuv.a +++ b/third_party/libyuv/x86_64/lib/libyuv.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:e21a3bd8df01cf4ce5461e7bf6654239196036c3f829255145265c7bf31a791d -size 511974 +oid sha256:00f9759c67c6fa21657fabde9e096478ea5809716989599f673f638f039431e5 +size 504790 diff --git a/third_party/raylib/.gitignore b/third_party/raylib/.gitignore index c4afad9c38..6b1d3ad748 100644 --- a/third_party/raylib/.gitignore +++ b/third_party/raylib/.gitignore @@ -1,3 +1,4 @@ /raylib_repo/ /raylib_python_repo/ /wheel/ +!*.a diff --git a/third_party/raylib/Darwin/libraylib.a b/third_party/raylib/Darwin/libraylib.a index 837ad8818e..dd2e9b33f1 100644 --- a/third_party/raylib/Darwin/libraylib.a +++ b/third_party/raylib/Darwin/libraylib.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:7ffe1fc6497f0c111fc507988e94fd29ce4db53a4876dc82ab9267895ad82584 -size 6515352 +oid sha256:fd045c1d4bca5c9b2ad044ea730826ff6cedeef0b64451b123717b136f1cd702 +size 6392532 diff --git a/third_party/raylib/build.sh b/third_party/raylib/build.sh index 7f2ce5951f..d20f9d33af 100755 --- a/third_party/raylib/build.sh +++ b/third_party/raylib/build.sh @@ -1,6 +1,9 @@ #!/usr/bin/env bash set -e +export SOURCE_DATE_EPOCH=0 +export ZERO_AR_DATE=1 + SUDO="" # Use sudo if not root diff --git a/third_party/raylib/larch64/libraylib.a b/third_party/raylib/larch64/libraylib.a index 4e810c8b7b..fa538e5214 100644 --- a/third_party/raylib/larch64/libraylib.a +++ b/third_party/raylib/larch64/libraylib.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:91e9a07513e84f7b553da01b34b24e12fe7130131ef73ebdb3dac3b838db815b +oid sha256:f760af8b4693cf60e3760341e5275890d78d933da2354c4bad0572ec575b970a size 2001860 diff --git a/third_party/raylib/x86_64/libraylib.a b/third_party/raylib/x86_64/libraylib.a index cf69482563..ea124c1bcf 100644 --- a/third_party/raylib/x86_64/libraylib.a +++ b/third_party/raylib/x86_64/libraylib.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f0b8f59758fe1291be82a8bda7a7ca05629c7addb0683936dd404ed08e19e143 -size 2769684 +oid sha256:3c928e849b51b04d8e3603cd649184299efed0e9e0fb02201612b967b31efd73 +size 2771092 From 9aca13cf2de5ef8b8db7f536d79bef7ee4909fb1 Mon Sep 17 00:00:00 2001 From: Andi Radulescu Date: Mon, 9 Feb 2026 19:36:04 +0200 Subject: [PATCH 39/65] remove get_mcu_type from pandad.py (#37132) --- selfdrive/pandad/pandad.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py index d75af283f2..d5c58ddd6d 100755 --- a/selfdrive/pandad/pandad.py +++ b/selfdrive/pandad/pandad.py @@ -6,16 +6,16 @@ import time import signal import subprocess -from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH +from panda import Panda, PandaDFU, PandaProtocolMismatch, McuType, FW_PATH from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params from openpilot.system.hardware import HARDWARE from openpilot.common.swaglog import cloudlog -def get_expected_signature(panda: Panda) -> bytes: +def get_expected_signature() -> bytes: try: - fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn) + fn = os.path.join(FW_PATH, McuType.H7.config.app_fn) return Panda.get_signature_from_firmware(fn) except Exception: cloudlog.exception("Error computing expected signature") @@ -29,7 +29,7 @@ def flash_panda(panda_serial: str) -> Panda: HARDWARE.recover_internal_panda() raise - fw_signature = get_expected_signature(panda) + fw_signature = get_expected_signature() internal_panda = panda.is_internal() panda_version = "bootstub" if panda.bootstub else panda.get_version() From a941e8f78f36f15d54645d70ab5289dffc509fbb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 9 Feb 2026 15:29:50 -0800 Subject: [PATCH 40/65] Chunk big model files (#37134) * file chunking * try this * more cleanup * cleaner --- .gitignore | 2 +- common/file_chunker.py | 27 +++++++++++++++++++++++++++ selfdrive/modeld/SConscript | 12 ++++++++---- selfdrive/modeld/dmonitoringmodeld.py | 7 +++---- selfdrive/modeld/modeld.py | 11 ++++------- 5 files changed, 43 insertions(+), 16 deletions(-) create mode 100644 common/file_chunker.py diff --git a/.gitignore b/.gitignore index 1fef0a1255..062801d787 100644 --- a/.gitignore +++ b/.gitignore @@ -64,7 +64,7 @@ flycheck_* cppcheck_report.txt comma*.sh -selfdrive/modeld/models/*.pkl +selfdrive/modeld/models/*.pkl* # openpilot log files *.bz2 diff --git a/common/file_chunker.py b/common/file_chunker.py new file mode 100644 index 0000000000..2a78963d1e --- /dev/null +++ b/common/file_chunker.py @@ -0,0 +1,27 @@ +import glob +import os +import sys +from pathlib import Path + +CHUNK_SIZE = 49 * 1024 * 1024 # 49MB, under GitHub's 50MB limit + + +def chunk_file(path): + with open(path, 'rb') as f: + data = f.read() + for i in range(0, len(data), CHUNK_SIZE): + with open(f"{path}.chunk{i // CHUNK_SIZE:02d}", 'wb') as f: + f.write(data[i:i + CHUNK_SIZE]) + os.remove(path) + + +def read_file_chunked(path): + files = sorted(glob.glob(f"{path}.chunk*")) or ([path] if os.path.isfile(path) else []) + if not files: + raise FileNotFoundError(path) + return b''.join(Path(f).read_bytes() for f in files) + + +if __name__ == "__main__": + for path in sys.argv[1:]: + chunk_file(path) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 84e94df4a5..a48c795709 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -8,6 +8,8 @@ tinygrad_root = env.Dir("#").abspath tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root) if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))] +chunk_cmd = f'python3 {Dir("#common").abspath}/file_chunker.py' + # Get model metadata for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: fn = File(f"models/{model_name}").abspath @@ -24,21 +26,23 @@ image_flag = { 'larch64': 'IMAGE=2', }.get(arch, 'IMAGE=0') script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)] -cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py ' +compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py ' from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye warp_targets = [] for cam in [_ar_ox_fisheye, _os_fisheye]: w, h = cam.width, cam.height warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath] -lenv.Command(warp_targets, tinygrad_files + script_files, cmd) +lenv.Command([t + ".chunk00" for t in warp_targets], tinygrad_files + script_files, + f'{compile_warp_cmd} && {chunk_cmd} {" ".join(warp_targets)}') def tg_compile(flags, model_name): pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' fn = File(f"models/{model_name}").abspath + pkl = fn + "_tinygrad.pkl" return lenv.Command( - fn + "_tinygrad.pkl", + pkl + ".chunk00", [fn + ".onnx"] + tinygrad_files, - f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' + f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl} && {chunk_cmd} {pkl}' ) # Compile small models diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 7d4df713c7..b5cf2f71e9 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -16,6 +16,7 @@ from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import dmonitoringmodel_intrinsics from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye from openpilot.system.camerad.cameras.nv12_info import get_nv12_info +from openpilot.common.file_chunker import read_file_chunked from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld" @@ -43,8 +44,7 @@ class ModelState: self.frame_buf_params = None self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.image_warp = None - with open(MODEL_PKL_PATH, "rb") as f: - self.model_run = pickle.load(f) + self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH))) def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]: self.numpy_inputs['calib'][0,:] = calib @@ -54,8 +54,7 @@ class ModelState: if self.image_warp is None: self.frame_buf_params = get_nv12_info(buf.width, buf.height) warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl' - with open(warp_path, "rb") as f: - self.image_warp = pickle.load(f) + self.image_warp = pickle.loads(read_file_chunked(str(warp_path))) self.warp_inputs['frame'] = Tensor.from_blob(buf.data.ctypes.data, (self.frame_buf_params[3],), dtype='uint8').realize() self.warp_inputs_np['transform'][:] = transform[:] diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 7fae365109..f76d5b0810 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -27,6 +27,7 @@ from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState +from openpilot.common.file_chunker import read_file_chunked from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -177,11 +178,8 @@ class ModelState: self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {} self.update_imgs = None - with open(VISION_PKL_PATH, "rb") as f: - self.vision_run = pickle.load(f) - - with open(POLICY_PKL_PATH, "rb") as f: - self.policy_run = pickle.load(f) + self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH))) + self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH))) def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]: parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()} @@ -198,8 +196,7 @@ class ModelState: w, h = bufs[key].width, bufs[key].height self.frame_buf_params[key] = get_nv12_info(w, h) warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' - with open(warp_path, "rb") as f: - self.update_imgs = pickle.load(f) + self.update_imgs = pickle.loads(read_file_chunked(str(warp_path))) for key in bufs.keys(): From a1202eaf2af9c240bb7e115b17607df86f5fc774 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 9 Feb 2026 17:16:36 -0800 Subject: [PATCH 41/65] ui: delay nav bar animation (#37137) * from da bounce * try this * you can get it to clean up wow --- system/ui/widgets/__init__.py | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py index 5d474e8aed..b3b1276a58 100644 --- a/system/ui/widgets/__init__.py +++ b/system/ui/widgets/__init__.py @@ -242,6 +242,7 @@ class NavWidget(Widget, abc.ABC): self._pos_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps, bounce=1) self._playing_dismiss_animation = False self._trigger_animate_in = False + self._nav_bar_show_time = 0.0 self._back_enabled: bool | Callable[[], bool] = True self._nav_bar = NavBar() @@ -330,6 +331,7 @@ class NavWidget(Widget, abc.ABC): if self._trigger_animate_in: self._pos_filter.x = self._rect.height self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT + self._nav_bar_show_time = rl.get_time() self._trigger_animate_in = False new_y = 0.0 @@ -366,8 +368,14 @@ class NavWidget(Widget, abc.ABC): if self.back_enabled: bar_x = self._rect.x + (self._rect.width - self._nav_bar.rect.width) / 2 + nav_bar_delayed = rl.get_time() - self._nav_bar_show_time < 0.4 + # User dragging or dismissing, nav bar follows NavWidget if self._back_button_start_pos is not None or self._playing_dismiss_animation: self._nav_bar_y_filter.x = NAV_BAR_MARGIN + self._pos_filter.x + # Waiting to show + elif nav_bar_delayed: + self._nav_bar_y_filter.x = -NAV_BAR_MARGIN - NAV_BAR_HEIGHT + # Animate back to top else: self._nav_bar_y_filter.update(NAV_BAR_MARGIN) From 73f720220bf326d52e9ae644e4cabf634abb06f4 Mon Sep 17 00:00:00 2001 From: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com> Date: Mon, 9 Feb 2026 20:24:25 -0800 Subject: [PATCH 42/65] modeld: simplify model run processing (#37138) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Hi! The point of this pr is to make the model run easier to read. On the latest tinygrad numpy().flatten() empirically does the same thing as the internal contiguous().realize().uop.base.buffer.numpy(). numpy() is also documented (docstrings), which can assist new contributors in learning what each potential execution does. Torq_boi or yassine, I know you want proof in the code base, so here it is. As of tinygrad commit 2f55005: in tinygrad_repo/tinygrad/tensor.py Lines 316-318 (def _buffer): ensure the tenso is contiguous() and realized() before accessing the raw buffer. Line 378 (def numpy): Wraps the buffer access and adds a reshape to match the tensor shape. self._buffer() is what executes contiguous().realize() and returns the buffer object. Calling numpy() on that buffer object returns a 1D array (defined in tinygrad/device.py:193 via np.frombuffer). The reshape(self.shape) at the end of Tensor.numpy() then adds dimensions to that 1D array. The added .flatten() removes those dimensions, flattening it back to a 1D array. Effectively the same as what is currently done, but less complex. --- selfdrive/modeld/dmonitoringmodeld.py | 2 +- selfdrive/modeld/modeld.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index b5cf2f71e9..7cac17fa8a 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -60,7 +60,7 @@ class ModelState: self.warp_inputs_np['transform'][:] = transform[:] self.tensor_inputs['input_img'] = self.image_warp(self.warp_inputs['frame'], self.warp_inputs['transform']).realize() - output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy() + output = self.model_run(**self.tensor_inputs).numpy().flatten() t2 = time.perf_counter() return output, t2 - t1 diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index f76d5b0810..01052840ad 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -211,7 +211,7 @@ class ModelState: if prepare_only: return None - self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy() + self.vision_output = self.vision_run(**vision_inputs).numpy().flatten() vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices)) self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire}) @@ -219,7 +219,7 @@ class ModelState: self.numpy_inputs[k][:] = self.full_input_queues.get(k)[k] self.numpy_inputs['traffic_convention'][:] = inputs['traffic_convention'] - self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy() + self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: From 3d11e8ef362155cea1494b1a75bdb369c1c73d6a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 9 Feb 2026 20:58:22 -0800 Subject: [PATCH 43/65] Revert "Chunk big model files (#37134)" (#37139) This reverts commit a941e8f78f36f15d54645d70ab5289dffc509fbb. --- .gitignore | 2 +- common/file_chunker.py | 27 --------------------------- selfdrive/modeld/SConscript | 12 ++++-------- selfdrive/modeld/dmonitoringmodeld.py | 7 ++++--- selfdrive/modeld/modeld.py | 11 +++++++---- 5 files changed, 16 insertions(+), 43 deletions(-) delete mode 100644 common/file_chunker.py diff --git a/.gitignore b/.gitignore index 062801d787..1fef0a1255 100644 --- a/.gitignore +++ b/.gitignore @@ -64,7 +64,7 @@ flycheck_* cppcheck_report.txt comma*.sh -selfdrive/modeld/models/*.pkl* +selfdrive/modeld/models/*.pkl # openpilot log files *.bz2 diff --git a/common/file_chunker.py b/common/file_chunker.py deleted file mode 100644 index 2a78963d1e..0000000000 --- a/common/file_chunker.py +++ /dev/null @@ -1,27 +0,0 @@ -import glob -import os -import sys -from pathlib import Path - -CHUNK_SIZE = 49 * 1024 * 1024 # 49MB, under GitHub's 50MB limit - - -def chunk_file(path): - with open(path, 'rb') as f: - data = f.read() - for i in range(0, len(data), CHUNK_SIZE): - with open(f"{path}.chunk{i // CHUNK_SIZE:02d}", 'wb') as f: - f.write(data[i:i + CHUNK_SIZE]) - os.remove(path) - - -def read_file_chunked(path): - files = sorted(glob.glob(f"{path}.chunk*")) or ([path] if os.path.isfile(path) else []) - if not files: - raise FileNotFoundError(path) - return b''.join(Path(f).read_bytes() for f in files) - - -if __name__ == "__main__": - for path in sys.argv[1:]: - chunk_file(path) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index a48c795709..84e94df4a5 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -8,8 +8,6 @@ tinygrad_root = env.Dir("#").abspath tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root) if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))] -chunk_cmd = f'python3 {Dir("#common").abspath}/file_chunker.py' - # Get model metadata for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: fn = File(f"models/{model_name}").abspath @@ -26,23 +24,21 @@ image_flag = { 'larch64': 'IMAGE=2', }.get(arch, 'IMAGE=0') script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)] -compile_warp_cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py ' +cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py ' from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye warp_targets = [] for cam in [_ar_ox_fisheye, _os_fisheye]: w, h = cam.width, cam.height warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath] -lenv.Command([t + ".chunk00" for t in warp_targets], tinygrad_files + script_files, - f'{compile_warp_cmd} && {chunk_cmd} {" ".join(warp_targets)}') +lenv.Command(warp_targets, tinygrad_files + script_files, cmd) def tg_compile(flags, model_name): pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' fn = File(f"models/{model_name}").abspath - pkl = fn + "_tinygrad.pkl" return lenv.Command( - pkl + ".chunk00", + fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, - f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {pkl} && {chunk_cmd} {pkl}' + f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' ) # Compile small models diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index 7cac17fa8a..bc3adffffa 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -16,7 +16,6 @@ from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import dmonitoringmodel_intrinsics from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye from openpilot.system.camerad.cameras.nv12_info import get_nv12_info -from openpilot.common.file_chunker import read_file_chunked from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld" @@ -44,7 +43,8 @@ class ModelState: self.frame_buf_params = None self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.image_warp = None - self.model_run = pickle.loads(read_file_chunked(str(MODEL_PKL_PATH))) + with open(MODEL_PKL_PATH, "rb") as f: + self.model_run = pickle.load(f) def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]: self.numpy_inputs['calib'][0,:] = calib @@ -54,7 +54,8 @@ class ModelState: if self.image_warp is None: self.frame_buf_params = get_nv12_info(buf.width, buf.height) warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl' - self.image_warp = pickle.loads(read_file_chunked(str(warp_path))) + with open(warp_path, "rb") as f: + self.image_warp = pickle.load(f) self.warp_inputs['frame'] = Tensor.from_blob(buf.data.ctypes.data, (self.frame_buf_params[3],), dtype='uint8').realize() self.warp_inputs_np['transform'][:] = transform[:] diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 01052840ad..6f3c481ea2 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -27,7 +27,6 @@ from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState -from openpilot.common.file_chunker import read_file_chunked from openpilot.selfdrive.modeld.constants import ModelConstants, Plan @@ -178,8 +177,11 @@ class ModelState: self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {} self.update_imgs = None - self.vision_run = pickle.loads(read_file_chunked(str(VISION_PKL_PATH))) - self.policy_run = pickle.loads(read_file_chunked(str(POLICY_PKL_PATH))) + with open(VISION_PKL_PATH, "rb") as f: + self.vision_run = pickle.load(f) + + with open(POLICY_PKL_PATH, "rb") as f: + self.policy_run = pickle.load(f) def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]: parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in output_slices.items()} @@ -196,7 +198,8 @@ class ModelState: w, h = bufs[key].width, bufs[key].height self.frame_buf_params[key] = get_nv12_info(w, h) warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' - self.update_imgs = pickle.loads(read_file_chunked(str(warp_path))) + with open(warp_path, "rb") as f: + self.update_imgs = pickle.load(f) for key in bufs.keys(): From e35a1eca9931c342c1f9c0e6167f969a2748a545 Mon Sep 17 00:00:00 2001 From: Daniel Koepping Date: Mon, 9 Feb 2026 21:37:20 -0800 Subject: [PATCH 44/65] Process replay: move refs to ci-artifacts (#37049) * rm upload * use ci-artifacts * sanitize * rm ref_commit * add ci * handle exept * bootstrap * always * fix * replay * keep ref_commit fork compatibility * remove upload-only * apply comments * safe diffs in master * Revert "safe diffs in master" This reverts commit 369fccac786a67799193e9152488813c6df20414. * continue on master diff * Update .github/workflows/tests.yaml Co-authored-by: Shane Smiskol --------- Co-authored-by: Shane Smiskol --- .github/workflows/tests.yaml | 27 +++++++--- selfdrive/test/process_replay/README.md | 3 +- selfdrive/test/process_replay/ref_commit | 1 - .../test/process_replay/test_processes.py | 54 +++++++------------ 4 files changed, 41 insertions(+), 44 deletions(-) delete mode 100644 selfdrive/test/process_replay/ref_commit diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml index 4ade42b665..fe7c8ef336 100644 --- a/.github/workflows/tests.yaml +++ b/.github/workflows/tests.yaml @@ -20,8 +20,6 @@ concurrency: env: PYTHONWARNINGS: error BASE_IMAGE: openpilot-base - AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base @@ -185,12 +183,13 @@ jobs: uses: actions/cache@v5 with: path: .ci_cache/comma_download_cache - key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_processes.py') }} + key: proc-replay-${{ hashFiles('selfdrive/test/process_replay/test_processes.py') }} - name: Build openpilot run: | ${{ env.RUN }} "scons -j$(nproc)" - name: Run replay timeout-minutes: ${{ contains(runner.name, 'nsc') && (steps.dependency-cache.outputs.cache-hit == 'true') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }} + continue-on-error: ${{ github.ref == 'refs/heads/master' }} run: | ${{ env.RUN }} "selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ chmod -R 777 /tmp/comma_download_cache" @@ -204,10 +203,26 @@ jobs: with: name: process_replay_diff.txt path: selfdrive/test/process_replay/diff.txt - - name: Upload reference logs - if: false # TODO: move this to github instead of azure + - name: Checkout ci-artifacts + if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master' + uses: actions/checkout@v4 + with: + repository: commaai/ci-artifacts + ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} + path: ${{ github.workspace }}/ci-artifacts + - name: Push refs + if: github.repository == 'commaai/openpilot' && github.ref == 'refs/heads/master' + working-directory: ${{ github.workspace }}/ci-artifacts run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" + git checkout --orphan process-replay + git rm -rf . + git config user.name "GitHub Actions Bot" + git config user.email "<>" + cp ${{ github.workspace }}/selfdrive/test/process_replay/fakedata/*.zst . + echo "${{ github.sha }}" > ref_commit + git add . + git commit -m "process-replay refs for ${{ github.repository }}@${{ github.sha }}" + git push origin process-replay --force - name: Run regen if: false timeout-minutes: 4 diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 8e279c71cd..28f3b7cd2a 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -22,7 +22,7 @@ Currently the following processes are tested: ### Usage ``` Usage: test_processes.py [-h] [--whitelist-procs PROCS] [--whitelist-cars CARS] [--blacklist-procs PROCS] - [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs] [--upload-only] + [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs] Regression test to identify changes in a process's output optional arguments: -h, --help show this help message and exit @@ -33,7 +33,6 @@ optional arguments: --ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. driverMonitoringState.events) --ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. onroadEvents) --update-refs Updates reference logs using current commit - --upload-only Skips testing processes and uploads logs from previous test run ``` ## Forks diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit deleted file mode 100644 index 85b79391c3..0000000000 --- a/selfdrive/test/process_replay/ref_commit +++ /dev/null @@ -1 +0,0 @@ -67f3daf309dc6cbb6844fcbaeb83e6596637e551 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 59e1ae054e..9f79c8ddcb 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -9,12 +9,13 @@ from typing import Any from opendbc.car.car_helpers import interface_names from openpilot.common.git import get_commit -from openpilot.tools.lib.openpilotci import get_url, upload_file +from openpilot.tools.lib.openpilotci import get_url from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \ check_most_messages_valid from openpilot.tools.lib.filereader import FileReader from openpilot.tools.lib.logreader import LogReader, save_log +from openpilot.tools.lib.url_file import URLFile source_segments = [ ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.HYUNDAI_SONATA @@ -64,25 +65,17 @@ segments = [ # dashcamOnly makes don't need to be tested until a full port is done excluded_interfaces = ["mock", "body", "psa"] -BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" +BASE_URL = "https://raw.githubusercontent.com/commaai/ci-artifacts/refs/heads/process-replay/" REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"} def run_test_process(data): segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data - res = None - if not args.upload_only: - lr = LogReader.from_bytes(lr_dat) - res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) - # save logs so we can upload when updating refs - save_log(cur_log_fn, log_msgs) - - if args.update_refs or args.upload_only: - print(f'Uploading: {os.path.basename(cur_log_fn)}') - assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}" - upload_file(cur_log_fn, os.path.basename(cur_log_fn)) - os.remove(cur_log_fn) + lr = LogReader.from_bytes(lr_dat) + res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) + # save logs so we can update refs + save_log(cur_log_fn, log_msgs) return (segment, cfg.proc_name, res) @@ -142,8 +135,6 @@ if __name__ == "__main__": help="Msgs to ignore (e.g. carEvents)") parser.add_argument("--update-refs", action="store_true", help="Updates reference logs using current commit") - parser.add_argument("--upload-only", action="store_true", - help="Skips testing processes and uploads logs from previous test run") parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1), help="Max amount of parallel jobs") args = parser.parse_args() @@ -153,18 +144,16 @@ if __name__ == "__main__": tested_cars = {c.upper() for c in tested_cars} full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs)) - upload = args.update_refs or args.upload_only os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True) - if upload: + if args.update_refs: assert full_test, "Need to run full test when updating refs" try: with open(REF_COMMIT_FN) as f: ref_commit = f.read().strip() except FileNotFoundError: - print("Couldn't find reference commit") - sys.exit(1) + ref_commit = URLFile(BASE_URL + "ref_commit", cache=False).read().decode().strip() cur_commit = get_commit() if not cur_commit: @@ -179,12 +168,11 @@ if __name__ == "__main__": log_paths: defaultdict[str, dict[str, dict[str, str]]] = defaultdict(lambda: defaultdict(dict)) with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: - if not args.upload_only: - download_segments = [seg for car, seg in segments if car in tested_cars] - log_data: dict[str, LogReader] = {} - p1 = pool.map(get_log_data, download_segments) - for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)): - log_data[segment] = lr + download_segments = [seg for car, seg in segments if car in tested_cars] + log_data: dict[str, LogReader] = {} + p1 = pool.map(get_log_data, download_segments) + for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)): + log_data[segment] = lr pool_args: Any = [] for car_brand, segment in segments: @@ -199,15 +187,14 @@ if __name__ == "__main__": if cfg.proc_name not in ('card', 'controlsd', 'lagd') and car_brand not in ('HYUNDAI', 'TOYOTA'): continue - cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst") + cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst".replace("|", "_")) if args.update_refs: # reference logs will not exist if routes were just regenerated ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst") else: - ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst") + ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst".replace("|", "_")) ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) - dat = None if args.upload_only else log_data[segment] - pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat)) + pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, log_data[segment])) log_paths[segment][cfg.proc_name]['ref'] = ref_log_path log_paths[segment][cfg.proc_name]['new'] = cur_log_fn @@ -215,19 +202,16 @@ if __name__ == "__main__": results: Any = defaultdict(dict) p2 = pool.map(run_test_process, pool_args) for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): - if not args.upload_only: - results[segment][proc] = result + results[segment][proc] = result diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit) - if not upload: + if not args.update_refs: with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f: f.write(diff_long) print(diff_short) if failed: print("TEST FAILED") - print("\n\nTo push the new reference logs for this commit run:") - print("./test_processes.py --upload-only") else: print("TEST SUCCEEDED") From 053441fbb3b4a6f400fccecfd47f3fddbca04f09 Mon Sep 17 00:00:00 2001 From: Andi Radulescu Date: Tue, 10 Feb 2026 19:19:37 +0200 Subject: [PATCH 45/65] fix first-interaction action inputs for v3 (#37144) v3 renamed inputs from kebab-case to snake_case (repo-token -> repo_token, pr-message -> pr_message). The old names were silently ignored, causing "Input required and not supplied: issue_message" errors. --- .github/workflows/auto_pr_review.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml index 725154d21f..cf12360e6e 100644 --- a/.github/workflows/auto_pr_review.yaml +++ b/.github/workflows/auto_pr_review.yaml @@ -39,8 +39,8 @@ jobs: uses: actions/first-interaction@v3 if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot' with: - repo-token: ${{ secrets.GITHUB_TOKEN }} - pr-message: | + repo_token: ${{ secrets.GITHUB_TOKEN }} + pr_message: | Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following: * Convert your PR to a draft unless it's ready to review From 9476a8a7f609e251263908d5f9a2f31b71c15697 Mon Sep 17 00:00:00 2001 From: Andi Radulescu Date: Tue, 10 Feb 2026 19:19:56 +0200 Subject: [PATCH 46/65] bump create-pull-request action to v8.1.0 (#37143) The pinned SHA was v6.0.4, which is incompatible with actions/checkout@v6 and causes a "Duplicate header: Authorization" 400 error during git remote operations. See peter-evans/create-pull-request#4272. --- .github/workflows/repo-maintenance.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index 810b602d71..f88db3eaf8 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -21,7 +21,7 @@ jobs: run: | ${{ env.RUN }} "python3 selfdrive/ui/update_translations.py --vanish" - name: Create Pull Request - uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83 + uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0 with: author: Vehicle Researcher commit-message: "Update translations" @@ -59,7 +59,7 @@ jobs: python selfdrive/car/docs.py git add docs/CARS.md - name: Create Pull Request - uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83 + uses: peter-evans/create-pull-request@c0f553fe549906ede9cf27b5156039d195d2ece0 with: author: Vehicle Researcher token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} From 43edc51cb6591b63fd1994c91a2a7ec977e36bfa Mon Sep 17 00:00:00 2001 From: Andi Radulescu Date: Tue, 10 Feb 2026 19:20:52 +0200 Subject: [PATCH 47/65] bump numpy to 2.4.2 (#37145) --- uv.lock | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/uv.lock b/uv.lock index 81e2d91360..83805c646f 100644 --- a/uv.lock +++ b/uv.lock @@ -958,21 +958,21 @@ wheels = [ [[package]] name = "numpy" -version = "2.4.1" +version = "2.4.2" source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/24/62/ae72ff66c0f1fd959925b4c11f8c2dea61f47f6acaea75a08512cdfe3fed/numpy-2.4.1.tar.gz", hash = "sha256:a1ceafc5042451a858231588a104093474c6a5c57dcc724841f5c888d237d690", size = 20721320, upload-time = "2026-01-10T06:44:59.619Z" } +sdist = { url = "https://files.pythonhosted.org/packages/57/fd/0005efbd0af48e55eb3c7208af93f2862d4b1a56cd78e84309a2d959208d/numpy-2.4.2.tar.gz", hash = "sha256:659a6107e31a83c4e33f763942275fd278b21d095094044eb35569e86a21ddae", size = 20723651, upload-time = "2026-01-31T23:13:10.135Z" } wheels = [ - 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name: uv pip tree + id: pip_tree + run: | + echo 'PIP_TREE<> $GITHUB_OUTPUT + uv pip tree >> $GITHUB_OUTPUT + echo 'EOF' >> $GITHUB_OUTPUT - name: bump submodules run: | git config --global --add safe.directory '*' @@ -68,5 +74,10 @@ jobs: branch: auto-package-updates base: master delete-branch: true - body: 'Automatic PR from repo-maintenance -> package_updates' + body: | + Automatic PR from repo-maintenance -> package_updates + + ``` + ${{ steps.pip_tree.outputs.PIP_TREE }} + ``` labels: bot From e946e9de0b5a7c1be296d88336fad37155f683f8 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 10 Feb 2026 13:56:07 -0800 Subject: [PATCH 49/65] Revert "DM: Ford GT model" (#37148) Revert "DM: Ford GT model (#37013)" This reverts commit 1459d3519da2fdb2d981baf7811c2eaa2127eb80. --- cereal/log.capnp | 4 +-- .../modeld/models/dmonitoring_model.onnx | 4 +-- selfdrive/monitoring/helpers.py | 25 ++++++++++++++++--- 3 files changed, 25 insertions(+), 8 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 119cf29999..afb710e808 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -2232,9 +2232,9 @@ struct DriverMonitoringState @0xb83cda094a1da284 { isActiveMode @16 :Bool; isRHD @4 :Bool; uncertainCount @19 :UInt32; + phoneProbOffset @20 :Float32; + phoneProbValidCount @21 :UInt32; - phoneProbOffsetDEPRECATED @20 :Float32; - phoneProbValidCountDEPRECATED @21 :UInt32; isPreviewDEPRECATED @15 :Bool; rhdCheckedDEPRECATED @5 :Bool; eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED); diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 4052a15481..9b1c4a1834 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:35e4a5d4c4d481f915e42358af4665b2c92b8f5c1efd1c0731f21b876ad1d856 -size 6954249 +oid sha256:3446bf8b22e50e47669a25bf32460ae8baf8547037f346753e19ecbfcf6d4e59 +size 6954368 diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index 0b54504b64..3377ce6c68 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -35,7 +35,14 @@ class DRIVER_MONITOR_SETTINGS: self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.9 self._BLINK_THRESHOLD = 0.865 - self._PHONE_THRESH = 0.5 + + self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4 + self._PHONE_THRESH2 = 15.0 + self._PHONE_MAX_OFFSET = 0.06 + self._PHONE_MIN_OFFSET = 0.025 + self._PHONE_DATA_AVG = 0.05 + self._PHONE_DATA_VAR = 3*0.005 + self._PHONE_MAX_COUNT = int(360 / self._DT_DMON) self._POSE_PITCH_THRESHOLD = 0.3133 self._POSE_PITCH_THRESHOLD_SLACK = 0.3237 @@ -145,10 +152,11 @@ class DriverMonitoring: # init driver status wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2) + phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2) self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT) + self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT) self.pose = DriverPose(settings=self.settings) self.blink = DriverBlink() - self.phone_prob = 0. self.always_on = always_on self.distracted_types = [] @@ -249,7 +257,12 @@ class DriverMonitoring: if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD: distracted_types.append(DistractedType.DISTRACTED_BLINK) - if self.phone_prob > self.settings._PHONE_THRESH: + if self.phone.prob_calibrated: + using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \ + * self.settings._PHONE_THRESH2 + else: + using_phone = self.phone.prob > self.settings._PHONE_THRESH + if using_phone: distracted_types.append(DistractedType.DISTRACTED_PHONE) return distracted_types @@ -288,7 +301,7 @@ class DriverMonitoring: * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \ * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.phone_prob = driver_data.phoneProb + self.phone.prob = driver_data.phoneProb self.distracted_types = self._get_distracted_types() self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types @@ -302,9 +315,11 @@ class DriverMonitoring: if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted): self.pose.pitch_offseter.push_and_update(self.pose.pitch) self.pose.yaw_offseter.push_and_update(self.pose.yaw) + self.phone.prob_offseter.push_and_update(self.phone.prob) self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \ self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT + self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT if self.face_detected and not self.driver_distracted: if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD: @@ -410,6 +425,8 @@ class DriverMonitoring: "posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n, "poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(), "poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n, + "phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(), + "phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n, "stepChange": self.step_change, "awarenessActive": self.awareness_active, "awarenessPassive": self.awareness_passive, From ba67e468abb681ab73f2a7e4fd1cdf80bd6d2fdf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Feb 2026 14:53:25 -0800 Subject: [PATCH 50/65] remove dead multilang for mici (#37150) --- selfdrive/ui/mici/layouts/settings/device.py | 23 +------------------- 1 file changed, 1 insertion(+), 22 deletions(-) diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py index f8dba659d2..f4b6217ac5 100644 --- a/selfdrive/ui/mici/layouts/settings/device.py +++ b/selfdrive/ui/mici/layouts/settings/device.py @@ -1,6 +1,5 @@ import os import threading -import json import pyray as rl from enum import IntEnum from collections.abc import Callable @@ -11,7 +10,7 @@ from openpilot.common.time_helpers import system_time_valid from openpilot.system.ui.widgets.scroller import Scroller from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigCircleButton -from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigDialog, BigConfirmationDialogV2 +from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigConfirmationDialogV2 from openpilot.selfdrive.ui.mici.widgets.pairing_dialog import PairingDialog from openpilot.selfdrive.ui.mici.onroad.driver_camera_dialog import DriverCameraDialog from openpilot.selfdrive.ui.mici.layouts.onboarding import TrainingGuide @@ -303,22 +302,6 @@ class DeviceLayoutMici(NavWidget): self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True, icon_size=(64, 66)) self._power_off_btn.set_click_callback(lambda: _engaged_confirmation_callback(power_off_callback, "power off")) - self._load_languages() - - def language_callback(): - def selected_language_callback(): - selected_language = dlg.get_selected_option() - ui_state.params.put("LanguageSetting", self._languages[selected_language]) - - current_language_name = ui_state.params.get("LanguageSetting") - current_language = next(name for name, lang in self._languages.items() if lang == current_language_name) - - dlg = BigMultiOptionDialog(list(self._languages), default=current_language, right_btn_callback=selected_language_callback) - gui_app.set_modal_overlay(dlg) - - # lang_button = BigButton("change language", "", "icons_mici/settings/device/language.png") - # lang_button.set_click_callback(language_callback) - regulatory_btn = BigButton("regulatory info", "", "icons_mici/settings/device/info.png") regulatory_btn.set_click_callback(self._on_regulatory) @@ -371,10 +354,6 @@ class DeviceLayoutMici(NavWidget): self._training_guide = TrainingGuide(completed_callback=completed_callback) gui_app.set_modal_overlay(self._training_guide, callback=lambda result: setattr(self, '_training_guide', None)) - def _load_languages(self): - with open(os.path.join(BASEDIR, "selfdrive/ui/translations/languages.json")) as f: - self._languages = json.load(f) - def show_event(self): super().show_event() self._scroller.show_event() From 4d3aeaba6d03d0e7e28907e77d167366093c6d5b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Feb 2026 15:04:36 -0800 Subject: [PATCH 51/65] ui: remove dead side button (#37151) * rm side button * fix * fix --- .../icons_mici/buttons/button_side_back.png | 3 -- .../buttons/button_side_back_pressed.png | 3 -- .../icons_mici/buttons/button_side_check.png | 3 -- .../buttons/button_side_check_pressed.png | 3 -- .../mici/layouts/settings/network/wifi_ui.py | 2 +- selfdrive/ui/mici/widgets/dialog.py | 35 ++++--------------- selfdrive/ui/mici/widgets/side_button.py | 31 ---------------- 7 files changed, 7 insertions(+), 73 deletions(-) delete mode 100644 selfdrive/assets/icons_mici/buttons/button_side_back.png delete mode 100644 selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png delete mode 100644 selfdrive/assets/icons_mici/buttons/button_side_check.png delete mode 100644 selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png delete mode 100644 selfdrive/ui/mici/widgets/side_button.py diff --git a/selfdrive/assets/icons_mici/buttons/button_side_back.png b/selfdrive/assets/icons_mici/buttons/button_side_back.png deleted file mode 100644 index 3d648d34f1..0000000000 --- a/selfdrive/assets/icons_mici/buttons/button_side_back.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:9df44871e9f5fa910622b0b92205b92a54d137dbdc3827b92e8622d85ff2e08e -size 5189 diff --git a/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png b/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png deleted file mode 100644 index e431cb0c73..0000000000 --- a/selfdrive/assets/icons_mici/buttons/button_side_back_pressed.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:013b368b38b17d9b2ef6aaf0f498f672deed95888084b7287f42bdfba617cbb6 -size 10142 diff --git a/selfdrive/assets/icons_mici/buttons/button_side_check.png b/selfdrive/assets/icons_mici/buttons/button_side_check.png deleted file mode 100644 index 820b236066..0000000000 --- a/selfdrive/assets/icons_mici/buttons/button_side_check.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:8fd563eec78d5ce4a8204c2f596789e1090cb3e26a35b4ffeacee4ab61968538 -size 8303 diff --git a/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png b/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png deleted file mode 100644 index 6c38508af9..0000000000 --- a/selfdrive/assets/icons_mici/buttons/button_side_check_pressed.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:0be8d5eddcd9f87acbf1daccf446be6218522120f64aee1ee0a3c0b31560f076 -size 15761 diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py index 7791f18cf7..db68632c0e 100644 --- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py +++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py @@ -318,7 +318,7 @@ class WifiUIMici(BigMultiOptionDialog): INACTIVITY_TIMEOUT = 1 def __init__(self, wifi_manager: WifiManager, back_callback: Callable): - super().__init__([], None, None, right_btn_callback=None) + super().__init__([], None) # Set up back navigation self.set_back_callback(back_callback) diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py index 49d73f7b0d..b88ac20494 100644 --- a/selfdrive/ui/mici/widgets/dialog.py +++ b/selfdrive/ui/mici/widgets/dialog.py @@ -14,7 +14,6 @@ from openpilot.system.ui.widgets.scroller import Scroller from openpilot.system.ui.widgets.slider import RedBigSlider, BigSlider from openpilot.common.filter_simple import FirstOrderFilter from openpilot.selfdrive.ui.mici.widgets.button import BigButton -from openpilot.selfdrive.ui.mici.widgets.side_button import SideButton DEBUG = False @@ -22,32 +21,17 @@ PADDING = 20 class BigDialogBase(NavWidget, abc.ABC): - def __init__(self, right_btn: str | None = None, right_btn_callback: Callable | None = None): + def __init__(self): super().__init__() self._ret = DialogResult.NO_ACTION self.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height)) self.set_back_callback(lambda: setattr(self, '_ret', DialogResult.CANCEL)) - self._right_btn = None - if right_btn: - def right_btn_callback_wrapper(): - gui_app.set_modal_overlay(None) - if right_btn_callback: - right_btn_callback() - - self._right_btn = SideButton(right_btn) - self._right_btn.set_click_callback(right_btn_callback_wrapper) - # move to right side - self._right_btn._rect.x = self._rect.x + self._rect.width - self._right_btn._rect.width - def _render(self, _) -> DialogResult: """ Allows `gui_app.set_modal_overlay(BigDialog(...))`. The overlay runner keeps calling until result != NO_ACTION. """ - if self._right_btn: - self._right_btn.set_position(self._right_btn._rect.x, self._rect.y) - self._right_btn.render() return self._ret @@ -55,10 +39,8 @@ class BigDialogBase(NavWidget, abc.ABC): class BigDialog(BigDialogBase): def __init__(self, title: str, - description: str, - right_btn: str | None = None, - right_btn_callback: Callable | None = None): - super().__init__(right_btn, right_btn_callback) + description: str): + super().__init__() self._title = title self._description = description @@ -70,8 +52,6 @@ class BigDialog(BigDialogBase): # TODO: coming up with these numbers manually is a pain and not scalable # TODO: no clue what any of these numbers mean. VBox and HBox would remove all of this shite max_width = self._rect.width - PADDING * 2 - if self._right_btn: - max_width -= self._right_btn._rect.width title_wrapped = '\n'.join(wrap_text(gui_app.font(FontWeight.BOLD), self._title, 50, int(max_width))) title_size = measure_text_cached(gui_app.font(FontWeight.BOLD), title_wrapped, 50) @@ -139,7 +119,7 @@ class BigInputDialog(BigDialogBase): default_text: str = "", minimum_length: int = 1, confirm_callback: Callable[[str], None] | None = None): - super().__init__(None, None) + super().__init__() self._hint_label = UnifiedLabel(hint, font_size=35, text_color=rl.Color(255, 255, 255, int(255 * 0.35)), font_weight=FontWeight.MEDIUM) self._keyboard = MiciKeyboard() @@ -310,9 +290,8 @@ class BigDialogOptionButton(Widget): class BigMultiOptionDialog(BigDialogBase): BACK_TOUCH_AREA_PERCENTAGE = 0.1 - def __init__(self, options: list[str], default: str | None, - right_btn: str | None = 'check', right_btn_callback: Callable[[], None] | None = None): - super().__init__(right_btn, right_btn_callback=right_btn_callback) + def __init__(self, options: list[str], default: str | None): + super().__init__() self._options = options if default is not None: assert default in options @@ -325,8 +304,6 @@ class BigMultiOptionDialog(BigDialogBase): self._can_click = True self._scroller = Scroller([], horizontal=False, pad_start=100, pad_end=100, spacing=0, snap_items=True) - if self._right_btn is not None: - self._scroller.set_enabled(lambda: not cast(Widget, self._right_btn).is_pressed) for option in options: self._scroller.add_widget(BigDialogOptionButton(option)) diff --git a/selfdrive/ui/mici/widgets/side_button.py b/selfdrive/ui/mici/widgets/side_button.py deleted file mode 100644 index 4803b6d208..0000000000 --- a/selfdrive/ui/mici/widgets/side_button.py +++ /dev/null @@ -1,31 +0,0 @@ -import pyray as rl -from openpilot.system.ui.widgets import Widget -from openpilot.system.ui.lib.application import gui_app - -# --------------------------------------------------------------------------- -# Constants extracted from the original Qt style -# --------------------------------------------------------------------------- -# TODO: this should be corrected, but Scroller relies on this being incorrect :/ -WIDTH, HEIGHT = 112, 240 - - -class SideButton(Widget): - def __init__(self, btn_type: str): - super().__init__() - self.type = btn_type - self.set_rect(rl.Rectangle(0, 0, WIDTH, HEIGHT)) - - # load pre-rendered button images - if btn_type not in ("check", "back"): - btn_type = "back" - btn_img_path = f"icons_mici/buttons/button_side_{btn_type}.png" - btn_img_pressed_path = f"icons_mici/buttons/button_side_{btn_type}_pressed.png" - self._txt_btn, self._txt_btn_back = gui_app.texture(btn_img_path, 100, 224), gui_app.texture(btn_img_pressed_path, 100, 224) - - def _render(self, _) -> bool: - x = int(self._rect.x + 12) - y = int(self._rect.y + (self._rect.height - self._txt_btn.height) / 2) - rl.draw_texture(self._txt_btn if not self.is_pressed else self._txt_btn_back, - x, y, rl.WHITE) - - return False From 46ae67b6071c3983eb4cb0dc46bb3af832c88e1d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Feb 2026 17:15:59 -0800 Subject: [PATCH 52/65] BigButton: fix alignment and style (#37153) * correct from bottom alignment * temp * fix scale animation w/ btn_y * home settings are always 64 * cleanup * some clean up * make 23 const * rev * more --- selfdrive/ui/mici/layouts/settings/device.py | 3 ++ .../ui/mici/layouts/settings/settings.py | 15 ++++--- selfdrive/ui/mici/widgets/button.py | 44 +++++++++---------- 3 files changed, 35 insertions(+), 27 deletions(-) diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py index f4b6217ac5..60eb7e5b01 100644 --- a/selfdrive/ui/mici/layouts/settings/device.py +++ b/selfdrive/ui/mici/layouts/settings/device.py @@ -120,6 +120,9 @@ class PairBigButton(BigButton): def __init__(self): super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png", icon_size=(33, 60)) + def _get_label_font_size(self): + return 64 + def _update_state(self): if ui_state.prime_state.is_paired(): self.set_text("paired") diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py index 3917899032..a6f59a0389 100644 --- a/selfdrive/ui/mici/layouts/settings/settings.py +++ b/selfdrive/ui/mici/layouts/settings/settings.py @@ -30,22 +30,27 @@ class PanelInfo: instance: Widget +class SettingsBigButton(BigButton): + def _get_label_font_size(self): + return 64 + + class SettingsLayout(NavWidget): def __init__(self): super().__init__() self._params = Params() self._current_panel = None # PanelType.DEVICE - toggles_btn = BigButton("toggles", "", "icons_mici/settings.png") + toggles_btn = SettingsBigButton("toggles", "", "icons_mici/settings.png") toggles_btn.set_click_callback(lambda: self._set_current_panel(PanelType.TOGGLES)) - network_btn = BigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56)) + network_btn = SettingsBigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56)) network_btn.set_click_callback(lambda: self._set_current_panel(PanelType.NETWORK)) - device_btn = BigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60)) + device_btn = SettingsBigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60)) device_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVICE)) - developer_btn = BigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60)) + developer_btn = SettingsBigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60)) developer_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVELOPER)) - firehose_btn = BigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62)) + firehose_btn = SettingsBigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62)) firehose_btn.set_click_callback(lambda: self._set_current_panel(PanelType.FIREHOSE)) self._scroller = Scroller([ diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index a5f7ee686e..56dd3f7a23 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -17,6 +17,7 @@ SCROLLING_SPEED_PX_S = 50 COMPLICATION_SIZE = 36 LABEL_COLOR = rl.Color(255, 255, 255, int(255 * 0.9)) LABEL_HORIZONTAL_PADDING = 40 +LABEL_VERTICAL_PADDING = 23 # visually matches 30 in figma COMPLICATION_GREY = rl.Color(0xAA, 0xAA, 0xAA, 255) PRESSED_SCALE = 1.15 if DO_ZOOM else 1.07 @@ -118,14 +119,12 @@ class BigButton(Widget): self._rotate_icon_t: float | None = None - self._label_font = gui_app.font(FontWeight.DISPLAY) - self._value_font = gui_app.font(FontWeight.ROMAN) - - self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.DISPLAY, + self._label = UnifiedLabel(text, font_size=self._get_label_font_size(), font_weight=FontWeight.BOLD, text_color=LABEL_COLOR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM, scroll=scroll, line_height=0.9) self._sub_label = UnifiedLabel(value, font_size=COMPLICATION_SIZE, font_weight=FontWeight.ROMAN, text_color=COMPLICATION_GREY, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM) + self._update_label_layout() self._load_images() @@ -149,25 +148,27 @@ class BigButton(Widget): return int(self._rect.width - LABEL_HORIZONTAL_PADDING * 2 - icon_size) def _get_label_font_size(self): - if len(self.text) < 12: - font_size = 64 - elif len(self.text) < 17: - font_size = 48 + if len(self.text) <= 18: + return 48 else: - font_size = 42 + return 42 + def _update_label_layout(self): + self._label.set_font_size(self._get_label_font_size()) if self.value: - font_size -= 20 - - return font_size + self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP) + else: + self._label.set_alignment_vertical(rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM) def set_text(self, text: str): self.text = text self._label.set_text(text) + self._update_label_layout() def set_value(self, value: str): self.value = value self._sub_label.set_text(value) + self._update_label_layout() def get_value(self) -> str: return self.value @@ -189,21 +190,20 @@ class BigButton(Widget): rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE) # LABEL ------------------------------------------------------------------ - lx = self._rect.x + LABEL_HORIZONTAL_PADDING - ly = btn_y + self._rect.height - 33 # - 40# - self._get_label_font_size() / 2 - - if self.value: - sub_label_height = self._sub_label.get_content_height(self._width_hint()) - sub_label_rect = rl.Rectangle(lx, ly - sub_label_height, self._width_hint(), sub_label_height) - self._sub_label.render(sub_label_rect) - ly -= sub_label_height + label_x = self._rect.x + LABEL_HORIZONTAL_PADDING label_color = LABEL_COLOR if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) self._label.set_color(label_color) - label_height = self._label.get_content_height(self._width_hint()) - label_rect = rl.Rectangle(lx, ly - label_height, self._width_hint(), label_height) + label_rect = rl.Rectangle(label_x, btn_y + LABEL_VERTICAL_PADDING, self._width_hint(), + self._rect.height - LABEL_VERTICAL_PADDING * 2) self._label.render(label_rect) + if self.value: + label_y = btn_y + self._rect.height - LABEL_VERTICAL_PADDING + sub_label_height = self._sub_label.get_content_height(self._width_hint()) + sub_label_rect = rl.Rectangle(label_x, label_y - sub_label_height, self._width_hint(), sub_label_height) + self._sub_label.render(sub_label_rect) + # ICON ------------------------------------------------------------------- if self._txt_icon: rotation = 0 From a18ddf12eb8b2d38894415bc5f07ea8049e28e8f Mon Sep 17 00:00:00 2001 From: Daniel Koepping Date: Tue, 10 Feb 2026 17:51:09 -0800 Subject: [PATCH 53/65] remove azure deps (#37084) * remove azure deps * fix lint * restore scripts --- pyproject.toml | 2 - .../test/process_replay/test_processes.py | 3 +- tools/lib/openpilotci.py | 14 +-- uv.lock | 88 ------------------- 4 files changed, 5 insertions(+), 102 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 8b0f4004d6..b1295ef813 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -97,8 +97,6 @@ testing = [ dev = [ "av", - "azure-identity", - "azure-storage-blob", "dictdiffer", "matplotlib", "opencv-python-headless", diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 9f79c8ddcb..fbe300a7c9 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -189,7 +189,8 @@ if __name__ == "__main__": cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst".replace("|", "_")) if args.update_refs: # reference logs will not exist if routes were just regenerated - ref_log_path = get_url(*segment.rsplit("--", 1,), "rlog.zst") + route, seg_num = segment.rsplit("--", 1) + ref_log_path = get_url(route, seg_num, "rlog.zst") else: ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst".replace("|", "_")) ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) diff --git a/tools/lib/openpilotci.py b/tools/lib/openpilotci.py index 1c1e1f171b..6b484dfdad 100644 --- a/tools/lib/openpilotci.py +++ b/tools/lib/openpilotci.py @@ -1,12 +1,4 @@ -from openpilot.tools.lib.openpilotcontainers import OpenpilotCIContainer +BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" -def get_url(*args, **kwargs): - return OpenpilotCIContainer.get_url(*args, **kwargs) - -def upload_file(*args, **kwargs): - return OpenpilotCIContainer.upload_file(*args, **kwargs) - -def upload_bytes(*args, **kwargs): - return OpenpilotCIContainer.upload_bytes(*args, **kwargs) - -BASE_URL = OpenpilotCIContainer.BASE_URL +def get_url(route_name: str, segment_num, filename: str) -> str: + return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{filename}" diff --git a/uv.lock b/uv.lock index 83805c646f..d4c75f2e56 100644 --- a/uv.lock +++ b/uv.lock @@ -119,50 +119,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/7b/ff/48fa68888b8d5bae36d915556ff18f9e5fdc6b5ff5ae23dc4904c9713168/av-13.1.0-cp312-cp312-win_amd64.whl", hash = "sha256:5ea0deab0e6a739cb742fba2a3983d8102f7516a3cdf3c46669f3cac0ed1f351", size = 25781343, upload-time = "2024-10-06T04:53:29.577Z" }, ] -[[package]] -name = "azure-core" -version = "1.38.0" -source = { registry = "https://pypi.org/simple" } -dependencies = [ - { name = "requests" }, - { name = "typing-extensions" }, -] -sdist = { url = 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}, -] -sdist = { url = "https://files.pythonhosted.org/packages/01/99/5d239b6156eddf761a636bded1118414d161bd6b7b37a9335549ed159396/msal_extensions-1.3.1.tar.gz", hash = "sha256:c5b0fd10f65ef62b5f1d62f4251d51cbcaf003fcedae8c91b040a488614be1a4", size = 23315, upload-time = "2025-03-14T23:51:03.902Z" } -wheels = [ - { url = "https://files.pythonhosted.org/packages/5e/75/bd9b7bb966668920f06b200e84454c8f3566b102183bc55c5473d96cb2b9/msal_extensions-1.3.1-py3-none-any.whl", hash = "sha256:96d3de4d034504e969ac5e85bae8106c8373b5c6568e4c8fa7af2eca9dbe6bca", size = 20583, upload-time = "2025-03-14T23:51:03.016Z" }, -] - [[package]] name = "multidict" version = "6.7.1" @@ -1058,8 +979,6 @@ dependencies = [ [package.optional-dependencies] dev = [ { name = "av" }, - { name = "azure-identity" }, - { name = "azure-storage-blob" }, { name = "dictdiffer" }, { name = "matplotlib" }, { name = "opencv-python-headless" }, @@ -1097,8 +1016,6 @@ requires-dist = [ { name = "aiohttp" }, { name = "aiortc" }, { name = "av", marker = "extra == 'dev'" }, - { name = "azure-identity", marker = "extra == 'dev'" }, - { name = "azure-storage-blob", marker = "extra == 'dev'" }, { name = "casadi", specifier = ">=3.6.6" }, { name = "cffi" }, { name = "codespell", marker = "extra == 'testing'" }, @@ -1448,11 +1365,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/61/ad/689f02752eeec26aed679477e80e632ef1b682313be70793d798c1d5fc8f/PyJWT-2.10.1-py3-none-any.whl", hash = "sha256:dcdd193e30abefd5debf142f9adfcdd2b58004e644f25406ffaebd50bd98dacb", size = 22997, upload-time = "2024-11-28T03:43:27.893Z" }, ] -[package.optional-dependencies] -crypto = [ - { name = "cryptography" }, -] - [[package]] name = "pylibsrtp" version = "1.0.0" From 6892b62761d9009c9028f51ab5b90d9460386ed7 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Tue, 10 Feb 2026 20:48:34 -0800 Subject: [PATCH 54/65] [bot] Update Python packages (#37147) * Update Python packages * fix * bump panda * revert tinygrad --------- Co-authored-by: Vehicle Researcher Co-authored-by: Adeeb Shihadeh --- cereal/messaging/bridge.cc | 6 +- cereal/messaging/bridge_zmq.h | 12 +- cereal/messaging/msgq_to_zmq.cc | 2 +- cereal/messaging/msgq_to_zmq.h | 2 +- msgq_repo | 2 +- opendbc_repo | 2 +- panda | 2 +- uv.lock | 201 ++++++++++++++++---------------- 8 files changed, 115 insertions(+), 114 deletions(-) diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc index 2eb3de32c0..77823c413a 100644 --- a/cereal/messaging/bridge.cc +++ b/cereal/messaging/bridge.cc @@ -26,12 +26,12 @@ void msgq_to_zmq(const std::vector &endpoints, const std::string &i void zmq_to_msgq(const std::vector &endpoints, const std::string &ip) { auto poller = std::make_unique(); - auto pub_context = std::make_unique(); + auto pub_context = std::make_unique(); auto sub_context = std::make_unique(); - std::map sub2pub; + std::map sub2pub; for (auto endpoint : endpoints) { - auto pub_sock = new MSGQPubSocket(); + auto pub_sock = new PubSocket(); auto sub_sock = new BridgeZmqSubSocket(); size_t queue_size = services.at(endpoint).queue_size; pub_sock->connect(pub_context.get(), endpoint, true, queue_size); diff --git a/cereal/messaging/bridge_zmq.h b/cereal/messaging/bridge_zmq.h index eab48a91e8..ebdbc56c24 100644 --- a/cereal/messaging/bridge_zmq.h +++ b/cereal/messaging/bridge_zmq.h @@ -20,12 +20,12 @@ private: class BridgeZmqMessage : public Message { public: - void init(size_t size) override; - void init(char *data, size_t size) override; - void close() override; - size_t getSize() override { return size; } - char *getData() override { return data; } - ~BridgeZmqMessage() override; + void init(size_t size); + void init(char *data, size_t size); + void close(); + size_t getSize() { return size; } + char *getData() { return data; } + ~BridgeZmqMessage(); private: char *data = nullptr; diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc index 930b617e7b..5e7ea22273 100644 --- a/cereal/messaging/msgq_to_zmq.cc +++ b/cereal/messaging/msgq_to_zmq.cc @@ -23,7 +23,7 @@ static std::string recv_zmq_msg(void *sock) { void MsgqToZmq::run(const std::vector &endpoints, const std::string &ip) { zmq_context = std::make_unique(); - msgq_context = std::make_unique(); + msgq_context = std::make_unique(); // Create ZMQPubSockets for each endpoint for (const auto &endpoint : endpoints) { diff --git a/cereal/messaging/msgq_to_zmq.h b/cereal/messaging/msgq_to_zmq.h index ac92631fe7..64f3a2173e 100644 --- a/cereal/messaging/msgq_to_zmq.h +++ b/cereal/messaging/msgq_to_zmq.h @@ -26,7 +26,7 @@ protected: int connected_clients = 0; }; - std::unique_ptr msgq_context; + std::unique_ptr msgq_context; std::unique_ptr zmq_context; std::mutex mutex; std::condition_variable cv; diff --git a/msgq_repo b/msgq_repo index f9ebdca885..2c191c1a72 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit f9ebdca885cfe25295d09de9fd57023a10758de5 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+89,6 @@ testing = [ "pytest-timeout", "pytest-asyncio", "pytest-mock", - "pytest-repeat", "ruff", "codespell", "pre-commit-hooks", diff --git a/uv.lock b/uv.lock index 816733d12e..8909934e9a 100644 --- a/uv.lock +++ b/uv.lock @@ -1001,7 +1001,6 @@ testing = [ { name = "pytest-asyncio" }, { name = "pytest-cpp" }, { name = "pytest-mock" }, - { name = "pytest-repeat" }, { name = "pytest-subtests" }, { name = "pytest-timeout" }, { name = "pytest-xdist" }, @@ -1053,7 +1052,6 @@ requires-dist = [ { name = "pytest-asyncio", marker = "extra == 'testing'" }, { name = "pytest-cpp", marker = "extra == 'testing'" }, { name = "pytest-mock", marker = "extra == 'testing'" }, - { name = "pytest-repeat", marker = "extra == 'testing'" }, { name = "pytest-subtests", marker = "extra == 'testing'" }, { name = "pytest-timeout", marker = "extra == 'testing'" }, { name = "pytest-xdist", marker = "extra == 'testing'", git = "https://github.com/sshane/pytest-xdist?rev=2b4372bd62699fb412c4fe2f95bf9f01bd2018da" 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rl.Color(255, 255, 255, int(255 * 0.35)) + rl.draw_texture(self._txt_icon, int(self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0]), + int(btn_y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), icon_color) + def _render(self, _): # draw background txt_bg = self._txt_btn_bg if not self._red else self._txt_btn_red_bg @@ -65,10 +71,7 @@ class BigCircleButton(Widget): btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2 rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE) - # draw icon - icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) - rl.draw_texture(self._txt_icon, int(self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0]), - int(self._rect.y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), icon_color) + self._draw_content(btn_y) class BigCircleToggle(BigCircleButton): @@ -93,13 +96,13 @@ class BigCircleToggle(BigCircleButton): if self._toggle_callback: self._toggle_callback(self._checked) - def _render(self, _): - super()._render(_) + def _draw_content(self, btn_y: float): + super()._draw_content(btn_y) # draw status icon rl.draw_texture(self._txt_toggle_enabled if self._checked else self._txt_toggle_disabled, int(self._rect.x + (self._rect.width - self._txt_toggle_enabled.width) / 2), - int(self._rect.y + 5), rl.WHITE) + int(btn_y + 5), rl.WHITE) class BigButton(Widget): @@ -176,19 +179,7 @@ class BigButton(Widget): def get_text(self): return self.text - def _render(self, _): - # draw _txt_default_bg - txt_bg = self._txt_default_bg - if not self.enabled: - txt_bg = self._txt_disabled_bg - elif self.is_pressed: - txt_bg = self._txt_hover_bg - - scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0) - btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2 - btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2 - rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE) - + def _draw_content(self, btn_y: float): # LABEL ------------------------------------------------------------------ label_x = self._rect.x + LABEL_HORIZONTAL_PADDING @@ -210,14 +201,29 @@ class BigButton(Widget): if self._rotate_icon_t is not None: rotation = (rl.get_time() - self._rotate_icon_t) * 180 - # drop top right with 30px padding + # draw top right with 30px padding x = self._rect.x + self._rect.width - 30 - self._txt_icon.width / 2 - y = self._rect.y + 30 + self._txt_icon.height / 2 + y = btn_y + 30 + self._txt_icon.height / 2 source_rec = rl.Rectangle(0, 0, self._txt_icon.width, self._txt_icon.height) dest_rec = rl.Rectangle(int(x), int(y), self._txt_icon.width, self._txt_icon.height) origin = rl.Vector2(self._txt_icon.width / 2, self._txt_icon.height / 2) rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.WHITE) + def _render(self, _): + # draw _txt_default_bg + txt_bg = self._txt_default_bg + if not self.enabled: + txt_bg = self._txt_disabled_bg + elif self.is_pressed: + txt_bg = self._txt_hover_bg + + scale = self._scale_filter.update(PRESSED_SCALE if self.is_pressed else 1.0) + btn_x = self._rect.x + (self._rect.width * (1 - scale)) / 2 + btn_y = self._rect.y + (self._rect.height * (1 - scale)) / 2 + rl.draw_texture_ex(txt_bg, (btn_x, btn_y), 0, scale, rl.WHITE) + + self._draw_content(btn_y) + class BigToggle(BigButton): def __init__(self, text: str, value: str = "", initial_state: bool = False, toggle_callback: Callable | None = None): @@ -246,11 +252,11 @@ class BigToggle(BigButton): else: rl.draw_texture(self._txt_disabled_toggle, int(x), int(y), rl.WHITE) - def _render(self, _): - super()._render(_) + def _draw_content(self, btn_y: float): + super()._draw_content(btn_y) x = self._rect.x + self._rect.width - self._txt_enabled_toggle.width - y = self._rect.y + y = btn_y self._draw_pill(x, y, self._checked) @@ -275,13 +281,14 @@ class BigMultiToggle(BigToggle): if self._select_callback: self._select_callback(self.value) - def _render(self, _): - BigButton._render(self, _) + def _draw_content(self, btn_y: float): + # don't draw pill from BigToggle + BigButton._draw_content(self, btn_y) checked_idx = self._options.index(self.value) x = self._rect.x + self._rect.width - self._txt_enabled_toggle.width - y = self._rect.y + y = btn_y for i in range(len(self._options)): self._draw_pill(x, y, checked_idx == i) From 1070dda3ee4f38bb16645800ca508023fcfc8df1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Feb 2026 21:56:45 -0800 Subject: [PATCH 57/65] ui.py: fix stride (#37159) fix uii.py --- tools/replay/ui.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/tools/replay/ui.py b/tools/replay/ui.py index 54667ebfe9..8707f2be99 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -160,9 +160,12 @@ def ui_thread(addr): camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))] - imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride)) - num_px = vipc_client.width * vipc_client.height - rgb = cv2.cvtColor(imgff[: vipc_client.height * 3 // 2, : vipc_client.width], cv2.COLOR_YUV2RGB_NV12) + # Use received buffer dimensions (full HEVC can have stride != buffer_len/rows due to VENUS padding) + h, w, stride = yuv_img_raw.height, yuv_img_raw.width, yuv_img_raw.stride + nv12_size = h * 3 // 2 * stride + imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8, count=nv12_size).reshape((h * 3 // 2, stride)) + num_px = w * h + rgb = cv2.cvtColor(imgff[: h * 3 // 2, : w], cv2.COLOR_YUV2RGB_NV12) qcam = "QCAM" in os.environ bb_scale = (528 if qcam else camera.fcam.width) / 640.0 From 77f069cbe5afe1d2adb8895c3b2b2d60626403b1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Feb 2026 21:57:34 -0800 Subject: [PATCH 58/65] BigButton: don't round drawn content (#37158) * unround icons * unround rest --- selfdrive/ui/mici/widgets/button.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py index 118d334965..29844ccda1 100644 --- a/selfdrive/ui/mici/widgets/button.py +++ b/selfdrive/ui/mici/widgets/button.py @@ -55,8 +55,8 @@ class BigCircleButton(Widget): def _draw_content(self, btn_y: float): # draw icon icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35)) - rl.draw_texture(self._txt_icon, int(self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0]), - int(btn_y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), icon_color) + rl.draw_texture_ex(self._txt_icon, (self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0], + btn_y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), 0, 1.0, icon_color) def _render(self, _): # draw background @@ -100,9 +100,9 @@ class BigCircleToggle(BigCircleButton): super()._draw_content(btn_y) # draw status icon - rl.draw_texture(self._txt_toggle_enabled if self._checked else self._txt_toggle_disabled, - int(self._rect.x + (self._rect.width - self._txt_toggle_enabled.width) / 2), - int(btn_y + 5), rl.WHITE) + rl.draw_texture_ex(self._txt_toggle_enabled if self._checked else self._txt_toggle_disabled, + (self._rect.x + (self._rect.width - self._txt_toggle_enabled.width) / 2, btn_y + 5), + 0, 1.0, rl.WHITE) class BigButton(Widget): @@ -205,7 +205,7 @@ class BigButton(Widget): x = self._rect.x + self._rect.width - 30 - self._txt_icon.width / 2 y = btn_y + 30 + self._txt_icon.height / 2 source_rec = rl.Rectangle(0, 0, self._txt_icon.width, self._txt_icon.height) - dest_rec = rl.Rectangle(int(x), int(y), self._txt_icon.width, self._txt_icon.height) + dest_rec = rl.Rectangle(x, y, self._txt_icon.width, self._txt_icon.height) origin = rl.Vector2(self._txt_icon.width / 2, self._txt_icon.height / 2) rl.draw_texture_pro(self._txt_icon, source_rec, dest_rec, origin, rotation, rl.WHITE) @@ -248,9 +248,9 @@ class BigToggle(BigButton): def _draw_pill(self, x: float, y: float, checked: bool): # draw toggle icon top right if checked: - rl.draw_texture(self._txt_enabled_toggle, int(x), int(y), rl.WHITE) + rl.draw_texture_ex(self._txt_enabled_toggle, (x, y), 0, 1.0, rl.WHITE) else: - rl.draw_texture(self._txt_disabled_toggle, int(x), int(y), rl.WHITE) + rl.draw_texture_ex(self._txt_disabled_toggle, (x, y), 0, 1.0, rl.WHITE) def _draw_content(self, btn_y: float): super()._draw_content(btn_y) From 45099e7fcd384bb2dac36b55a6c10ba9de58a1e5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 10 Feb 2026 23:12:41 -0800 Subject: [PATCH 59/65] Revert tgwarp again (#37161) * Reapply "revert tg calib and opencl cleanup (#37113)" (#37115) This reverts commit 667f3bb32f696b8bdcd93bce9143cd4171e436a3. * revert msgq too * msgq on master --- Dockerfile.openpilot_base | 37 + SConstruct | 1 + common/SConscript | 1 + common/clutil.cc | 98 ++ common/clutil.h | 28 + common/mat.h | 85 + msgq_repo | 2 +- selfdrive/modeld/SConscript | 56 +- selfdrive/modeld/compile_warp.py | 206 --- selfdrive/modeld/dmonitoringmodeld.py | 33 +- selfdrive/modeld/modeld.py | 59 +- selfdrive/modeld/models/commonmodel.cc | 64 + selfdrive/modeld/models/commonmodel.h | 97 ++ selfdrive/modeld/models/commonmodel.pxd | 27 + selfdrive/modeld/models/commonmodel_pyx.pxd | 13 + selfdrive/modeld/models/commonmodel_pyx.pyx | 74 + selfdrive/modeld/runners/tinygrad_helpers.py | 8 + selfdrive/modeld/transforms/loadyuv.cc | 76 + selfdrive/modeld/transforms/loadyuv.cl | 47 + selfdrive/modeld/transforms/loadyuv.h | 20 + selfdrive/modeld/transforms/transform.cc | 97 ++ selfdrive/modeld/transforms/transform.cl | 54 + selfdrive/modeld/transforms/transform.h | 25 + selfdrive/test/process_replay/model_replay.py | 4 +- .../test/process_replay/process_replay.py | 15 +- system/camerad/SConscript | 2 +- system/camerad/cameras/camera_common.cc | 5 +- system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 22 +- system/camerad/cameras/spectra.cc | 4 +- system/camerad/cameras/spectra.h | 2 +- system/hardware/tici/tests/test_power_draw.py | 2 +- system/loggerd/SConscript | 5 +- third_party/opencl/include/CL/cl.h | 1452 +++++++++++++++++ third_party/opencl/include/CL/cl_d3d10.h | 131 ++ third_party/opencl/include/CL/cl_d3d11.h | 131 ++ .../opencl/include/CL/cl_dx9_media_sharing.h | 132 ++ third_party/opencl/include/CL/cl_egl.h | 136 ++ third_party/opencl/include/CL/cl_ext.h | 391 +++++ third_party/opencl/include/CL/cl_ext_qcom.h | 255 +++ third_party/opencl/include/CL/cl_gl.h | 167 ++ third_party/opencl/include/CL/cl_gl_ext.h | 74 + third_party/opencl/include/CL/cl_platform.h | 1333 +++++++++++++++ third_party/opencl/include/CL/opencl.h | 59 + tools/cabana/SConscript | 2 + tools/install_ubuntu_dependencies.sh | 3 + tools/replay/SConscript | 5 + tools/webcam/README.md | 4 + 48 files changed, 5237 insertions(+), 309 deletions(-) create mode 100644 common/clutil.cc create mode 100644 common/clutil.h create mode 100644 common/mat.h delete mode 100755 selfdrive/modeld/compile_warp.py create mode 100644 selfdrive/modeld/models/commonmodel.cc create mode 100644 selfdrive/modeld/models/commonmodel.h create mode 100644 selfdrive/modeld/models/commonmodel.pxd create mode 100644 selfdrive/modeld/models/commonmodel_pyx.pxd create mode 100644 selfdrive/modeld/models/commonmodel_pyx.pyx create mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py create mode 100644 selfdrive/modeld/transforms/loadyuv.cc create mode 100644 selfdrive/modeld/transforms/loadyuv.cl create mode 100644 selfdrive/modeld/transforms/loadyuv.h create mode 100644 selfdrive/modeld/transforms/transform.cc create mode 100644 selfdrive/modeld/transforms/transform.cl create mode 100644 selfdrive/modeld/transforms/transform.h create mode 100644 third_party/opencl/include/CL/cl.h create mode 100644 third_party/opencl/include/CL/cl_d3d10.h create mode 100644 third_party/opencl/include/CL/cl_d3d11.h create mode 100644 third_party/opencl/include/CL/cl_dx9_media_sharing.h create mode 100644 third_party/opencl/include/CL/cl_egl.h create mode 100644 third_party/opencl/include/CL/cl_ext.h create mode 100644 third_party/opencl/include/CL/cl_ext_qcom.h create mode 100644 third_party/opencl/include/CL/cl_gl.h create mode 100644 third_party/opencl/include/CL/cl_gl_ext.h create mode 100644 third_party/opencl/include/CL/cl_platform.h create mode 100644 third_party/opencl/include/CL/opencl.h diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 8a60412993..44d8d95e95 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -18,6 +18,43 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \ cd /usr/lib/gcc/arm-none-eabi/* && \ rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp +# Add OpenCL +RUN apt-get update && apt-get install -y --no-install-recommends \ + apt-utils \ + alien \ + unzip \ + tar \ + curl \ + xz-utils \ + dbus \ + gcc-arm-none-eabi \ + tmux \ + vim \ + libx11-6 \ + wget \ + && rm -rf /var/lib/apt/lists/* + +RUN mkdir -p /tmp/opencl-driver-intel && \ + cd /tmp/opencl-driver-intel && \ + wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ + wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \ + mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ + cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \ + tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \ + mkdir -p /etc/OpenCL/vendors && \ + echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \ + cd /opt/intel && \ + tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \ + ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ + ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ + ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ + ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \ + mkdir -p /etc/ld.so.conf.d && \ + echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \ + ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \ + cd / && \ + rm -rf /tmp/opencl-driver-intel + ENV NVIDIA_VISIBLE_DEVICES=all ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute ENV QTWEBENGINE_DISABLE_SANDBOX=1 diff --git a/SConstruct b/SConstruct index 4f04be624c..ca5b7b6cb7 100644 --- a/SConstruct +++ b/SConstruct @@ -94,6 +94,7 @@ env = Environment( # Arch-specific flags and paths if arch == "larch64": + env.Append(CPPPATH=["#third_party/opencl/include"]) env.Append(LIBPATH=[ "/usr/local/lib", "/system/vendor/lib64", diff --git a/common/SConscript b/common/SConscript index 15a0e5eff1..1c68cf05c7 100644 --- a/common/SConscript +++ b/common/SConscript @@ -5,6 +5,7 @@ common_libs = [ 'swaglog.cc', 'util.cc', 'ratekeeper.cc', + 'clutil.cc', ] _common = env.Library('common', common_libs, LIBS="json11") diff --git a/common/clutil.cc b/common/clutil.cc new file mode 100644 index 0000000000..f8381a7e09 --- /dev/null +++ b/common/clutil.cc @@ -0,0 +1,98 @@ +#include "common/clutil.h" + +#include +#include +#include + +#include "common/util.h" +#include "common/swaglog.h" + +namespace { // helper functions + +template +std::string get_info(Func get_info_func, Id id, Name param_name) { + size_t size = 0; + CL_CHECK(get_info_func(id, param_name, 0, NULL, &size)); + std::string info(size, '\0'); + CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL)); + return info; +} +inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); } +inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); } + +void cl_print_info(cl_platform_id platform, cl_device_id device) { + size_t work_group_size = 0; + cl_device_type device_type = 0; + clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL); + clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL); + const char *type_str = "Other..."; + switch (device_type) { + case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break; + case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break; + case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break; + } + + LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str()); + LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str()); + LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str()); + LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str()); + LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str()); + LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str()); + LOGD("max work group size: %zu", work_group_size); + LOGD("type = %d, %s", (int)device_type, type_str); +} + +void cl_print_build_errors(cl_program program, cl_device_id device) { + cl_build_status status; + clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL); + size_t log_size; + clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size); + std::string log(log_size, '\0'); + clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL); + + LOGE("build failed; status=%d, log: %s", status, log.c_str()); +} + +} // namespace + +cl_device_id cl_get_device_id(cl_device_type device_type) { + cl_uint num_platforms = 0; + CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms)); + std::unique_ptr platform_ids = std::make_unique(num_platforms); + CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL)); + + for (size_t i = 0; i < num_platforms; ++i) { + LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str()); + + // Get first device + if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) { + cl_print_info(platform_ids[i], device_id); + return device_id; + } + } + LOGE("No valid openCL platform found"); + assert(0); + return nullptr; +} + +cl_context cl_create_context(cl_device_id device_id) { + return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); +} + +void cl_release_context(cl_context context) { + clReleaseContext(context); +} + +cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) { + return cl_program_from_source(ctx, device_id, util::read_file(path), args); +} + +cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) { + const char *csrc = src.c_str(); + cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err)); + if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) { + cl_print_build_errors(prg, device_id); + assert(0); + } + return prg; +} diff --git a/common/clutil.h b/common/clutil.h new file mode 100644 index 0000000000..b364e79d45 --- /dev/null +++ b/common/clutil.h @@ -0,0 +1,28 @@ +#pragma once + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include + +#define CL_CHECK(_expr) \ + do { \ + assert(CL_SUCCESS == (_expr)); \ + } while (0) + +#define CL_CHECK_ERR(_expr) \ + ({ \ + cl_int err = CL_INVALID_VALUE; \ + __typeof__(_expr) _ret = _expr; \ + assert(_ret&& err == CL_SUCCESS); \ + _ret; \ + }) + +cl_device_id cl_get_device_id(cl_device_type device_type); +cl_context cl_create_context(cl_device_id device_id); +void cl_release_context(cl_context context); +cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr); +cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args); diff --git a/common/mat.h b/common/mat.h new file mode 100644 index 0000000000..8e10d61971 --- /dev/null +++ b/common/mat.h @@ -0,0 +1,85 @@ +#pragma once + +typedef struct vec3 { + float v[3]; +} vec3; + +typedef struct vec4 { + float v[4]; +} vec4; + +typedef struct mat3 { + float v[3*3]; +} mat3; + +typedef struct mat4 { + float v[4*4]; +} mat4; + +static inline mat3 matmul3(const mat3 &a, const mat3 &b) { + mat3 ret = {{0.0}}; + for (int r=0; r<3; r++) { + for (int c=0; c<3; c++) { + float v = 0.0; + for (int k=0; k<3; k++) { + v += a.v[r*3+k] * b.v[k*3+c]; + } + ret.v[r*3+c] = v; + } + } + return ret; +} + +static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) { + vec3 ret = {{0.0}}; + for (int r=0; r<3; r++) { + for (int c=0; c<3; c++) { + ret.v[r] += a.v[r*3+c] * b.v[c]; + } + } + return ret; +} + +static inline mat4 matmul(const mat4 &a, const mat4 &b) { + mat4 ret = {{0.0}}; + for (int r=0; r<4; r++) { + for (int c=0; c<4; c++) { + float v = 0.0; + for (int k=0; k<4; k++) { + v += a.v[r*4+k] * b.v[k*4+c]; + } + ret.v[r*4+c] = v; + } + } + return ret; +} + +static inline vec4 matvecmul(const mat4 &a, const vec4 &b) { + vec4 ret = {{0.0}}; + for (int r=0; r<4; r++) { + for (int c=0; c<4; c++) { + ret.v[r] += a.v[r*4+c] * b.v[c]; + } + } + return ret; +} + +// scales the input and output space of a transformation matrix +// that assumes pixel-center origin. +static inline mat3 transform_scale_buffer(const mat3 &in, float s) { + // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s + + mat3 transform_out = {{ + 1.0f/s, 0.0f, 0.5f, + 0.0f, 1.0f/s, 0.5f, + 0.0f, 0.0f, 1.0f, + }}; + + mat3 transform_in = {{ + s, 0.0f, -0.5f*s, + 0.0f, s, -0.5f*s, + 0.0f, 0.0f, 1.0f, + }}; + + return matmul3(transform_in, matmul3(in, transform_out)); +} diff --git a/msgq_repo b/msgq_repo index 2c191c1a72..4c4e814ed5 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 2c191c1a72ae8119b93b49e1bc12d4a99b751855 +Subproject commit 4c4e814ed592db52431bb53d37f0bb93299e960c diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 84e94df4a5..91f3597447 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -1,12 +1,35 @@ import os import glob -Import('env', 'arch') +Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc') lenv = env.Clone() +lenvCython = envCython.Clone() -tinygrad_root = env.Dir("#").abspath -tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=tinygrad_root) - if 'pycache' not in x and os.path.isfile(os.path.join(tinygrad_root, x))] +libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread'] +frameworks = [] + +common_src = [ + "models/commonmodel.cc", + "transforms/loadyuv.cc", + "transforms/transform.cc", +] + +# OpenCL is a framework on Mac +if arch == "Darwin": + frameworks += ['OpenCL'] +else: + libs += ['OpenCL'] + +# Set path definitions +for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items(): + for xenv in (lenv, lenvCython): + xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"') + +# Compile cython +cython_libs = envCython["LIBS"] + libs +commonmodel_lib = lenv.Library('commonmodel', common_src) +lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks) +tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]) # Get model metadata for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: @@ -15,35 +38,22 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx' lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd) -# compile warp -tg_flags = { - 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0', - 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env -}.get(arch, 'DEV=CPU CPU_LLVM=1') -image_flag = { - 'larch64': 'IMAGE=2', -}.get(arch, 'IMAGE=0') -script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)] -cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py ' -from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye -warp_targets = [] -for cam in [_ar_ox_fisheye, _os_fisheye]: - w, h = cam.width, cam.height - warp_targets += [File(f"models/warp_{w}x{h}_tinygrad.pkl").abspath, File(f"models/dm_warp_{w}x{h}_tinygrad.pkl").abspath] -lenv.Command(warp_targets, tinygrad_files + script_files, cmd) - def tg_compile(flags, model_name): pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"' fn = File(f"models/{model_name}").abspath return lenv.Command( fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, - f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' + f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl' ) # Compile small models for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']: - tg_compile(tg_flags, model_name) + flags = { + 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0', + 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env + }.get(arch, 'DEV=CPU CPU_LLVM=1') + tg_compile(flags, model_name) # Compile BIG model if USB GPU is available if "USBGPU" in os.environ: diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py deleted file mode 100755 index 5adb60e624..0000000000 --- a/selfdrive/modeld/compile_warp.py +++ /dev/null @@ -1,206 +0,0 @@ -#!/usr/bin/env python3 -import time -import pickle -import numpy as np -from pathlib import Path -from tinygrad.tensor import Tensor -from tinygrad.helpers import Context -from tinygrad.device import Device -from tinygrad.engine.jit import TinyJit - -from openpilot.system.camerad.cameras.nv12_info import get_nv12_info -from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE -from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye - -MODELS_DIR = Path(__file__).parent / 'models' - -CAMERA_CONFIGS = [ - (_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208 - (_os_fisheye.width, _os_fisheye.height), # mici: 1344x760 -] - -UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32) -UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX) - -IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2) - - -def warp_pkl_path(w, h): - return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' - - -def dm_warp_pkl_path(w, h): - return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl' - - -def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, ratio): - w_dst, h_dst = dst_shape - h_src, w_src = src_shape - - x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst) - y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst) - ones = Tensor.ones_like(x) - dst_coords = x.reshape(1, -1).cat(y.reshape(1, -1)).cat(ones.reshape(1, -1)) - - src_coords = M_inv @ dst_coords - src_coords = src_coords / src_coords[2:3, :] - - x_nn_clipped = Tensor.round(src_coords[0]).clip(0, w_src - 1).cast('int') - y_nn_clipped = Tensor.round(src_coords[1]).clip(0, h_src - 1).cast('int') - idx = y_nn_clipped * w_src + (y_nn_clipped * ratio).cast('int') * stride_pad + x_nn_clipped - - sampled = src_flat[idx] - return sampled - - -def frames_to_tensor(frames, model_w, model_h): - H = (frames.shape[0] * 2) // 3 - W = frames.shape[1] - in_img1 = Tensor.cat(frames[0:H:2, 0::2], - frames[1:H:2, 0::2], - frames[0:H:2, 1::2], - frames[1:H:2, 1::2], - frames[H:H+H//4].reshape((H//2, W//2)), - frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2)) - return in_img1 - - -def make_frame_prepare(cam_w, cam_h, model_w, model_h): - stride, y_height, _, _ = get_nv12_info(cam_w, cam_h) - uv_offset = stride * y_height - stride_pad = stride - cam_w - - def frame_prepare_tinygrad(input_frame, M_inv): - tg_scale = Tensor(UV_SCALE_MATRIX) - M_inv_uv = tg_scale @ M_inv @ Tensor(UV_SCALE_MATRIX_INV) - with Context(SPLIT_REDUCEOP=0): - y = warp_perspective_tinygrad(input_frame[:cam_h*stride], - M_inv, (model_w, model_h), - (cam_h, cam_w), stride_pad, 1).realize() - u = warp_perspective_tinygrad(input_frame[uv_offset:uv_offset + (cam_h//4)*stride], - M_inv_uv, (model_w//2, model_h//2), - (cam_h//2, cam_w//2), stride_pad, 0.5).realize() - v = warp_perspective_tinygrad(input_frame[uv_offset + (cam_h//4)*stride:uv_offset + (cam_h//2)*stride], - M_inv_uv, (model_w//2, model_h//2), - (cam_h//2, cam_w//2), stride_pad, 0.5).realize() - yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w)) - tensor = frames_to_tensor(yuv, model_w, model_h) - return tensor - return frame_prepare_tinygrad - - -def make_update_img_input(frame_prepare, model_w, model_h): - def update_img_input_tinygrad(tensor, frame, M_inv): - M_inv = M_inv.to(Device.DEFAULT) - new_img = frame_prepare(frame, M_inv) - full_buffer = tensor[6:].cat(new_img, dim=0).contiguous() - return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2) - return update_img_input_tinygrad - - -def make_update_both_imgs(frame_prepare, model_w, model_h): - update_img = make_update_img_input(frame_prepare, model_w, model_h) - - def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv, - calib_big_img_buffer, new_big_img, M_inv_big): - calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv) - calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big) - return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair - return update_both_imgs_tinygrad - - -def make_warp_dm(cam_w, cam_h, dm_w, dm_h): - stride, y_height, _, _ = get_nv12_info(cam_w, cam_h) - stride_pad = stride - cam_w - - def warp_dm(input_frame, M_inv): - M_inv = M_inv.to(Device.DEFAULT) - with Context(SPLIT_REDUCEOP=0): - result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad, 1).reshape(-1, dm_h * dm_w) - return result - return warp_dm - - -def compile_modeld_warp(cam_w, cam_h): - model_w, model_h = MEDMODEL_INPUT_SIZE - _, _, _, yuv_size = get_nv12_info(cam_w, cam_h) - - print(f"Compiling modeld warp for {cam_w}x{cam_h}...") - - frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h) - update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h) - update_img_jit = TinyJit(update_both_imgs, prune=True) - - full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize() - big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize() - full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8) - big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8) - - for i in range(10): - new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8) - img_inputs = [full_buffer, - Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(), - Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] - new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8) - big_img_inputs = [big_full_buffer, - Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(), - Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] - inputs = img_inputs + big_img_inputs - Device.default.synchronize() - - inputs_np = [x.numpy() for x in inputs] - inputs_np[0] = full_buffer_np - inputs_np[3] = big_full_buffer_np - - st = time.perf_counter() - out = update_img_jit(*inputs) - full_buffer = out[0].contiguous().realize().clone() - big_full_buffer = out[2].contiguous().realize().clone() - mt = time.perf_counter() - Device.default.synchronize() - et = time.perf_counter() - print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") - - pkl_path = warp_pkl_path(cam_w, cam_h) - with open(pkl_path, "wb") as f: - pickle.dump(update_img_jit, f) - print(f" Saved to {pkl_path}") - - jit = pickle.load(open(pkl_path, "rb")) - jit(*inputs) - - -def compile_dm_warp(cam_w, cam_h): - dm_w, dm_h = DM_INPUT_SIZE - _, _, _, yuv_size = get_nv12_info(cam_w, cam_h) - - print(f"Compiling DM warp for {cam_w}x{cam_h}...") - - warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h) - warp_dm_jit = TinyJit(warp_dm, prune=True) - - for i in range(10): - inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'), - Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')] - Device.default.synchronize() - st = time.perf_counter() - warp_dm_jit(*inputs) - mt = time.perf_counter() - Device.default.synchronize() - et = time.perf_counter() - print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms") - - pkl_path = dm_warp_pkl_path(cam_w, cam_h) - with open(pkl_path, "wb") as f: - pickle.dump(warp_dm_jit, f) - print(f" Saved to {pkl_path}") - - -def run_and_save_pickle(): - for cam_w, cam_h in CAMERA_CONFIGS: - compile_modeld_warp(cam_w, cam_h) - compile_dm_warp(cam_w, cam_h) - - -if __name__ == "__main__": - run_and_save_pickle() diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py index bc3adffffa..7177998571 100755 --- a/selfdrive/modeld/dmonitoringmodeld.py +++ b/selfdrive/modeld/dmonitoringmodeld.py @@ -3,6 +3,7 @@ import os from openpilot.system.hardware import TICI os.environ['DEV'] = 'QCOM' if TICI else 'CPU' from tinygrad.tensor import Tensor +from tinygrad.dtype import dtypes import time import pickle import numpy as np @@ -15,34 +16,32 @@ from openpilot.common.swaglog import cloudlog from openpilot.common.realtime import config_realtime_process from openpilot.common.transformations.model import dmonitoringmodel_intrinsics from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye -from openpilot.system.camerad.cameras.nv12_info import get_nv12_info +from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp +from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld" SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl' METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl' -MODELS_DIR = Path(__file__).parent / 'models' + class ModelState: inputs: dict[str, np.ndarray] output: np.ndarray - def __init__(self): + def __init__(self, cl_ctx): with open(METADATA_PATH, 'rb') as f: model_metadata = pickle.load(f) self.input_shapes = model_metadata['input_shapes'] self.output_slices = model_metadata['output_slices'] + self.frame = MonitoringModelFrame(cl_ctx) self.numpy_inputs = { 'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32), } - self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)} - self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()} - self.frame_buf_params = None self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} - self.image_warp = None with open(MODEL_PKL_PATH, "rb") as f: self.model_run = pickle.load(f) @@ -51,15 +50,14 @@ class ModelState: t1 = time.perf_counter() - if self.image_warp is None: - self.frame_buf_params = get_nv12_info(buf.width, buf.height) - warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl' - with open(warp_path, "rb") as f: - self.image_warp = pickle.load(f) - self.warp_inputs['frame'] = Tensor.from_blob(buf.data.ctypes.data, (self.frame_buf_params[3],), dtype='uint8').realize() + input_img_cl = self.frame.prepare(buf, transform.flatten()) + if TICI: + # The imgs tensors are backed by opencl memory, only need init once + if 'input_img' not in self.tensor_inputs: + self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, self.input_shapes['input_img'], dtype=dtypes.uint8) + else: + self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize() - self.warp_inputs_np['transform'][:] = transform[:] - self.tensor_inputs['input_img'] = self.image_warp(self.warp_inputs['frame'], self.warp_inputs['transform']).realize() output = self.model_run(**self.tensor_inputs).numpy().flatten() @@ -109,11 +107,12 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t def main(): config_realtime_process(7, 5) - model = ModelState() + cl_context = CLContext() + model = ModelState(cl_context) cloudlog.warning("models loaded, dmonitoringmodeld starting") cloudlog.warning("connecting to driver stream") - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True) + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context) while not vipc_client.connect(False): time.sleep(0.1) assert vipc_client.is_connected() diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 6f3c481ea2..846bb8d2c3 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -7,6 +7,7 @@ if USBGPU: os.environ['DEV'] = 'AMD' os.environ['AMD_IFACE'] = 'USB' from tinygrad.tensor import Tensor +from tinygrad.dtype import dtypes import time import pickle import numpy as np @@ -21,13 +22,14 @@ from openpilot.common.params import Params from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.common.transformations.model import get_warp_matrix from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan from openpilot.selfdrive.modeld.parse_model_outputs import Parser from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState from openpilot.selfdrive.modeld.constants import ModelConstants, Plan +from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext +from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address PROCESS_NAME = "selfdrive.modeld.modeld" @@ -37,15 +39,11 @@ VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl' POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl' VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl' POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl' -MODELS_DIR = Path(__file__).parent / 'models' LAT_SMOOTH_SECONDS = 0.0 LONG_SMOOTH_SECONDS = 0.3 MIN_LAT_CONTROL_SPEED = 0.3 -IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256) -assert IMG_QUEUE_SHAPE[0] == 30 - def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action: @@ -138,11 +136,12 @@ class InputQueues: return out class ModelState: + frames: dict[str, DrivingModelFrame] inputs: dict[str, np.ndarray] output: np.ndarray prev_desire: np.ndarray # for tracking the rising edge of the pulse - def __init__(self): + def __init__(self, context: CLContext): with open(VISION_METADATA_PATH, 'rb') as f: vision_metadata = pickle.load(f) self.vision_input_shapes = vision_metadata['input_shapes'] @@ -156,6 +155,7 @@ class ModelState: self.policy_output_slices = policy_metadata['output_slices'] policy_output_size = policy_metadata['output_shapes']['outputs'][1] + self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names} self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) # policy inputs @@ -165,17 +165,12 @@ class ModelState: self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape}) self.full_input_queues.reset() - self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(), - 'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),} - self.full_frames : dict[str, Tensor] = {} - self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues} - self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()} + # img buffers are managed in openCL transform code + self.vision_inputs: dict[str, Tensor] = {} self.vision_output = np.zeros(vision_output_size, dtype=np.float32) self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()} self.policy_output = np.zeros(policy_output_size, dtype=np.float32) self.parser = Parser() - self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {} - self.update_imgs = None with open(VISION_PKL_PATH, "rb") as f: self.vision_run = pickle.load(f) @@ -193,28 +188,23 @@ class ModelState: inputs['desire_pulse'][0] = 0 new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0) self.prev_desire[:] = inputs['desire_pulse'] - if self.update_imgs is None: - for key in bufs.keys(): - w, h = bufs[key].width, bufs[key].height - self.frame_buf_params[key] = get_nv12_info(w, h) - warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl' - with open(warp_path, "rb") as f: - self.update_imgs = pickle.load(f) + imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names} - for key in bufs.keys(): - self.full_frames[key] = Tensor.from_blob(bufs[key].data.ctypes.data, (self.frame_buf_params[key][3],), dtype='uint8').realize() - self.transforms_np[key][:,:] = transforms[key][:,:] - - out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'], - self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img']) - self.img_queues['img'], self.img_queues['big_img'], = out[0].realize(), out[2].realize() - vision_inputs = {'img': out[1], 'big_img': out[3]} + if TICI and not USBGPU: + # The imgs tensors are backed by opencl memory, only need init once + for key in imgs_cl: + if key not in self.vision_inputs: + self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8) + else: + for key in imgs_cl: + frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key]) + self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize() if prepare_only: return None - self.vision_output = self.vision_run(**vision_inputs).numpy().flatten() + self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy() vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices)) self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire}) @@ -224,6 +214,7 @@ class ModelState: self.policy_output = self.policy_run(**self.policy_inputs).numpy().flatten() policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices)) + combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict} if SEND_RAW_PRED: combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()]) @@ -240,8 +231,10 @@ def main(demo=False): config_realtime_process(7, 54) st = time.monotonic() - cloudlog.warning("loading model") - model = ModelState() + cloudlog.warning("setting up CL context") + cl_context = CLContext() + cloudlog.warning("CL context ready; loading model") + model = ModelState(cl_context) cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting") # visionipc clients @@ -254,8 +247,8 @@ def main(demo=False): time.sleep(.1) vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD - vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True) - vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False) + vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) + vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") while not vipc_client_main.connect(False): diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc new file mode 100644 index 0000000000..d3341e76ec --- /dev/null +++ b/selfdrive/modeld/models/commonmodel.cc @@ -0,0 +1,64 @@ +#include "selfdrive/modeld/models/commonmodel.h" + +#include +#include + +#include "common/clutil.h" + +DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) { + input_frames = std::make_unique(buf_size); + temporal_skip = _temporal_skip; + input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); + img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err)); + region.origin = temporal_skip * frame_size_bytes; + region.size = frame_size_bytes; + last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); + + loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT); + init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); +} + +cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { + run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); + + for (int i = 0; i < temporal_skip; i++) { + CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); + } + loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); + + copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes); + copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes); + + // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready. + clFinish(q); + return &input_frames_cl; +} + +DrivingModelFrame::~DrivingModelFrame() { + deinit_transform(); + loadyuv_destroy(&loadyuv); + CL_CHECK(clReleaseMemObject(input_frames_cl)); + CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl)); + CL_CHECK(clReleaseMemObject(last_img_cl)); + CL_CHECK(clReleaseCommandQueue(q)); +} + + +MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) { + input_frames = std::make_unique(buf_size); + input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err)); + + init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT); +} + +cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { + run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection); + clFinish(q); + return &y_cl; +} + +MonitoringModelFrame::~MonitoringModelFrame() { + deinit_transform(); + CL_CHECK(clReleaseMemObject(input_frame_cl)); + CL_CHECK(clReleaseCommandQueue(q)); +} diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h new file mode 100644 index 0000000000..176d7eb6dc --- /dev/null +++ b/selfdrive/modeld/models/commonmodel.h @@ -0,0 +1,97 @@ +#pragma once + +#include +#include +#include + +#include + +#define CL_USE_DEPRECATED_OPENCL_1_2_APIS +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include "common/mat.h" +#include "selfdrive/modeld/transforms/loadyuv.h" +#include "selfdrive/modeld/transforms/transform.h" + +class ModelFrame { +public: + ModelFrame(cl_device_id device_id, cl_context context) { + q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); + } + virtual ~ModelFrame() {} + virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; } + uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) { + CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr)); + clFinish(q); + return &input_frames[0]; + } + + int MODEL_WIDTH; + int MODEL_HEIGHT; + int MODEL_FRAME_SIZE; + int buf_size; + +protected: + cl_mem y_cl, u_cl, v_cl; + Transform transform; + cl_command_queue q; + std::unique_ptr input_frames; + + void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) { + y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err)); + u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err)); + v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err)); + transform_init(&transform, context, device_id); + } + + void deinit_transform() { + transform_destroy(&transform); + CL_CHECK(clReleaseMemObject(v_cl)); + CL_CHECK(clReleaseMemObject(u_cl)); + CL_CHECK(clReleaseMemObject(y_cl)); + } + + void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { + transform_queue(&transform, q, + yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, + y_cl, u_cl, v_cl, model_width, model_height, projection); + } +}; + +class DrivingModelFrame : public ModelFrame { +public: + DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip); + ~DrivingModelFrame(); + cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); + + const int MODEL_WIDTH = 512; + const int MODEL_HEIGHT = 256; + const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; + const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart + const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); + +private: + LoadYUVState loadyuv; + cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl; + cl_buffer_region region; + int temporal_skip; +}; + +class MonitoringModelFrame : public ModelFrame { +public: + MonitoringModelFrame(cl_device_id device_id, cl_context context); + ~MonitoringModelFrame(); + cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection); + + const int MODEL_WIDTH = 1440; + const int MODEL_HEIGHT = 960; + const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT; + const int buf_size = MODEL_FRAME_SIZE; + +private: + cl_mem input_frame_cl; +}; diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd new file mode 100644 index 0000000000..4ac64d9172 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel.pxd @@ -0,0 +1,27 @@ +# distutils: language = c++ + +from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem + +cdef extern from "common/mat.h": + cdef struct mat3: + float v[9] + +cdef extern from "common/clutil.h": + cdef unsigned long CL_DEVICE_TYPE_DEFAULT + cl_device_id cl_get_device_id(unsigned long) + cl_context cl_create_context(cl_device_id) + void cl_release_context(cl_context) + +cdef extern from "selfdrive/modeld/models/commonmodel.h": + cppclass ModelFrame: + int buf_size + unsigned char * buffer_from_cl(cl_mem*, int); + cl_mem * prepare(cl_mem, int, int, int, int, mat3) + + cppclass DrivingModelFrame: + int buf_size + DrivingModelFrame(cl_device_id, cl_context, int) + + cppclass MonitoringModelFrame: + int buf_size + MonitoringModelFrame(cl_device_id, cl_context) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd new file mode 100644 index 0000000000..0bb798625b --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.pxd @@ -0,0 +1,13 @@ +# distutils: language = c++ + +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + +cdef class CLContext(BaseCLContext): + pass + +cdef class CLMem: + cdef cl_mem * mem + + @staticmethod + cdef create(void*) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx new file mode 100644 index 0000000000..5b7d11bc71 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -0,0 +1,74 @@ +# distutils: language = c++ +# cython: c_string_encoding=ascii, language_level=3 + +import numpy as np +cimport numpy as cnp +from libc.string cimport memcpy +from libc.stdint cimport uintptr_t + +from msgq.visionipc.visionipc cimport cl_mem +from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext +from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context +from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame + + +cdef class CLContext(BaseCLContext): + def __cinit__(self): + self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT) + self.context = cl_create_context(self.device_id) + + def __dealloc__(self): + if self.context: + cl_release_context(self.context) + +cdef class CLMem: + @staticmethod + cdef create(void * cmem): + mem = CLMem() + mem.mem = cmem + return mem + + @property + def mem_address(self): + return (self.mem) + +def cl_from_visionbuf(VisionBuf buf): + return CLMem.create(&buf.buf.buf_cl) + + +cdef class ModelFrame: + cdef cppModelFrame * frame + cdef int buf_size + + def __dealloc__(self): + del self.frame + + def prepare(self, VisionBuf buf, float[:] projection): + cdef mat3 cprojection + memcpy(cprojection.v, &projection[0], 9*sizeof(float)) + cdef cl_mem * data + data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection) + return CLMem.create(data) + + def buffer_from_cl(self, CLMem in_frames): + cdef unsigned char * data2 + data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size) + return np.asarray( data2) + + +cdef class DrivingModelFrame(ModelFrame): + cdef cppDrivingModelFrame * _frame + + def __cinit__(self, CLContext context, int temporal_skip): + self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip) + self.frame = (self._frame) + self.buf_size = self._frame.buf_size + +cdef class MonitoringModelFrame(ModelFrame): + cdef cppMonitoringModelFrame * _frame + + def __cinit__(self, CLContext context): + self._frame = new cppMonitoringModelFrame(context.device_id, context.context) + self.frame = (self._frame) + self.buf_size = self._frame.buf_size + diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py new file mode 100644 index 0000000000..776381341c --- /dev/null +++ b/selfdrive/modeld/runners/tinygrad_helpers.py @@ -0,0 +1,8 @@ + +from tinygrad.tensor import Tensor +from tinygrad.helpers import to_mv + +def qcom_tensor_from_opencl_address(opencl_address, shape, dtype): + cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0] + rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer. + return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM') diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc new file mode 100644 index 0000000000..c93f5cd038 --- /dev/null +++ b/selfdrive/modeld/transforms/loadyuv.cc @@ -0,0 +1,76 @@ +#include "selfdrive/modeld/transforms/loadyuv.h" + +#include +#include +#include + +void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) { + memset(s, 0, sizeof(*s)); + + s->width = width; + s->height = height; + + char args[1024]; + snprintf(args, sizeof(args), + "-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, LOADYUV_PATH, args); + + s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err)); + s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err)); + s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err)); + + // done with this + CL_CHECK(clReleaseProgram(prg)); +} + +void loadyuv_destroy(LoadYUVState* s) { + CL_CHECK(clReleaseKernel(s->loadys_krnl)); + CL_CHECK(clReleaseKernel(s->loaduv_krnl)); + CL_CHECK(clReleaseKernel(s->copy_krnl)); +} + +void loadyuv_queue(LoadYUVState* s, cl_command_queue q, + cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, + cl_mem out_cl) { + cl_int global_out_off = 0; + + CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl)); + CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl)); + CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off)); + + const size_t loadys_work_size = (s->width*s->height)/8; + CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL, + &loadys_work_size, NULL, 0, 0, NULL)); + + const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8; + global_out_off += (s->width*s->height); + + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl)); + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); + + CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, + &loaduv_work_size, NULL, 0, 0, NULL)); + + global_out_off += (s->width/2)*(s->height/2); + + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl)); + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); + CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); + + CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, + &loaduv_work_size, NULL, 0, 0, NULL)); +} + +void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, + size_t src_offset, size_t dst_offset, size_t size) { + CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset)); + CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset)); + const size_t copy_work_size = size/8; + CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, + ©_work_size, NULL, 0, 0, NULL)); +} \ No newline at end of file diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl new file mode 100644 index 0000000000..970187a6d7 --- /dev/null +++ b/selfdrive/modeld/transforms/loadyuv.cl @@ -0,0 +1,47 @@ +#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2)) + +__kernel void loadys(__global uchar8 const * const Y, + __global uchar * out, + int out_offset) +{ + const int gid = get_global_id(0); + const int ois = gid * 8; + const int oy = ois / TRANSFORMED_WIDTH; + const int ox = ois % TRANSFORMED_WIDTH; + + const uchar8 ys = Y[gid]; + + // 02 + // 13 + + __global uchar* outy0; + __global uchar* outy1; + if ((oy & 1) == 0) { + outy0 = out + out_offset; //y0 + outy1 = out + out_offset + UV_SIZE*2; //y2 + } else { + outy0 = out + out_offset + UV_SIZE; //y1 + outy1 = out + out_offset + UV_SIZE*3; //y3 + } + + vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); + vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2); +} + +__kernel void loaduv(__global uchar8 const * const in, + __global uchar8 * out, + int out_offset) +{ + const int gid = get_global_id(0); + const uchar8 inv = in[gid]; + out[gid + out_offset / 8] = inv; +} + +__kernel void copy(__global uchar8 * in, + __global uchar8 * out, + int in_offset, + int out_offset) +{ + const int gid = get_global_id(0); + out[gid + out_offset / 8] = in[gid + in_offset / 8]; +} diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h new file mode 100644 index 0000000000..659059cd25 --- /dev/null +++ b/selfdrive/modeld/transforms/loadyuv.h @@ -0,0 +1,20 @@ +#pragma once + +#include "common/clutil.h" + +typedef struct { + int width, height; + cl_kernel loadys_krnl, loaduv_krnl, copy_krnl; +} LoadYUVState; + +void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height); + +void loadyuv_destroy(LoadYUVState* s); + +void loadyuv_queue(LoadYUVState* s, cl_command_queue q, + cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, + cl_mem out_cl); + + +void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, + size_t src_offset, size_t dst_offset, size_t size); \ No newline at end of file diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc new file mode 100644 index 0000000000..305643cf42 --- /dev/null +++ b/selfdrive/modeld/transforms/transform.cc @@ -0,0 +1,97 @@ +#include "selfdrive/modeld/transforms/transform.h" + +#include +#include + +#include "common/clutil.h" + +void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) { + memset(s, 0, sizeof(*s)); + + cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, ""); + 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)); +} + +void transform_destroy(Transform* s) { + CL_CHECK(clReleaseMemObject(s->m_y_cl)); + CL_CHECK(clReleaseMemObject(s->m_uv_cl)); + CL_CHECK(clReleaseKernel(s->krnl)); +} + +void transform_queue(Transform* s, + cl_command_queue q, + cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset, + cl_mem out_y, cl_mem out_u, cl_mem out_v, + int out_width, int out_height, + const mat3& projection) { + const int zero = 0; + + // sampled using pixel center origin + // (because that's how fastcv and opencv does it) + + mat3 projection_y = projection; + + // in and out uv is half the size of y. + mat3 projection_uv = transform_scale_buffer(projection, 0.5); + + CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL)); + CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL)); + + const int in_y_width = in_width; + const int in_y_height = in_height; + const int in_y_px_stride = 1; + const int in_uv_width = in_width/2; + const int in_uv_height = in_height/2; + const int in_uv_px_stride = 2; + const int in_u_offset = in_uv_offset; + const int in_v_offset = in_uv_offset + 1; + + const int out_y_width = out_width; + const int out_y_height = out_height; + const int out_uv_width = out_width/2; + const int out_uv_height = out_height/2; + + CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src + CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset + CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows + CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst + CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset + CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows + CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols + CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M + + const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height}; + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_y, NULL, 0, 0, NULL)); + + const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height}; + + CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset + CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows + CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst + CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride + CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset + CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows + CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols + CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); + CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset + CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst + + CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, + (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); +} diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl new file mode 100644 index 0000000000..2ca25920cd --- /dev/null +++ b/selfdrive/modeld/transforms/transform.cl @@ -0,0 +1,54 @@ +#define INTER_BITS 5 +#define INTER_TAB_SIZE (1 << INTER_BITS) +#define INTER_SCALE 1.f / INTER_TAB_SIZE + +#define INTER_REMAP_COEF_BITS 15 +#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS) + +__kernel void warpPerspective(__global const uchar * src, + int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols, + __global uchar * dst, + int dst_row_stride, int dst_offset, int dst_rows, int dst_cols, + __constant float * M) +{ + int dx = get_global_id(0); + int dy = get_global_id(1); + + if (dx < dst_cols && dy < dst_rows) + { + float X0 = M[0] * dx + M[1] * dy + M[2]; + float Y0 = M[3] * dx + M[4] * dy + M[5]; + float W = M[6] * dx + M[7] * dy + M[8]; + W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f; + int X = rint(X0 * W), Y = rint(Y0 * W); + + int sx = convert_short_sat(X >> INTER_BITS); + int sy = convert_short_sat(Y >> INTER_BITS); + + short sx_clamp = clamp(sx, 0, src_cols - 1); + short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1); + short sy_clamp = clamp(sy, 0, src_rows - 1); + short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1); + int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + + short ay = (short)(Y & (INTER_TAB_SIZE - 1)); + short ax = (short)(X & (INTER_TAB_SIZE - 1)); + float taby = 1.f/INTER_TAB_SIZE*ay; + float tabx = 1.f/INTER_TAB_SIZE*ax; + + int dst_index = mad24(dy, dst_row_stride, dst_offset + dx); + + int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); + int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE ); + int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE ); + int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE ); + + int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3; + + uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS); + dst[dst_index] = pix; + } +} diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h new file mode 100644 index 0000000000..771a7054b3 --- /dev/null +++ b/selfdrive/modeld/transforms/transform.h @@ -0,0 +1,25 @@ +#pragma once + +#define CL_USE_DEPRECATED_OPENCL_1_2_APIS +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include "common/mat.h" + +typedef struct { + cl_kernel krnl; + cl_mem m_y_cl, m_uv_cl; +} Transform; + +void transform_init(Transform* s, cl_context ctx, cl_device_id device_id); + +void transform_destroy(Transform* transform); + +void transform_queue(Transform* s, cl_command_queue q, + cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset, + cl_mem out_y, cl_mem out_u, cl_mem out_v, + int out_width, int out_height, + const mat3& projection); diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 3f671f610d..d35474f373 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -34,8 +34,8 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN) EXEC_TIMINGS = [ # model, instant max, average max - ("modelV2", 0.05, 0.028), - ("driverStateV2", 0.05, 0.015), + ("modelV2", 0.035, 0.025), + ("driverStateV2", 0.02, 0.015), ] def get_log_fn(test_route, ref="master"): diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 5143334bc6..8af72e5f4e 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -4,7 +4,6 @@ import time import copy import heapq import signal -import numpy as np from collections import Counter from dataclasses import dataclass, field from itertools import islice @@ -24,7 +23,6 @@ from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout from openpilot.common.realtime import DT_CTRL -from openpilot.system.camerad.cameras.nv12_info import get_nv12_info from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams from openpilot.selfdrive.test.process_replay.migration import migrate_all @@ -205,8 +203,7 @@ class ProcessContainer: if meta.camera_state in self.cfg.vision_pubs: assert frs[meta.camera_state].pix_fmt == 'nv12' frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h) - stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1]) - vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height) + vipc_server.create_buffers(meta.stream, 2, *frame_size) vipc_server.start_listener() self.vipc_server = vipc_server @@ -303,15 +300,7 @@ class ProcessContainer: camera_meta = meta_from_camera_state(m.which()) assert frs is not None img = frs[m.which()].get(camera_state.frameId) - - h, w = frs[m.which()].h, frs[m.which()].w - stride, y_height, _, yuv_size = get_nv12_info(w, h) - uv_offset = stride * y_height - padded_img = np.zeros((yuv_size), dtype=np.uint8).reshape((-1, stride)) - padded_img[:h, :w] = img[:h * w].reshape((-1, w)) - padded_img[uv_offset // stride:uv_offset // stride + h // 2, :w] = img[h * w:].reshape((-1, w)) - - self.vipc_server.send(camera_meta.stream, padded_img.flatten().tobytes(), + self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(), camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof) self.msg_queue = [] diff --git a/system/camerad/SConscript b/system/camerad/SConscript index c28330b32c..e288c6d8b0 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -1,6 +1,6 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') -libs = [common, messaging, visionipc] +libs = [common, 'OpenCL', messaging, visionipc] if arch != "Darwin": camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc', diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 329192b63a..88bca7f775 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -7,7 +7,7 @@ #include "system/camerad/cameras/spectra.h" -void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { +void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { vipc_server = v; stream_type = type; frame_buf_count = frame_cnt; @@ -21,8 +21,9 @@ void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, Vis const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride; for (int i = 0; i < frame_buf_count; i++) { camera_bufs_raw[i].allocate(raw_frame_size); + camera_bufs_raw[i].init_cl(device_id, context); } - LOGD("allocated %d buffers", frame_buf_count); + LOGD("allocated %d CL buffers", frame_buf_count); } vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 7f35e06a83..c26859cbc4 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -36,7 +36,7 @@ public: CameraBuf() = default; ~CameraBuf(); - void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); + void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type); void sendFrameToVipc(); }; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 6a7f599ab6..d741e13cf3 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -12,8 +12,16 @@ #include #include +#ifdef __TICI__ +#include "CL/cl_ext_qcom.h" +#else +#define CL_PRIORITY_HINT_HIGH_QCOM NULL +#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL +#endif + #include "media/cam_sensor_cmn_header.h" +#include "common/clutil.h" #include "common/params.h" #include "common/swaglog.h" @@ -49,7 +57,7 @@ public: CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {}; ~CameraState(); - void init(VisionIpcServer *v); + void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); void set_camera_exposure(float grey_frac); void set_exposure_rect(); @@ -60,8 +68,8 @@ public: } }; -void CameraState::init(VisionIpcServer *v) { - camera.camera_open(v); +void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { + camera.camera_open(v, device_id, ctx); if (!camera.enabled) return; @@ -249,7 +257,11 @@ void CameraState::sendState() { void camerad_thread() { // TODO: centralize enabled handling - VisionIpcServer v("camerad"); + cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); + const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0}; + cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err)); + + VisionIpcServer v("camerad", device_id, ctx); // *** initial ISP init *** SpectraMaster m; @@ -259,7 +271,7 @@ void camerad_thread() { std::vector> cams; for (const auto &config : ALL_CAMERA_CONFIGS) { auto cam = std::make_unique(&m, config); - cam->init(&v); + cam->init(&v, device_id, ctx); cams.emplace_back(std::move(cam)); } diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc index 73e0a78da3..5c3e7a9d23 100644 --- a/system/camerad/cameras/spectra.cc +++ b/system/camerad/cameras/spectra.cc @@ -274,7 +274,7 @@ int SpectraCamera::clear_req_queue() { return ret; } -void SpectraCamera::camera_open(VisionIpcServer *v) { +void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) { if (!openSensor()) { return; } @@ -296,7 +296,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v) { linkDevices(); LOGD("camera init %d", cc.camera_num); - buf.init(this, v, ife_buf_depth, cc.stream_type); + buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type); camera_map_bufs(); clearAndRequeue(1); } diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h index a02b8a6cac..13cb13f98f 100644 --- a/system/camerad/cameras/spectra.h +++ b/system/camerad/cameras/spectra.h @@ -113,7 +113,7 @@ public: SpectraCamera(SpectraMaster *master, const CameraConfig &config); ~SpectraCamera(); - void camera_open(VisionIpcServer *v); + void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); bool handle_camera_event(const cam_req_mgr_message *event_data); void camera_close(); void camera_map_bufs(); diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index c4401c9583..a92e4c8de8 100644 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -32,7 +32,7 @@ class Proc: PROCS = [ Proc(['camerad'], 1.65, atol=0.4, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), - Proc(['modeld'], 1.5, atol=0.2, msgs=['modelV2']), + Proc(['modeld'], 1.24, atol=0.2, msgs=['modelV2']), Proc(['dmonitoringmodeld'], 0.65, atol=0.35, msgs=['driverStateV2']), Proc(['encoderd'], 0.23, msgs=[]), ] diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript index cc8ef7c88f..cf169f4dc6 100644 --- a/system/loggerd/SConscript +++ b/system/loggerd/SConscript @@ -2,13 +2,16 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc') libs = [common, messaging, visionipc, 'avformat', 'avcodec', 'avutil', - 'yuv', 'pthread', 'zstd'] + 'yuv', 'OpenCL', 'pthread', 'zstd'] src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc'] if arch != "larch64": src += ['encoder/ffmpeg_encoder.cc'] if arch == "Darwin": + # fix OpenCL + del libs[libs.index('OpenCL')] + env['FRAMEWORKS'] = ['OpenCL'] # exclude v4l del src[src.index('encoder/v4l_encoder.cc')] diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h new file mode 100644 index 0000000000..0086319f5f --- /dev/null +++ b/third_party/opencl/include/CL/cl.h @@ -0,0 +1,1452 @@ +/******************************************************************************* + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +#ifndef __OPENCL_CL_H +#define __OPENCL_CL_H + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +/******************************************************************************/ + +typedef struct _cl_platform_id * cl_platform_id; +typedef struct _cl_device_id * cl_device_id; +typedef struct _cl_context * cl_context; +typedef struct _cl_command_queue * cl_command_queue; +typedef struct _cl_mem * cl_mem; +typedef struct _cl_program * cl_program; +typedef struct _cl_kernel * cl_kernel; +typedef struct _cl_event * cl_event; +typedef struct _cl_sampler * cl_sampler; + +typedef cl_uint cl_bool; /* WARNING! Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */ +typedef cl_ulong cl_bitfield; +typedef cl_bitfield cl_device_type; +typedef cl_uint cl_platform_info; +typedef cl_uint cl_device_info; +typedef cl_bitfield cl_device_fp_config; +typedef cl_uint cl_device_mem_cache_type; +typedef cl_uint cl_device_local_mem_type; +typedef cl_bitfield cl_device_exec_capabilities; +typedef cl_bitfield cl_device_svm_capabilities; +typedef cl_bitfield cl_command_queue_properties; +typedef intptr_t cl_device_partition_property; +typedef cl_bitfield cl_device_affinity_domain; + +typedef intptr_t cl_context_properties; +typedef cl_uint cl_context_info; +typedef cl_bitfield cl_queue_properties; +typedef cl_uint cl_command_queue_info; +typedef cl_uint cl_channel_order; +typedef cl_uint cl_channel_type; +typedef cl_bitfield cl_mem_flags; +typedef cl_bitfield cl_svm_mem_flags; +typedef cl_uint cl_mem_object_type; +typedef cl_uint cl_mem_info; +typedef cl_bitfield cl_mem_migration_flags; +typedef cl_uint cl_image_info; +typedef cl_uint cl_buffer_create_type; +typedef cl_uint cl_addressing_mode; +typedef cl_uint cl_filter_mode; +typedef cl_uint cl_sampler_info; +typedef cl_bitfield cl_map_flags; +typedef intptr_t cl_pipe_properties; +typedef cl_uint cl_pipe_info; +typedef cl_uint cl_program_info; +typedef cl_uint cl_program_build_info; +typedef cl_uint cl_program_binary_type; +typedef cl_int cl_build_status; +typedef cl_uint cl_kernel_info; +typedef cl_uint cl_kernel_arg_info; +typedef cl_uint cl_kernel_arg_address_qualifier; +typedef cl_uint cl_kernel_arg_access_qualifier; +typedef cl_bitfield cl_kernel_arg_type_qualifier; +typedef cl_uint cl_kernel_work_group_info; +typedef cl_uint cl_kernel_sub_group_info; +typedef cl_uint cl_event_info; +typedef cl_uint cl_command_type; +typedef cl_uint cl_profiling_info; +typedef cl_bitfield cl_sampler_properties; +typedef cl_uint cl_kernel_exec_info; + +typedef struct _cl_image_format { + cl_channel_order image_channel_order; + cl_channel_type image_channel_data_type; +} cl_image_format; + +typedef struct _cl_image_desc { + cl_mem_object_type image_type; + size_t image_width; + size_t image_height; + size_t image_depth; + size_t image_array_size; + size_t image_row_pitch; + size_t image_slice_pitch; + cl_uint num_mip_levels; + cl_uint num_samples; +#ifdef __GNUC__ + __extension__ /* Prevents warnings about anonymous union in -pedantic builds */ +#endif + union { + cl_mem buffer; + cl_mem mem_object; + }; +} cl_image_desc; + +typedef struct _cl_buffer_region { + size_t origin; + size_t size; +} cl_buffer_region; + + +/******************************************************************************/ + +/* Error Codes */ +#define CL_SUCCESS 0 +#define CL_DEVICE_NOT_FOUND -1 +#define CL_DEVICE_NOT_AVAILABLE -2 +#define CL_COMPILER_NOT_AVAILABLE -3 +#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4 +#define CL_OUT_OF_RESOURCES -5 +#define CL_OUT_OF_HOST_MEMORY -6 +#define CL_PROFILING_INFO_NOT_AVAILABLE -7 +#define CL_MEM_COPY_OVERLAP -8 +#define CL_IMAGE_FORMAT_MISMATCH -9 +#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10 +#define CL_BUILD_PROGRAM_FAILURE -11 +#define CL_MAP_FAILURE -12 +#define CL_MISALIGNED_SUB_BUFFER_OFFSET -13 +#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14 +#define CL_COMPILE_PROGRAM_FAILURE -15 +#define CL_LINKER_NOT_AVAILABLE -16 +#define CL_LINK_PROGRAM_FAILURE -17 +#define CL_DEVICE_PARTITION_FAILED -18 +#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE -19 + +#define CL_INVALID_VALUE -30 +#define CL_INVALID_DEVICE_TYPE -31 +#define CL_INVALID_PLATFORM -32 +#define CL_INVALID_DEVICE -33 +#define CL_INVALID_CONTEXT -34 +#define CL_INVALID_QUEUE_PROPERTIES -35 +#define CL_INVALID_COMMAND_QUEUE -36 +#define CL_INVALID_HOST_PTR -37 +#define CL_INVALID_MEM_OBJECT -38 +#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39 +#define CL_INVALID_IMAGE_SIZE -40 +#define CL_INVALID_SAMPLER -41 +#define CL_INVALID_BINARY -42 +#define CL_INVALID_BUILD_OPTIONS -43 +#define CL_INVALID_PROGRAM -44 +#define CL_INVALID_PROGRAM_EXECUTABLE -45 +#define CL_INVALID_KERNEL_NAME -46 +#define CL_INVALID_KERNEL_DEFINITION -47 +#define CL_INVALID_KERNEL -48 +#define CL_INVALID_ARG_INDEX -49 +#define CL_INVALID_ARG_VALUE -50 +#define CL_INVALID_ARG_SIZE -51 +#define CL_INVALID_KERNEL_ARGS -52 +#define CL_INVALID_WORK_DIMENSION -53 +#define CL_INVALID_WORK_GROUP_SIZE -54 +#define CL_INVALID_WORK_ITEM_SIZE -55 +#define CL_INVALID_GLOBAL_OFFSET -56 +#define CL_INVALID_EVENT_WAIT_LIST -57 +#define CL_INVALID_EVENT -58 +#define CL_INVALID_OPERATION -59 +#define CL_INVALID_GL_OBJECT -60 +#define CL_INVALID_BUFFER_SIZE -61 +#define CL_INVALID_MIP_LEVEL -62 +#define CL_INVALID_GLOBAL_WORK_SIZE -63 +#define CL_INVALID_PROPERTY -64 +#define CL_INVALID_IMAGE_DESCRIPTOR -65 +#define CL_INVALID_COMPILER_OPTIONS -66 +#define CL_INVALID_LINKER_OPTIONS -67 +#define CL_INVALID_DEVICE_PARTITION_COUNT -68 +#define CL_INVALID_PIPE_SIZE -69 +#define CL_INVALID_DEVICE_QUEUE -70 + +/* OpenCL Version */ +#define CL_VERSION_1_0 1 +#define CL_VERSION_1_1 1 +#define CL_VERSION_1_2 1 +#define CL_VERSION_2_0 1 +#define CL_VERSION_2_1 1 + +/* cl_bool */ +#define CL_FALSE 0 +#define CL_TRUE 1 +#define CL_BLOCKING CL_TRUE +#define CL_NON_BLOCKING CL_FALSE + +/* cl_platform_info */ +#define CL_PLATFORM_PROFILE 0x0900 +#define CL_PLATFORM_VERSION 0x0901 +#define CL_PLATFORM_NAME 0x0902 +#define CL_PLATFORM_VENDOR 0x0903 +#define CL_PLATFORM_EXTENSIONS 0x0904 +#define CL_PLATFORM_HOST_TIMER_RESOLUTION 0x0905 + +/* cl_device_type - bitfield */ +#define CL_DEVICE_TYPE_DEFAULT (1 << 0) +#define CL_DEVICE_TYPE_CPU (1 << 1) +#define CL_DEVICE_TYPE_GPU (1 << 2) +#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3) +#define CL_DEVICE_TYPE_CUSTOM (1 << 4) +#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF + +/* cl_device_info */ +#define CL_DEVICE_TYPE 0x1000 +#define CL_DEVICE_VENDOR_ID 0x1001 +#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002 +#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003 +#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004 +#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009 +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B +#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C +#define CL_DEVICE_ADDRESS_BITS 0x100D +#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E +#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F +#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010 +#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011 +#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012 +#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013 +#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014 +#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015 +#define CL_DEVICE_IMAGE_SUPPORT 0x1016 +#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017 +#define CL_DEVICE_MAX_SAMPLERS 0x1018 +#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019 +#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A +#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B +#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C +#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D +#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E +#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F +#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020 +#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021 +#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022 +#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023 +#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024 +#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025 +#define CL_DEVICE_ENDIAN_LITTLE 0x1026 +#define CL_DEVICE_AVAILABLE 0x1027 +#define CL_DEVICE_COMPILER_AVAILABLE 0x1028 +#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029 +#define CL_DEVICE_QUEUE_PROPERTIES 0x102A /* deprecated */ +#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES 0x102A +#define CL_DEVICE_NAME 0x102B +#define CL_DEVICE_VENDOR 0x102C +#define CL_DRIVER_VERSION 0x102D +#define CL_DEVICE_PROFILE 0x102E +#define CL_DEVICE_VERSION 0x102F +#define CL_DEVICE_EXTENSIONS 0x1030 +#define CL_DEVICE_PLATFORM 0x1031 +#define CL_DEVICE_DOUBLE_FP_CONFIG 0x1032 +/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */ +#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF 0x1034 +#define CL_DEVICE_HOST_UNIFIED_MEMORY 0x1035 /* deprecated */ +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR 0x1036 +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT 0x1037 +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT 0x1038 +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG 0x1039 +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT 0x103A +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE 0x103B +#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF 0x103C +#define CL_DEVICE_OPENCL_C_VERSION 0x103D +#define CL_DEVICE_LINKER_AVAILABLE 0x103E +#define CL_DEVICE_BUILT_IN_KERNELS 0x103F +#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE 0x1040 +#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE 0x1041 +#define CL_DEVICE_PARENT_DEVICE 0x1042 +#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES 0x1043 +#define CL_DEVICE_PARTITION_PROPERTIES 0x1044 +#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN 0x1045 +#define CL_DEVICE_PARTITION_TYPE 0x1046 +#define CL_DEVICE_REFERENCE_COUNT 0x1047 +#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC 0x1048 +#define CL_DEVICE_PRINTF_BUFFER_SIZE 0x1049 +#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT 0x104A +#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT 0x104B +#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS 0x104C +#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE 0x104D +#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES 0x104E +#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE 0x104F +#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE 0x1050 +#define CL_DEVICE_MAX_ON_DEVICE_QUEUES 0x1051 +#define CL_DEVICE_MAX_ON_DEVICE_EVENTS 0x1052 +#define CL_DEVICE_SVM_CAPABILITIES 0x1053 +#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE 0x1054 +#define CL_DEVICE_MAX_PIPE_ARGS 0x1055 +#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS 0x1056 +#define CL_DEVICE_PIPE_MAX_PACKET_SIZE 0x1057 +#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT 0x1058 +#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT 0x1059 +#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT 0x105A +#define CL_DEVICE_IL_VERSION 0x105B +#define CL_DEVICE_MAX_NUM_SUB_GROUPS 0x105C +#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D + +/* cl_device_fp_config - bitfield */ +#define CL_FP_DENORM (1 << 0) +#define CL_FP_INF_NAN (1 << 1) +#define CL_FP_ROUND_TO_NEAREST (1 << 2) +#define CL_FP_ROUND_TO_ZERO (1 << 3) +#define CL_FP_ROUND_TO_INF (1 << 4) +#define CL_FP_FMA (1 << 5) +#define CL_FP_SOFT_FLOAT (1 << 6) +#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT (1 << 7) + +/* cl_device_mem_cache_type */ +#define CL_NONE 0x0 +#define CL_READ_ONLY_CACHE 0x1 +#define CL_READ_WRITE_CACHE 0x2 + +/* cl_device_local_mem_type */ +#define CL_LOCAL 0x1 +#define CL_GLOBAL 0x2 + +/* cl_device_exec_capabilities - bitfield */ +#define CL_EXEC_KERNEL (1 << 0) +#define CL_EXEC_NATIVE_KERNEL (1 << 1) + +/* cl_command_queue_properties - bitfield */ +#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0) +#define CL_QUEUE_PROFILING_ENABLE (1 << 1) +#define CL_QUEUE_ON_DEVICE (1 << 2) +#define CL_QUEUE_ON_DEVICE_DEFAULT (1 << 3) + +/* cl_context_info */ +#define CL_CONTEXT_REFERENCE_COUNT 0x1080 +#define CL_CONTEXT_DEVICES 0x1081 +#define CL_CONTEXT_PROPERTIES 0x1082 +#define CL_CONTEXT_NUM_DEVICES 0x1083 + +/* cl_context_properties */ +#define CL_CONTEXT_PLATFORM 0x1084 +#define CL_CONTEXT_INTEROP_USER_SYNC 0x1085 + +/* cl_device_partition_property */ +#define CL_DEVICE_PARTITION_EQUALLY 0x1086 +#define CL_DEVICE_PARTITION_BY_COUNTS 0x1087 +#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END 0x0 +#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN 0x1088 + +/* cl_device_affinity_domain */ +#define CL_DEVICE_AFFINITY_DOMAIN_NUMA (1 << 0) +#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE (1 << 1) +#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE (1 << 2) +#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE (1 << 3) +#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE (1 << 4) +#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5) + +/* cl_device_svm_capabilities */ +#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER (1 << 0) +#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER (1 << 1) +#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM (1 << 2) +#define CL_DEVICE_SVM_ATOMICS (1 << 3) + +/* cl_command_queue_info */ +#define CL_QUEUE_CONTEXT 0x1090 +#define CL_QUEUE_DEVICE 0x1091 +#define CL_QUEUE_REFERENCE_COUNT 0x1092 +#define CL_QUEUE_PROPERTIES 0x1093 +#define CL_QUEUE_SIZE 0x1094 +#define CL_QUEUE_DEVICE_DEFAULT 0x1095 + +/* cl_mem_flags and cl_svm_mem_flags - bitfield */ +#define CL_MEM_READ_WRITE (1 << 0) +#define CL_MEM_WRITE_ONLY (1 << 1) +#define CL_MEM_READ_ONLY (1 << 2) +#define CL_MEM_USE_HOST_PTR (1 << 3) +#define CL_MEM_ALLOC_HOST_PTR (1 << 4) +#define CL_MEM_COPY_HOST_PTR (1 << 5) +/* reserved (1 << 6) */ +#define CL_MEM_HOST_WRITE_ONLY (1 << 7) +#define CL_MEM_HOST_READ_ONLY (1 << 8) +#define CL_MEM_HOST_NO_ACCESS (1 << 9) +#define CL_MEM_SVM_FINE_GRAIN_BUFFER (1 << 10) /* used by cl_svm_mem_flags only */ +#define CL_MEM_SVM_ATOMICS (1 << 11) /* used by cl_svm_mem_flags only */ +#define CL_MEM_KERNEL_READ_AND_WRITE (1 << 12) + +/* cl_mem_migration_flags - bitfield */ +#define CL_MIGRATE_MEM_OBJECT_HOST (1 << 0) +#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED (1 << 1) + +/* cl_channel_order */ +#define CL_R 0x10B0 +#define CL_A 0x10B1 +#define CL_RG 0x10B2 +#define CL_RA 0x10B3 +#define CL_RGB 0x10B4 +#define CL_RGBA 0x10B5 +#define CL_BGRA 0x10B6 +#define CL_ARGB 0x10B7 +#define CL_INTENSITY 0x10B8 +#define CL_LUMINANCE 0x10B9 +#define CL_Rx 0x10BA +#define CL_RGx 0x10BB +#define CL_RGBx 0x10BC +#define CL_DEPTH 0x10BD +#define CL_DEPTH_STENCIL 0x10BE +#define CL_sRGB 0x10BF +#define CL_sRGBx 0x10C0 +#define CL_sRGBA 0x10C1 +#define CL_sBGRA 0x10C2 +#define CL_ABGR 0x10C3 + +/* cl_channel_type */ +#define CL_SNORM_INT8 0x10D0 +#define CL_SNORM_INT16 0x10D1 +#define CL_UNORM_INT8 0x10D2 +#define CL_UNORM_INT16 0x10D3 +#define CL_UNORM_SHORT_565 0x10D4 +#define CL_UNORM_SHORT_555 0x10D5 +#define CL_UNORM_INT_101010 0x10D6 +#define CL_SIGNED_INT8 0x10D7 +#define CL_SIGNED_INT16 0x10D8 +#define CL_SIGNED_INT32 0x10D9 +#define CL_UNSIGNED_INT8 0x10DA +#define CL_UNSIGNED_INT16 0x10DB +#define CL_UNSIGNED_INT32 0x10DC +#define CL_HALF_FLOAT 0x10DD +#define CL_FLOAT 0x10DE +#define CL_UNORM_INT24 0x10DF +#define CL_UNORM_INT_101010_2 0x10E0 + +/* cl_mem_object_type */ +#define CL_MEM_OBJECT_BUFFER 0x10F0 +#define CL_MEM_OBJECT_IMAGE2D 0x10F1 +#define CL_MEM_OBJECT_IMAGE3D 0x10F2 +#define CL_MEM_OBJECT_IMAGE2D_ARRAY 0x10F3 +#define CL_MEM_OBJECT_IMAGE1D 0x10F4 +#define CL_MEM_OBJECT_IMAGE1D_ARRAY 0x10F5 +#define CL_MEM_OBJECT_IMAGE1D_BUFFER 0x10F6 +#define CL_MEM_OBJECT_PIPE 0x10F7 + +/* cl_mem_info */ +#define CL_MEM_TYPE 0x1100 +#define CL_MEM_FLAGS 0x1101 +#define CL_MEM_SIZE 0x1102 +#define CL_MEM_HOST_PTR 0x1103 +#define CL_MEM_MAP_COUNT 0x1104 +#define CL_MEM_REFERENCE_COUNT 0x1105 +#define CL_MEM_CONTEXT 0x1106 +#define CL_MEM_ASSOCIATED_MEMOBJECT 0x1107 +#define CL_MEM_OFFSET 0x1108 +#define CL_MEM_USES_SVM_POINTER 0x1109 + +/* cl_image_info */ +#define CL_IMAGE_FORMAT 0x1110 +#define CL_IMAGE_ELEMENT_SIZE 0x1111 +#define CL_IMAGE_ROW_PITCH 0x1112 +#define CL_IMAGE_SLICE_PITCH 0x1113 +#define CL_IMAGE_WIDTH 0x1114 +#define CL_IMAGE_HEIGHT 0x1115 +#define CL_IMAGE_DEPTH 0x1116 +#define CL_IMAGE_ARRAY_SIZE 0x1117 +#define CL_IMAGE_BUFFER 0x1118 +#define CL_IMAGE_NUM_MIP_LEVELS 0x1119 +#define CL_IMAGE_NUM_SAMPLES 0x111A + +/* cl_pipe_info */ +#define CL_PIPE_PACKET_SIZE 0x1120 +#define CL_PIPE_MAX_PACKETS 0x1121 + +/* cl_addressing_mode */ +#define CL_ADDRESS_NONE 0x1130 +#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131 +#define CL_ADDRESS_CLAMP 0x1132 +#define CL_ADDRESS_REPEAT 0x1133 +#define CL_ADDRESS_MIRRORED_REPEAT 0x1134 + +/* cl_filter_mode */ +#define CL_FILTER_NEAREST 0x1140 +#define CL_FILTER_LINEAR 0x1141 + +/* cl_sampler_info */ +#define CL_SAMPLER_REFERENCE_COUNT 0x1150 +#define CL_SAMPLER_CONTEXT 0x1151 +#define CL_SAMPLER_NORMALIZED_COORDS 0x1152 +#define CL_SAMPLER_ADDRESSING_MODE 0x1153 +#define CL_SAMPLER_FILTER_MODE 0x1154 +#define CL_SAMPLER_MIP_FILTER_MODE 0x1155 +#define CL_SAMPLER_LOD_MIN 0x1156 +#define CL_SAMPLER_LOD_MAX 0x1157 + +/* cl_map_flags - bitfield */ +#define CL_MAP_READ (1 << 0) +#define CL_MAP_WRITE (1 << 1) +#define CL_MAP_WRITE_INVALIDATE_REGION (1 << 2) + +/* cl_program_info */ +#define CL_PROGRAM_REFERENCE_COUNT 0x1160 +#define CL_PROGRAM_CONTEXT 0x1161 +#define CL_PROGRAM_NUM_DEVICES 0x1162 +#define CL_PROGRAM_DEVICES 0x1163 +#define CL_PROGRAM_SOURCE 0x1164 +#define CL_PROGRAM_BINARY_SIZES 0x1165 +#define CL_PROGRAM_BINARIES 0x1166 +#define CL_PROGRAM_NUM_KERNELS 0x1167 +#define CL_PROGRAM_KERNEL_NAMES 0x1168 +#define CL_PROGRAM_IL 0x1169 + +/* cl_program_build_info */ +#define CL_PROGRAM_BUILD_STATUS 0x1181 +#define CL_PROGRAM_BUILD_OPTIONS 0x1182 +#define CL_PROGRAM_BUILD_LOG 0x1183 +#define CL_PROGRAM_BINARY_TYPE 0x1184 +#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185 + +/* cl_program_binary_type */ +#define CL_PROGRAM_BINARY_TYPE_NONE 0x0 +#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT 0x1 +#define CL_PROGRAM_BINARY_TYPE_LIBRARY 0x2 +#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE 0x4 + +/* cl_build_status */ +#define CL_BUILD_SUCCESS 0 +#define CL_BUILD_NONE -1 +#define CL_BUILD_ERROR -2 +#define CL_BUILD_IN_PROGRESS -3 + +/* cl_kernel_info */ +#define CL_KERNEL_FUNCTION_NAME 0x1190 +#define CL_KERNEL_NUM_ARGS 0x1191 +#define CL_KERNEL_REFERENCE_COUNT 0x1192 +#define CL_KERNEL_CONTEXT 0x1193 +#define CL_KERNEL_PROGRAM 0x1194 +#define CL_KERNEL_ATTRIBUTES 0x1195 +#define CL_KERNEL_MAX_NUM_SUB_GROUPS 0x11B9 +#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS 0x11BA + +/* cl_kernel_arg_info */ +#define CL_KERNEL_ARG_ADDRESS_QUALIFIER 0x1196 +#define CL_KERNEL_ARG_ACCESS_QUALIFIER 0x1197 +#define CL_KERNEL_ARG_TYPE_NAME 0x1198 +#define CL_KERNEL_ARG_TYPE_QUALIFIER 0x1199 +#define CL_KERNEL_ARG_NAME 0x119A + +/* cl_kernel_arg_address_qualifier */ +#define CL_KERNEL_ARG_ADDRESS_GLOBAL 0x119B +#define CL_KERNEL_ARG_ADDRESS_LOCAL 0x119C +#define CL_KERNEL_ARG_ADDRESS_CONSTANT 0x119D +#define CL_KERNEL_ARG_ADDRESS_PRIVATE 0x119E + +/* cl_kernel_arg_access_qualifier */ +#define CL_KERNEL_ARG_ACCESS_READ_ONLY 0x11A0 +#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY 0x11A1 +#define CL_KERNEL_ARG_ACCESS_READ_WRITE 0x11A2 +#define CL_KERNEL_ARG_ACCESS_NONE 0x11A3 + +/* cl_kernel_arg_type_qualifer */ +#define CL_KERNEL_ARG_TYPE_NONE 0 +#define CL_KERNEL_ARG_TYPE_CONST (1 << 0) +#define CL_KERNEL_ARG_TYPE_RESTRICT (1 << 1) +#define CL_KERNEL_ARG_TYPE_VOLATILE (1 << 2) +#define CL_KERNEL_ARG_TYPE_PIPE (1 << 3) + +/* cl_kernel_work_group_info */ +#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0 +#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1 +#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2 +#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3 +#define CL_KERNEL_PRIVATE_MEM_SIZE 0x11B4 +#define CL_KERNEL_GLOBAL_WORK_SIZE 0x11B5 + +/* cl_kernel_sub_group_info */ +#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE 0x2033 +#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE 0x2034 +#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT 0x11B8 + +/* cl_kernel_exec_info */ +#define CL_KERNEL_EXEC_INFO_SVM_PTRS 0x11B6 +#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM 0x11B7 + +/* cl_event_info */ +#define CL_EVENT_COMMAND_QUEUE 0x11D0 +#define CL_EVENT_COMMAND_TYPE 0x11D1 +#define CL_EVENT_REFERENCE_COUNT 0x11D2 +#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3 +#define CL_EVENT_CONTEXT 0x11D4 + +/* cl_command_type */ +#define CL_COMMAND_NDRANGE_KERNEL 0x11F0 +#define CL_COMMAND_TASK 0x11F1 +#define CL_COMMAND_NATIVE_KERNEL 0x11F2 +#define CL_COMMAND_READ_BUFFER 0x11F3 +#define CL_COMMAND_WRITE_BUFFER 0x11F4 +#define CL_COMMAND_COPY_BUFFER 0x11F5 +#define CL_COMMAND_READ_IMAGE 0x11F6 +#define CL_COMMAND_WRITE_IMAGE 0x11F7 +#define CL_COMMAND_COPY_IMAGE 0x11F8 +#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9 +#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA +#define CL_COMMAND_MAP_BUFFER 0x11FB +#define CL_COMMAND_MAP_IMAGE 0x11FC +#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD +#define CL_COMMAND_MARKER 0x11FE +#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x11FF +#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1200 +#define CL_COMMAND_READ_BUFFER_RECT 0x1201 +#define CL_COMMAND_WRITE_BUFFER_RECT 0x1202 +#define CL_COMMAND_COPY_BUFFER_RECT 0x1203 +#define CL_COMMAND_USER 0x1204 +#define CL_COMMAND_BARRIER 0x1205 +#define CL_COMMAND_MIGRATE_MEM_OBJECTS 0x1206 +#define CL_COMMAND_FILL_BUFFER 0x1207 +#define CL_COMMAND_FILL_IMAGE 0x1208 +#define CL_COMMAND_SVM_FREE 0x1209 +#define CL_COMMAND_SVM_MEMCPY 0x120A +#define CL_COMMAND_SVM_MEMFILL 0x120B +#define CL_COMMAND_SVM_MAP 0x120C +#define CL_COMMAND_SVM_UNMAP 0x120D + +/* command execution status */ +#define CL_COMPLETE 0x0 +#define CL_RUNNING 0x1 +#define CL_SUBMITTED 0x2 +#define CL_QUEUED 0x3 + +/* cl_buffer_create_type */ +#define CL_BUFFER_CREATE_TYPE_REGION 0x1220 + +/* cl_profiling_info */ +#define CL_PROFILING_COMMAND_QUEUED 0x1280 +#define CL_PROFILING_COMMAND_SUBMIT 0x1281 +#define CL_PROFILING_COMMAND_START 0x1282 +#define CL_PROFILING_COMMAND_END 0x1283 +#define CL_PROFILING_COMMAND_COMPLETE 0x1284 + +/********************************************************************************************************/ + +/* Platform API */ +extern CL_API_ENTRY cl_int CL_API_CALL +clGetPlatformIDs(cl_uint /* num_entries */, + cl_platform_id * /* platforms */, + cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetPlatformInfo(cl_platform_id /* platform */, + cl_platform_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Device APIs */ +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceIDs(cl_platform_id /* platform */, + cl_device_type /* device_type */, + cl_uint /* num_entries */, + cl_device_id * /* devices */, + cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceInfo(cl_device_id /* device */, + cl_device_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clCreateSubDevices(cl_device_id /* in_device */, + const cl_device_partition_property * /* properties */, + cl_uint /* num_devices */, + cl_device_id * /* out_devices */, + cl_uint * /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetDefaultDeviceCommandQueue(cl_context /* context */, + cl_device_id /* device */, + cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_2_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceAndHostTimer(cl_device_id /* device */, + cl_ulong* /* device_timestamp */, + cl_ulong* /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetHostTimer(cl_device_id /* device */, + cl_ulong * /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1; + + +/* Context APIs */ +extern CL_API_ENTRY cl_context CL_API_CALL +clCreateContext(const cl_context_properties * /* properties */, + cl_uint /* num_devices */, + const cl_device_id * /* devices */, + void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *), + void * /* user_data */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_context CL_API_CALL +clCreateContextFromType(const cl_context_properties * /* properties */, + cl_device_type /* device_type */, + void (CL_CALLBACK * /* pfn_notify*/ )(const char *, const void *, size_t, void *), + void * /* user_data */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetContextInfo(cl_context /* context */, + cl_context_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Command Queue APIs */ +extern CL_API_ENTRY cl_command_queue CL_API_CALL +clCreateCommandQueueWithProperties(cl_context /* context */, + cl_device_id /* device */, + const cl_queue_properties * /* properties */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetCommandQueueInfo(cl_command_queue /* command_queue */, + cl_command_queue_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Memory Object APIs */ +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateBuffer(cl_context /* context */, + cl_mem_flags /* flags */, + size_t /* size */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateSubBuffer(cl_mem /* buffer */, + cl_mem_flags /* flags */, + cl_buffer_create_type /* buffer_create_type */, + const void * /* buffer_create_info */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateImage(cl_context /* context */, + cl_mem_flags /* flags */, + const cl_image_format * /* image_format */, + const cl_image_desc * /* image_desc */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreatePipe(cl_context /* context */, + cl_mem_flags /* flags */, + cl_uint /* pipe_packet_size */, + cl_uint /* pipe_max_packets */, + const cl_pipe_properties * /* properties */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetSupportedImageFormats(cl_context /* context */, + cl_mem_flags /* flags */, + cl_mem_object_type /* image_type */, + cl_uint /* num_entries */, + cl_image_format * /* image_formats */, + cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetMemObjectInfo(cl_mem /* memobj */, + cl_mem_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetImageInfo(cl_mem /* image */, + cl_image_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetPipeInfo(cl_mem /* pipe */, + cl_pipe_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0; + + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetMemObjectDestructorCallback(cl_mem /* memobj */, + void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), + void * /*user_data */ ) CL_API_SUFFIX__VERSION_1_1; + +/* SVM Allocation APIs */ +extern CL_API_ENTRY void * CL_API_CALL +clSVMAlloc(cl_context /* context */, + cl_svm_mem_flags /* flags */, + size_t /* size */, + cl_uint /* alignment */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY void CL_API_CALL +clSVMFree(cl_context /* context */, + void * /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0; + +/* Sampler APIs */ +extern CL_API_ENTRY cl_sampler CL_API_CALL +clCreateSamplerWithProperties(cl_context /* context */, + const cl_sampler_properties * /* normalized_coords */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetSamplerInfo(cl_sampler /* sampler */, + cl_sampler_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Program Object APIs */ +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithSource(cl_context /* context */, + cl_uint /* count */, + const char ** /* strings */, + const size_t * /* lengths */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithBinary(cl_context /* context */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const size_t * /* lengths */, + const unsigned char ** /* binaries */, + cl_int * /* binary_status */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithBuiltInKernels(cl_context /* context */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* kernel_names */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_program CL_API_CALL +clCreateProgramWithIL(cl_context /* context */, + const void* /* il */, + size_t /* length */, + cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1; + + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clBuildProgram(cl_program /* program */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* options */, + void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), + void * /* user_data */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clCompileProgram(cl_program /* program */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* options */, + cl_uint /* num_input_headers */, + const cl_program * /* input_headers */, + const char ** /* header_include_names */, + void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), + void * /* user_data */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_program CL_API_CALL +clLinkProgram(cl_context /* context */, + cl_uint /* num_devices */, + const cl_device_id * /* device_list */, + const char * /* options */, + cl_uint /* num_input_programs */, + const cl_program * /* input_programs */, + void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */), + void * /* user_data */, + cl_int * /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2; + + +extern CL_API_ENTRY cl_int CL_API_CALL +clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetProgramInfo(cl_program /* program */, + cl_program_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetProgramBuildInfo(cl_program /* program */, + cl_device_id /* device */, + cl_program_build_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Kernel Object APIs */ +extern CL_API_ENTRY cl_kernel CL_API_CALL +clCreateKernel(cl_program /* program */, + const char * /* kernel_name */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clCreateKernelsInProgram(cl_program /* program */, + cl_uint /* num_kernels */, + cl_kernel * /* kernels */, + cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_kernel CL_API_CALL +clCloneKernel(cl_kernel /* source_kernel */, + cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetKernelArg(cl_kernel /* kernel */, + cl_uint /* arg_index */, + size_t /* arg_size */, + const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetKernelArgSVMPointer(cl_kernel /* kernel */, + cl_uint /* arg_index */, + const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetKernelExecInfo(cl_kernel /* kernel */, + cl_kernel_exec_info /* param_name */, + size_t /* param_value_size */, + const void * /* param_value */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelInfo(cl_kernel /* kernel */, + cl_kernel_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelArgInfo(cl_kernel /* kernel */, + cl_uint /* arg_indx */, + cl_kernel_arg_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelWorkGroupInfo(cl_kernel /* kernel */, + cl_device_id /* device */, + cl_kernel_work_group_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelSubGroupInfo(cl_kernel /* kernel */, + cl_device_id /* device */, + cl_kernel_sub_group_info /* param_name */, + size_t /* input_value_size */, + const void* /*input_value */, + size_t /* param_value_size */, + void* /* param_value */, + size_t* /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1; + + +/* Event Object APIs */ +extern CL_API_ENTRY cl_int CL_API_CALL +clWaitForEvents(cl_uint /* num_events */, + const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetEventInfo(cl_event /* event */, + cl_event_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_event CL_API_CALL +clCreateUserEvent(cl_context /* context */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetUserEventStatus(cl_event /* event */, + cl_int /* execution_status */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clSetEventCallback( cl_event /* event */, + cl_int /* command_exec_callback_type */, + void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *), + void * /* user_data */) CL_API_SUFFIX__VERSION_1_1; + +/* Profiling APIs */ +extern CL_API_ENTRY cl_int CL_API_CALL +clGetEventProfilingInfo(cl_event /* event */, + cl_profiling_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +/* Flush and Finish APIs */ +extern CL_API_ENTRY cl_int CL_API_CALL +clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0; + +/* Enqueued Commands APIs */ +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReadBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_read */, + size_t /* offset */, + size_t /* size */, + void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReadBufferRect(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_read */, + const size_t * /* buffer_offset */, + const size_t * /* host_offset */, + const size_t * /* region */, + size_t /* buffer_row_pitch */, + size_t /* buffer_slice_pitch */, + size_t /* host_row_pitch */, + size_t /* host_slice_pitch */, + void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWriteBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_write */, + size_t /* offset */, + size_t /* size */, + const void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWriteBufferRect(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_write */, + const size_t * /* buffer_offset */, + const size_t * /* host_offset */, + const size_t * /* region */, + size_t /* buffer_row_pitch */, + size_t /* buffer_slice_pitch */, + size_t /* host_row_pitch */, + size_t /* host_slice_pitch */, + const void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueFillBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + const void * /* pattern */, + size_t /* pattern_size */, + size_t /* offset */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyBuffer(cl_command_queue /* command_queue */, + cl_mem /* src_buffer */, + cl_mem /* dst_buffer */, + size_t /* src_offset */, + size_t /* dst_offset */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyBufferRect(cl_command_queue /* command_queue */, + cl_mem /* src_buffer */, + cl_mem /* dst_buffer */, + const size_t * /* src_origin */, + const size_t * /* dst_origin */, + const size_t * /* region */, + size_t /* src_row_pitch */, + size_t /* src_slice_pitch */, + size_t /* dst_row_pitch */, + size_t /* dst_slice_pitch */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReadImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_read */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t /* row_pitch */, + size_t /* slice_pitch */, + void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueWriteImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_write */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t /* input_row_pitch */, + size_t /* input_slice_pitch */, + const void * /* ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueFillImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + const void * /* fill_color */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyImage(cl_command_queue /* command_queue */, + cl_mem /* src_image */, + cl_mem /* dst_image */, + const size_t * /* src_origin[3] */, + const size_t * /* dst_origin[3] */, + const size_t * /* region[3] */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */, + cl_mem /* src_image */, + cl_mem /* dst_buffer */, + const size_t * /* src_origin[3] */, + const size_t * /* region[3] */, + size_t /* dst_offset */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */, + cl_mem /* src_buffer */, + cl_mem /* dst_image */, + size_t /* src_offset */, + const size_t * /* dst_origin[3] */, + const size_t * /* region[3] */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY void * CL_API_CALL +clEnqueueMapBuffer(cl_command_queue /* command_queue */, + cl_mem /* buffer */, + cl_bool /* blocking_map */, + cl_map_flags /* map_flags */, + size_t /* offset */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY void * CL_API_CALL +clEnqueueMapImage(cl_command_queue /* command_queue */, + cl_mem /* image */, + cl_bool /* blocking_map */, + cl_map_flags /* map_flags */, + const size_t * /* origin[3] */, + const size_t * /* region[3] */, + size_t * /* image_row_pitch */, + size_t * /* image_slice_pitch */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueUnmapMemObject(cl_command_queue /* command_queue */, + cl_mem /* memobj */, + void * /* mapped_ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueMigrateMemObjects(cl_command_queue /* command_queue */, + cl_uint /* num_mem_objects */, + const cl_mem * /* mem_objects */, + cl_mem_migration_flags /* flags */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueNDRangeKernel(cl_command_queue /* command_queue */, + cl_kernel /* kernel */, + cl_uint /* work_dim */, + const size_t * /* global_work_offset */, + const size_t * /* global_work_size */, + const size_t * /* local_work_size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueNativeKernel(cl_command_queue /* command_queue */, + void (CL_CALLBACK * /*user_func*/)(void *), + void * /* args */, + size_t /* cb_args */, + cl_uint /* num_mem_objects */, + const cl_mem * /* mem_list */, + const void ** /* args_mem_loc */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueMarkerWithWaitList(cl_command_queue /* command_queue */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueBarrierWithWaitList(cl_command_queue /* command_queue */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMFree(cl_command_queue /* command_queue */, + cl_uint /* num_svm_pointers */, + void *[] /* svm_pointers[] */, + void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */, + cl_uint /* num_svm_pointers */, + void *[] /* svm_pointers[] */, + void * /* user_data */), + void * /* user_data */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMMemcpy(cl_command_queue /* command_queue */, + cl_bool /* blocking_copy */, + void * /* dst_ptr */, + const void * /* src_ptr */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMMemFill(cl_command_queue /* command_queue */, + void * /* svm_ptr */, + const void * /* pattern */, + size_t /* pattern_size */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMMap(cl_command_queue /* command_queue */, + cl_bool /* blocking_map */, + cl_map_flags /* flags */, + void * /* svm_ptr */, + size_t /* size */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMUnmap(cl_command_queue /* command_queue */, + void * /* svm_ptr */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueSVMMigrateMem(cl_command_queue /* command_queue */, + cl_uint /* num_svm_pointers */, + const void ** /* svm_pointers */, + const size_t * /* sizes */, + cl_mem_migration_flags /* flags */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_2_1; + + +/* Extension function access + * + * Returns the extension function address for the given function name, + * or NULL if a valid function can not be found. The client must + * check to make sure the address is not NULL, before using or + * calling the returned function address. + */ +extern CL_API_ENTRY void * CL_API_CALL +clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */, + const char * /* func_name */) CL_API_SUFFIX__VERSION_1_2; + + +/* Deprecated OpenCL 1.1 APIs */ +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL +clCreateImage2D(cl_context /* context */, + cl_mem_flags /* flags */, + const cl_image_format * /* image_format */, + size_t /* image_width */, + size_t /* image_height */, + size_t /* image_row_pitch */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL +clCreateImage3D(cl_context /* context */, + cl_mem_flags /* flags */, + const cl_image_format * /* image_format */, + size_t /* image_width */, + size_t /* image_height */, + size_t /* image_depth */, + size_t /* image_row_pitch */, + size_t /* image_slice_pitch */, + void * /* host_ptr */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL +clEnqueueMarker(cl_command_queue /* command_queue */, + cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL +clEnqueueWaitForEvents(cl_command_queue /* command_queue */, + cl_uint /* num_events */, + const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL +clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL +clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL +clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +/* Deprecated OpenCL 2.0 APIs */ +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL +clCreateCommandQueue(cl_context /* context */, + cl_device_id /* device */, + cl_command_queue_properties /* properties */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; + + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL +clCreateSampler(cl_context /* context */, + cl_bool /* normalized_coords */, + cl_addressing_mode /* addressing_mode */, + cl_filter_mode /* filter_mode */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL +clEnqueueTask(cl_command_queue /* command_queue */, + cl_kernel /* kernel */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED; + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_H */ + diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h new file mode 100644 index 0000000000..d5960a43f7 --- /dev/null +++ b/third_party/opencl/include/CL/cl_d3d10.h @@ -0,0 +1,131 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ + +#ifndef __OPENCL_CL_D3D10_H +#define __OPENCL_CL_D3D10_H + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/****************************************************************************** + * cl_khr_d3d10_sharing */ +#define cl_khr_d3d10_sharing 1 + +typedef cl_uint cl_d3d10_device_source_khr; +typedef cl_uint cl_d3d10_device_set_khr; + +/******************************************************************************/ + +/* Error Codes */ +#define CL_INVALID_D3D10_DEVICE_KHR -1002 +#define CL_INVALID_D3D10_RESOURCE_KHR -1003 +#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR -1004 +#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR -1005 + +/* cl_d3d10_device_source_nv */ +#define CL_D3D10_DEVICE_KHR 0x4010 +#define CL_D3D10_DXGI_ADAPTER_KHR 0x4011 + +/* cl_d3d10_device_set_nv */ +#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR 0x4012 +#define CL_ALL_DEVICES_FOR_D3D10_KHR 0x4013 + +/* cl_context_info */ +#define CL_CONTEXT_D3D10_DEVICE_KHR 0x4014 +#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C + +/* cl_mem_info */ +#define CL_MEM_D3D10_RESOURCE_KHR 0x4015 + +/* cl_image_info */ +#define CL_IMAGE_D3D10_SUBRESOURCE_KHR 0x4016 + +/* cl_command_type */ +#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR 0x4017 +#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR 0x4018 + +/******************************************************************************/ + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)( + cl_platform_id platform, + cl_d3d10_device_source_khr d3d_device_source, + void * d3d_object, + cl_d3d10_device_set_khr d3d_device_set, + cl_uint num_entries, + cl_device_id * devices, + cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D10Buffer * resource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D10Texture2D * resource, + UINT subresource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D10Texture3D * resource, + UINT subresource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_0; + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_D3D10_H */ + diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h new file mode 100644 index 0000000000..39f9072398 --- /dev/null +++ b/third_party/opencl/include/CL/cl_d3d11.h @@ -0,0 +1,131 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ + +#ifndef __OPENCL_CL_D3D11_H +#define __OPENCL_CL_D3D11_H + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/****************************************************************************** + * cl_khr_d3d11_sharing */ +#define cl_khr_d3d11_sharing 1 + +typedef cl_uint cl_d3d11_device_source_khr; +typedef cl_uint cl_d3d11_device_set_khr; + +/******************************************************************************/ + +/* Error Codes */ +#define CL_INVALID_D3D11_DEVICE_KHR -1006 +#define CL_INVALID_D3D11_RESOURCE_KHR -1007 +#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR -1008 +#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR -1009 + +/* cl_d3d11_device_source */ +#define CL_D3D11_DEVICE_KHR 0x4019 +#define CL_D3D11_DXGI_ADAPTER_KHR 0x401A + +/* cl_d3d11_device_set */ +#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR 0x401B +#define CL_ALL_DEVICES_FOR_D3D11_KHR 0x401C + +/* cl_context_info */ +#define CL_CONTEXT_D3D11_DEVICE_KHR 0x401D +#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D + +/* cl_mem_info */ +#define CL_MEM_D3D11_RESOURCE_KHR 0x401E + +/* cl_image_info */ +#define CL_IMAGE_D3D11_SUBRESOURCE_KHR 0x401F + +/* cl_command_type */ +#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR 0x4020 +#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR 0x4021 + +/******************************************************************************/ + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)( + cl_platform_id platform, + cl_d3d11_device_source_khr d3d_device_source, + void * d3d_object, + cl_d3d11_device_set_khr d3d_device_set, + cl_uint num_entries, + cl_device_id * devices, + cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D11Buffer * resource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D11Texture2D * resource, + UINT subresource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)( + cl_context context, + cl_mem_flags flags, + ID3D11Texture3D * resource, + UINT subresource, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_2; + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_D3D11_H */ + diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h new file mode 100644 index 0000000000..2729e8b9e8 --- /dev/null +++ b/third_party/opencl/include/CL/cl_dx9_media_sharing.h @@ -0,0 +1,132 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ + +#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H +#define __OPENCL_CL_DX9_MEDIA_SHARING_H + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/******************************************************************************/ +/* cl_khr_dx9_media_sharing */ +#define cl_khr_dx9_media_sharing 1 + +typedef cl_uint cl_dx9_media_adapter_type_khr; +typedef cl_uint cl_dx9_media_adapter_set_khr; + +#if defined(_WIN32) +#include +typedef struct _cl_dx9_surface_info_khr +{ + IDirect3DSurface9 *resource; + HANDLE shared_handle; +} cl_dx9_surface_info_khr; +#endif + + +/******************************************************************************/ + +/* Error Codes */ +#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR -1010 +#define CL_INVALID_DX9_MEDIA_SURFACE_KHR -1011 +#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR -1012 +#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR -1013 + +/* cl_media_adapter_type_khr */ +#define CL_ADAPTER_D3D9_KHR 0x2020 +#define CL_ADAPTER_D3D9EX_KHR 0x2021 +#define CL_ADAPTER_DXVA_KHR 0x2022 + +/* cl_media_adapter_set_khr */ +#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2023 +#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2024 + +/* cl_context_info */ +#define CL_CONTEXT_ADAPTER_D3D9_KHR 0x2025 +#define CL_CONTEXT_ADAPTER_D3D9EX_KHR 0x2026 +#define CL_CONTEXT_ADAPTER_DXVA_KHR 0x2027 + +/* cl_mem_info */ +#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR 0x2028 +#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR 0x2029 + +/* cl_image_info */ +#define CL_IMAGE_DX9_MEDIA_PLANE_KHR 0x202A + +/* cl_command_type */ +#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR 0x202B +#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR 0x202C + +/******************************************************************************/ + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)( + cl_platform_id platform, + cl_uint num_media_adapters, + cl_dx9_media_adapter_type_khr * media_adapter_type, + void * media_adapters, + cl_dx9_media_adapter_set_khr media_adapter_set, + cl_uint num_entries, + cl_device_id * devices, + cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)( + cl_context context, + cl_mem_flags flags, + cl_dx9_media_adapter_type_khr adapter_type, + void * surface_info, + cl_uint plane, + cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event) CL_API_SUFFIX__VERSION_1_2; + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_DX9_MEDIA_SHARING_H */ + diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h new file mode 100644 index 0000000000..a765bd5266 --- /dev/null +++ b/third_party/opencl/include/CL/cl_egl.h @@ -0,0 +1,136 @@ +/******************************************************************************* + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +#ifndef __OPENCL_CL_EGL_H +#define __OPENCL_CL_EGL_H + +#ifdef __APPLE__ + +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + + +/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */ +#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR 0x202F +#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR 0x202D +#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR 0x202E + +/* Error type for clCreateFromEGLImageKHR */ +#define CL_INVALID_EGL_OBJECT_KHR -1093 +#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR -1092 + +/* CLeglImageKHR is an opaque handle to an EGLImage */ +typedef void* CLeglImageKHR; + +/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */ +typedef void* CLeglDisplayKHR; + +/* CLeglSyncKHR is an opaque handle to an EGLSync object */ +typedef void* CLeglSyncKHR; + +/* properties passed to clCreateFromEGLImageKHR */ +typedef intptr_t cl_egl_image_properties_khr; + + +#define cl_khr_egl_image 1 + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromEGLImageKHR(cl_context /* context */, + CLeglDisplayKHR /* egldisplay */, + CLeglImageKHR /* eglimage */, + cl_mem_flags /* flags */, + const cl_egl_image_properties_khr * /* properties */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)( + cl_context context, + CLeglDisplayKHR egldisplay, + CLeglImageKHR eglimage, + cl_mem_flags flags, + const cl_egl_image_properties_khr * properties, + cl_int * errcode_ret); + + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event); + + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)( + cl_command_queue command_queue, + cl_uint num_objects, + const cl_mem * mem_objects, + cl_uint num_events_in_wait_list, + const cl_event * event_wait_list, + cl_event * event); + + +#define cl_khr_egl_event 1 + +extern CL_API_ENTRY cl_event CL_API_CALL +clCreateEventFromEGLSyncKHR(cl_context /* context */, + CLeglSyncKHR /* sync */, + CLeglDisplayKHR /* display */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)( + cl_context context, + CLeglSyncKHR sync, + CLeglDisplayKHR display, + cl_int * errcode_ret); + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_EGL_H */ diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h new file mode 100644 index 0000000000..7941583895 --- /dev/null +++ b/third_party/opencl/include/CL/cl_ext.h @@ -0,0 +1,391 @@ +/******************************************************************************* + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */ + +/* cl_ext.h contains OpenCL extensions which don't have external */ +/* (OpenGL, D3D) dependencies. */ + +#ifndef __CL_EXT_H +#define __CL_EXT_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef __APPLE__ + #include + #include +#else + #include +#endif + +/* cl_khr_fp16 extension - no extension #define since it has no functions */ +#define CL_DEVICE_HALF_FP_CONFIG 0x1033 + +/* Memory object destruction + * + * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR + * + * Registers a user callback function that will be called when the memory object is deleted and its resources + * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback + * stack associated with memobj. The registered user callback functions are called in the reverse order in + * which they were registered. The user callback functions are called and then the memory object is deleted + * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be + * notified when the memory referenced by host_ptr, specified when the memory object is created and used as + * the storage bits for the memory object, can be reused or freed. + * + * The application may not call CL api's with the cl_mem object passed to the pfn_notify. + * + * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS) + * before using. + */ +#define cl_APPLE_SetMemObjectDestructor 1 +cl_int CL_API_ENTRY clSetMemObjectDestructorAPPLE( cl_mem /* memobj */, + void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/), + void * /*user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; + + +/* Context Logging Functions + * + * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext(). + * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS) + * before using. + * + * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger + */ +#define cl_APPLE_ContextLoggingFunctions 1 +extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE( const char * /* errstr */, + const void * /* private_info */, + size_t /* cb */, + void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; + +/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */ +extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE( const char * /* errstr */, + const void * /* private_info */, + size_t /* cb */, + void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; + +/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */ +extern void CL_API_ENTRY clLogMessagesToStderrAPPLE( const char * /* errstr */, + const void * /* private_info */, + size_t /* cb */, + void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0; + + +/************************ +* cl_khr_icd extension * +************************/ +#define cl_khr_icd 1 + +/* cl_platform_info */ +#define CL_PLATFORM_ICD_SUFFIX_KHR 0x0920 + +/* Additional Error Codes */ +#define CL_PLATFORM_NOT_FOUND_KHR -1001 + +extern CL_API_ENTRY cl_int CL_API_CALL +clIcdGetPlatformIDsKHR(cl_uint /* num_entries */, + cl_platform_id * /* platforms */, + cl_uint * /* num_platforms */); + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)( + cl_uint /* num_entries */, + cl_platform_id * /* platforms */, + cl_uint * /* num_platforms */); + + +/* Extension: cl_khr_image2D_buffer + * + * This extension allows a 2D image to be created from a cl_mem buffer without a copy. + * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t. + * Both the sampler and sampler-less read_image built-in functions are supported for 2D images + * and 2D images created from a buffer. Similarly, the write_image built-ins are also supported + * for 2D images created from a buffer. + * + * When the 2D image from buffer is created, the client must specify the width, + * height, image format (i.e. channel order and channel data type) and optionally the row pitch + * + * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels. + * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels. + */ + +/************************************* + * cl_khr_initalize_memory extension * + *************************************/ + +#define CL_CONTEXT_MEMORY_INITIALIZE_KHR 0x2030 + + +/************************************** + * cl_khr_terminate_context extension * + **************************************/ + +#define CL_DEVICE_TERMINATE_CAPABILITY_KHR 0x2031 +#define CL_CONTEXT_TERMINATE_KHR 0x2032 + +#define cl_khr_terminate_context 1 +extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2; + + +/* + * Extension: cl_khr_spir + * + * This extension adds support to create an OpenCL program object from a + * Standard Portable Intermediate Representation (SPIR) instance + */ + +#define CL_DEVICE_SPIR_VERSIONS 0x40E0 +#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE 0x40E1 + + +/****************************************** +* cl_nv_device_attribute_query extension * +******************************************/ +/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */ +#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV 0x4000 +#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV 0x4001 +#define CL_DEVICE_REGISTERS_PER_BLOCK_NV 0x4002 +#define CL_DEVICE_WARP_SIZE_NV 0x4003 +#define CL_DEVICE_GPU_OVERLAP_NV 0x4004 +#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV 0x4005 +#define CL_DEVICE_INTEGRATED_MEMORY_NV 0x4006 + +/********************************* +* cl_amd_device_attribute_query * +*********************************/ +#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD 0x4036 + +/********************************* +* cl_arm_printf extension +*********************************/ +#define CL_PRINTF_CALLBACK_ARM 0x40B0 +#define CL_PRINTF_BUFFERSIZE_ARM 0x40B1 + +#ifdef CL_VERSION_1_1 + /*********************************** + * cl_ext_device_fission extension * + ***********************************/ + #define cl_ext_device_fission 1 + + extern CL_API_ENTRY cl_int CL_API_CALL + clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + typedef CL_API_ENTRY cl_int + (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + extern CL_API_ENTRY cl_int CL_API_CALL + clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + typedef CL_API_ENTRY cl_int + (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + typedef cl_ulong cl_device_partition_property_ext; + extern CL_API_ENTRY cl_int CL_API_CALL + clCreateSubDevicesEXT( cl_device_id /*in_device*/, + const cl_device_partition_property_ext * /* properties */, + cl_uint /*num_entries*/, + cl_device_id * /*out_devices*/, + cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + typedef CL_API_ENTRY cl_int + ( CL_API_CALL * clCreateSubDevicesEXT_fn)( cl_device_id /*in_device*/, + const cl_device_partition_property_ext * /* properties */, + cl_uint /*num_entries*/, + cl_device_id * /*out_devices*/, + cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1; + + /* cl_device_partition_property_ext */ + #define CL_DEVICE_PARTITION_EQUALLY_EXT 0x4050 + #define CL_DEVICE_PARTITION_BY_COUNTS_EXT 0x4051 + #define CL_DEVICE_PARTITION_BY_NAMES_EXT 0x4052 + #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT 0x4053 + + /* clDeviceGetInfo selectors */ + #define CL_DEVICE_PARENT_DEVICE_EXT 0x4054 + #define CL_DEVICE_PARTITION_TYPES_EXT 0x4055 + #define CL_DEVICE_AFFINITY_DOMAINS_EXT 0x4056 + #define CL_DEVICE_REFERENCE_COUNT_EXT 0x4057 + #define CL_DEVICE_PARTITION_STYLE_EXT 0x4058 + + /* error codes */ + #define CL_DEVICE_PARTITION_FAILED_EXT -1057 + #define CL_INVALID_PARTITION_COUNT_EXT -1058 + #define CL_INVALID_PARTITION_NAME_EXT -1059 + + /* CL_AFFINITY_DOMAINs */ + #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT 0x1 + #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT 0x2 + #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT 0x3 + #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT 0x4 + #define CL_AFFINITY_DOMAIN_NUMA_EXT 0x10 + #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT 0x100 + + /* cl_device_partition_property_ext list terminators */ + #define CL_PROPERTIES_LIST_END_EXT ((cl_device_partition_property_ext) 0) + #define CL_PARTITION_BY_COUNTS_LIST_END_EXT ((cl_device_partition_property_ext) 0) + #define CL_PARTITION_BY_NAMES_LIST_END_EXT ((cl_device_partition_property_ext) 0 - 1) + +/********************************* +* cl_qcom_ext_host_ptr extension +*********************************/ + +#define CL_MEM_EXT_HOST_PTR_QCOM (1 << 29) + +#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM 0x40A0 +#define CL_DEVICE_PAGE_SIZE_QCOM 0x40A1 +#define CL_IMAGE_ROW_ALIGNMENT_QCOM 0x40A2 +#define CL_IMAGE_SLICE_ALIGNMENT_QCOM 0x40A3 +#define CL_MEM_HOST_UNCACHED_QCOM 0x40A4 +#define CL_MEM_HOST_WRITEBACK_QCOM 0x40A5 +#define CL_MEM_HOST_WRITETHROUGH_QCOM 0x40A6 +#define CL_MEM_HOST_WRITE_COMBINING_QCOM 0x40A7 + +typedef cl_uint cl_image_pitch_info_qcom; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetDeviceImageInfoQCOM(cl_device_id device, + size_t image_width, + size_t image_height, + const cl_image_format *image_format, + cl_image_pitch_info_qcom param_name, + size_t param_value_size, + void *param_value, + size_t *param_value_size_ret); + +typedef struct _cl_mem_ext_host_ptr +{ + /* Type of external memory allocation. */ + /* Legal values will be defined in layered extensions. */ + cl_uint allocation_type; + + /* Host cache policy for this external memory allocation. */ + cl_uint host_cache_policy; + +} cl_mem_ext_host_ptr; + +/********************************* +* cl_qcom_ion_host_ptr extension +*********************************/ + +#define CL_MEM_ION_HOST_PTR_QCOM 0x40A8 + +typedef struct _cl_mem_ion_host_ptr +{ + /* Type of external memory allocation. */ + /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */ + cl_mem_ext_host_ptr ext_host_ptr; + + /* ION file descriptor */ + int ion_filedesc; + + /* Host pointer to the ION allocated memory */ + void* ion_hostptr; + +} cl_mem_ion_host_ptr; + +#endif /* CL_VERSION_1_1 */ + + +#ifdef CL_VERSION_2_0 +/********************************* +* cl_khr_sub_groups extension +*********************************/ +#define cl_khr_sub_groups 1 + +typedef cl_uint cl_kernel_sub_group_info_khr; + +/* cl_khr_sub_group_info */ +#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR 0x2033 +#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR 0x2034 + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */, + cl_device_id /*in_device*/, + cl_kernel_sub_group_info_khr /* param_name */, + size_t /*input_value_size*/, + const void * /*input_value*/, + size_t /*param_value_size*/, + void* /*param_value*/, + size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED; + +typedef CL_API_ENTRY cl_int + ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */, + cl_device_id /*in_device*/, + cl_kernel_sub_group_info_khr /* param_name */, + size_t /*input_value_size*/, + const void * /*input_value*/, + size_t /*param_value_size*/, + void* /*param_value*/, + size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED; +#endif /* CL_VERSION_2_0 */ + +#ifdef CL_VERSION_2_1 +/********************************* +* cl_khr_priority_hints extension +*********************************/ +#define cl_khr_priority_hints 1 + +typedef cl_uint cl_queue_priority_khr; + +/* cl_command_queue_properties */ +#define CL_QUEUE_PRIORITY_KHR 0x1096 + +/* cl_queue_priority_khr */ +#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0) +#define CL_QUEUE_PRIORITY_MED_KHR (1<<1) +#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2) + +#endif /* CL_VERSION_2_1 */ + +#ifdef CL_VERSION_2_1 +/********************************* +* cl_khr_throttle_hints extension +*********************************/ +#define cl_khr_throttle_hints 1 + +typedef cl_uint cl_queue_throttle_khr; + +/* cl_command_queue_properties */ +#define CL_QUEUE_THROTTLE_KHR 0x1097 + +/* cl_queue_throttle_khr */ +#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0) +#define CL_QUEUE_THROTTLE_MED_KHR (1<<1) +#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2) + +#endif /* CL_VERSION_2_1 */ + +#ifdef __cplusplus +} +#endif + + +#endif /* __CL_EXT_H */ diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h new file mode 100644 index 0000000000..6328a1cd93 --- /dev/null +++ b/third_party/opencl/include/CL/cl_ext_qcom.h @@ -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 +#include +#include + +#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 */ diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h new file mode 100644 index 0000000000..945daa83d7 --- /dev/null +++ b/third_party/opencl/include/CL/cl_gl.h @@ -0,0 +1,167 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +#ifndef __OPENCL_CL_GL_H +#define __OPENCL_CL_GL_H + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +typedef cl_uint cl_gl_object_type; +typedef cl_uint cl_gl_texture_info; +typedef cl_uint cl_gl_platform_info; +typedef struct __GLsync *cl_GLsync; + +/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken */ +#define CL_GL_OBJECT_BUFFER 0x2000 +#define CL_GL_OBJECT_TEXTURE2D 0x2001 +#define CL_GL_OBJECT_TEXTURE3D 0x2002 +#define CL_GL_OBJECT_RENDERBUFFER 0x2003 +#define CL_GL_OBJECT_TEXTURE2D_ARRAY 0x200E +#define CL_GL_OBJECT_TEXTURE1D 0x200F +#define CL_GL_OBJECT_TEXTURE1D_ARRAY 0x2010 +#define CL_GL_OBJECT_TEXTURE_BUFFER 0x2011 + +/* cl_gl_texture_info */ +#define CL_GL_TEXTURE_TARGET 0x2004 +#define CL_GL_MIPMAP_LEVEL 0x2005 +#define CL_GL_NUM_SAMPLES 0x2012 + + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLBuffer(cl_context /* context */, + cl_mem_flags /* flags */, + cl_GLuint /* bufobj */, + int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLTexture(cl_context /* context */, + cl_mem_flags /* flags */, + cl_GLenum /* target */, + cl_GLint /* miplevel */, + cl_GLuint /* texture */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2; + +extern CL_API_ENTRY cl_mem CL_API_CALL +clCreateFromGLRenderbuffer(cl_context /* context */, + cl_mem_flags /* flags */, + cl_GLuint /* renderbuffer */, + cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetGLObjectInfo(cl_mem /* memobj */, + cl_gl_object_type * /* gl_object_type */, + cl_GLuint * /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetGLTextureInfo(cl_mem /* memobj */, + cl_gl_texture_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueAcquireGLObjects(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + +extern CL_API_ENTRY cl_int CL_API_CALL +clEnqueueReleaseGLObjects(cl_command_queue /* command_queue */, + cl_uint /* num_objects */, + const cl_mem * /* mem_objects */, + cl_uint /* num_events_in_wait_list */, + const cl_event * /* event_wait_list */, + cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0; + + +/* Deprecated OpenCL 1.1 APIs */ +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL +clCreateFromGLTexture2D(cl_context /* context */, + cl_mem_flags /* flags */, + cl_GLenum /* target */, + cl_GLint /* miplevel */, + cl_GLuint /* texture */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL +clCreateFromGLTexture3D(cl_context /* context */, + cl_mem_flags /* flags */, + cl_GLenum /* target */, + cl_GLint /* miplevel */, + cl_GLuint /* texture */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED; + +/* cl_khr_gl_sharing extension */ + +#define cl_khr_gl_sharing 1 + +typedef cl_uint cl_gl_context_info; + +/* Additional Error Codes */ +#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR -1000 + +/* cl_gl_context_info */ +#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR 0x2006 +#define CL_DEVICES_FOR_GL_CONTEXT_KHR 0x2007 + +/* Additional cl_context_properties */ +#define CL_GL_CONTEXT_KHR 0x2008 +#define CL_EGL_DISPLAY_KHR 0x2009 +#define CL_GLX_DISPLAY_KHR 0x200A +#define CL_WGL_HDC_KHR 0x200B +#define CL_CGL_SHAREGROUP_KHR 0x200C + +extern CL_API_ENTRY cl_int CL_API_CALL +clGetGLContextInfoKHR(const cl_context_properties * /* properties */, + cl_gl_context_info /* param_name */, + size_t /* param_value_size */, + void * /* param_value */, + size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0; + +typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)( + const cl_context_properties * properties, + cl_gl_context_info param_name, + size_t param_value_size, + void * param_value, + size_t * param_value_size_ret); + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_GL_H */ diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h new file mode 100644 index 0000000000..e3c14c6408 --- /dev/null +++ b/third_party/opencl/include/CL/cl_gl_ext.h @@ -0,0 +1,74 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ + +/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have */ +/* OpenGL dependencies. */ + +#ifndef __OPENCL_CL_GL_EXT_H +#define __OPENCL_CL_GL_EXT_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef __APPLE__ + #include +#else + #include +#endif + +/* + * For each extension, follow this template + * cl_VEN_extname extension */ +/* #define cl_VEN_extname 1 + * ... define new types, if any + * ... define new tokens, if any + * ... define new APIs, if any + * + * If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header + * This allows us to avoid having to decide whether to include GL headers or GLES here. + */ + +/* + * cl_khr_gl_event extension + * See section 9.9 in the OpenCL 1.1 spec for more information + */ +#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR 0x200D + +extern CL_API_ENTRY cl_event CL_API_CALL +clCreateEventFromGLsyncKHR(cl_context /* context */, + cl_GLsync /* cl_GLsync */, + cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1; + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_CL_GL_EXT_H */ diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h new file mode 100644 index 0000000000..4e334a2918 --- /dev/null +++ b/third_party/opencl/include/CL/cl_platform.h @@ -0,0 +1,1333 @@ +/********************************************************************************** + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + **********************************************************************************/ + +/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */ + +#ifndef __CL_PLATFORM_H +#define __CL_PLATFORM_H + +#ifdef __APPLE__ + /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */ + #include +#endif + +#ifdef __cplusplus +extern "C" { +#endif + +#if defined(_WIN32) + #define CL_API_ENTRY + #define CL_API_CALL __stdcall + #define CL_CALLBACK __stdcall +#else + #define CL_API_ENTRY + #define CL_API_CALL + #define CL_CALLBACK +#endif + +/* + * Deprecation flags refer to the last version of the header in which the + * feature was not deprecated. + * + * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without + * deprecation but is deprecated in versions later than 1.1. + */ + +#ifdef __APPLE__ + #define CL_EXTENSION_WEAK_LINK __attribute__((weak_import)) + #define CL_API_SUFFIX__VERSION_1_0 AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_0 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER + #define CL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define GCL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7 + + #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER + #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER + #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8 + #else + #warning This path should never happen outside of internal operating system development. AvailabilityMacros do not function correctly here! + #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER + #endif +#else + #define CL_EXTENSION_WEAK_LINK + #define CL_API_SUFFIX__VERSION_1_0 + #define CL_EXT_SUFFIX__VERSION_1_0 + #define CL_API_SUFFIX__VERSION_1_1 + #define CL_EXT_SUFFIX__VERSION_1_1 + #define CL_API_SUFFIX__VERSION_1_2 + #define CL_EXT_SUFFIX__VERSION_1_2 + #define CL_API_SUFFIX__VERSION_2_0 + #define CL_EXT_SUFFIX__VERSION_2_0 + #define CL_API_SUFFIX__VERSION_2_1 + #define CL_EXT_SUFFIX__VERSION_2_1 + + #ifdef __GNUC__ + #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated)) + #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated)) + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS + #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated)) + #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS + #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated)) + #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED + #endif + #elif _WIN32 + #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated) + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated) + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS + #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated) + #endif + + #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS + #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED + #else + #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated) + #endif + #else + #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED + + #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED + + #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED + #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED + + #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED + #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED + #endif +#endif + +#if (defined (_WIN32) && defined(_MSC_VER)) + +/* scalar types */ +typedef signed __int8 cl_char; +typedef unsigned __int8 cl_uchar; +typedef signed __int16 cl_short; +typedef unsigned __int16 cl_ushort; +typedef signed __int32 cl_int; +typedef unsigned __int32 cl_uint; +typedef signed __int64 cl_long; +typedef unsigned __int64 cl_ulong; + +typedef unsigned __int16 cl_half; +typedef float cl_float; +typedef double cl_double; + +/* Macro names and corresponding values defined by OpenCL */ +#define CL_CHAR_BIT 8 +#define CL_SCHAR_MAX 127 +#define CL_SCHAR_MIN (-127-1) +#define CL_CHAR_MAX CL_SCHAR_MAX +#define CL_CHAR_MIN CL_SCHAR_MIN +#define CL_UCHAR_MAX 255 +#define CL_SHRT_MAX 32767 +#define CL_SHRT_MIN (-32767-1) +#define CL_USHRT_MAX 65535 +#define CL_INT_MAX 2147483647 +#define CL_INT_MIN (-2147483647-1) +#define CL_UINT_MAX 0xffffffffU +#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) +#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) +#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) + +#define CL_FLT_DIG 6 +#define CL_FLT_MANT_DIG 24 +#define CL_FLT_MAX_10_EXP +38 +#define CL_FLT_MAX_EXP +128 +#define CL_FLT_MIN_10_EXP -37 +#define CL_FLT_MIN_EXP -125 +#define CL_FLT_RADIX 2 +#define CL_FLT_MAX 340282346638528859811704183484516925440.0f +#define CL_FLT_MIN 1.175494350822287507969e-38f +#define CL_FLT_EPSILON 0x1.0p-23f + +#define CL_DBL_DIG 15 +#define CL_DBL_MANT_DIG 53 +#define CL_DBL_MAX_10_EXP +308 +#define CL_DBL_MAX_EXP +1024 +#define CL_DBL_MIN_10_EXP -307 +#define CL_DBL_MIN_EXP -1021 +#define CL_DBL_RADIX 2 +#define CL_DBL_MAX 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0 +#define CL_DBL_MIN 2.225073858507201383090e-308 +#define CL_DBL_EPSILON 2.220446049250313080847e-16 + +#define CL_M_E 2.718281828459045090796 +#define CL_M_LOG2E 1.442695040888963387005 +#define CL_M_LOG10E 0.434294481903251816668 +#define CL_M_LN2 0.693147180559945286227 +#define CL_M_LN10 2.302585092994045901094 +#define CL_M_PI 3.141592653589793115998 +#define CL_M_PI_2 1.570796326794896557999 +#define CL_M_PI_4 0.785398163397448278999 +#define CL_M_1_PI 0.318309886183790691216 +#define CL_M_2_PI 0.636619772367581382433 +#define CL_M_2_SQRTPI 1.128379167095512558561 +#define CL_M_SQRT2 1.414213562373095145475 +#define CL_M_SQRT1_2 0.707106781186547572737 + +#define CL_M_E_F 2.71828174591064f +#define CL_M_LOG2E_F 1.44269502162933f +#define CL_M_LOG10E_F 0.43429449200630f +#define CL_M_LN2_F 0.69314718246460f +#define CL_M_LN10_F 2.30258512496948f +#define CL_M_PI_F 3.14159274101257f +#define CL_M_PI_2_F 1.57079637050629f +#define CL_M_PI_4_F 0.78539818525314f +#define CL_M_1_PI_F 0.31830987334251f +#define CL_M_2_PI_F 0.63661974668503f +#define CL_M_2_SQRTPI_F 1.12837922573090f +#define CL_M_SQRT2_F 1.41421353816986f +#define CL_M_SQRT1_2_F 0.70710676908493f + +#define CL_NAN (CL_INFINITY - CL_INFINITY) +#define CL_HUGE_VALF ((cl_float) 1e50) +#define CL_HUGE_VAL ((cl_double) 1e500) +#define CL_MAXFLOAT CL_FLT_MAX +#define CL_INFINITY CL_HUGE_VALF + +#else + +#include + +/* scalar types */ +typedef int8_t cl_char; +typedef uint8_t cl_uchar; +typedef int16_t cl_short __attribute__((aligned(2))); +typedef uint16_t cl_ushort __attribute__((aligned(2))); +typedef int32_t cl_int __attribute__((aligned(4))); +typedef uint32_t cl_uint __attribute__((aligned(4))); +typedef int64_t cl_long __attribute__((aligned(8))); +typedef uint64_t cl_ulong __attribute__((aligned(8))); + +typedef uint16_t cl_half __attribute__((aligned(2))); +typedef float cl_float __attribute__((aligned(4))); +typedef double cl_double __attribute__((aligned(8))); + +/* Macro names and corresponding values defined by OpenCL */ +#define CL_CHAR_BIT 8 +#define CL_SCHAR_MAX 127 +#define CL_SCHAR_MIN (-127-1) +#define CL_CHAR_MAX CL_SCHAR_MAX +#define CL_CHAR_MIN CL_SCHAR_MIN +#define CL_UCHAR_MAX 255 +#define CL_SHRT_MAX 32767 +#define CL_SHRT_MIN (-32767-1) +#define CL_USHRT_MAX 65535 +#define CL_INT_MAX 2147483647 +#define CL_INT_MIN (-2147483647-1) +#define CL_UINT_MAX 0xffffffffU +#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL) +#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL) +#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL) + +#define CL_FLT_DIG 6 +#define CL_FLT_MANT_DIG 24 +#define CL_FLT_MAX_10_EXP +38 +#define CL_FLT_MAX_EXP +128 +#define CL_FLT_MIN_10_EXP -37 +#define CL_FLT_MIN_EXP -125 +#define CL_FLT_RADIX 2 +#define CL_FLT_MAX 0x1.fffffep127f +#define CL_FLT_MIN 0x1.0p-126f +#define CL_FLT_EPSILON 0x1.0p-23f + +#define CL_DBL_DIG 15 +#define CL_DBL_MANT_DIG 53 +#define CL_DBL_MAX_10_EXP +308 +#define CL_DBL_MAX_EXP +1024 +#define CL_DBL_MIN_10_EXP -307 +#define CL_DBL_MIN_EXP -1021 +#define CL_DBL_RADIX 2 +#define CL_DBL_MAX 0x1.fffffffffffffp1023 +#define CL_DBL_MIN 0x1.0p-1022 +#define CL_DBL_EPSILON 0x1.0p-52 + +#define CL_M_E 2.718281828459045090796 +#define CL_M_LOG2E 1.442695040888963387005 +#define CL_M_LOG10E 0.434294481903251816668 +#define CL_M_LN2 0.693147180559945286227 +#define CL_M_LN10 2.302585092994045901094 +#define CL_M_PI 3.141592653589793115998 +#define CL_M_PI_2 1.570796326794896557999 +#define CL_M_PI_4 0.785398163397448278999 +#define CL_M_1_PI 0.318309886183790691216 +#define CL_M_2_PI 0.636619772367581382433 +#define CL_M_2_SQRTPI 1.128379167095512558561 +#define CL_M_SQRT2 1.414213562373095145475 +#define CL_M_SQRT1_2 0.707106781186547572737 + +#define CL_M_E_F 2.71828174591064f +#define CL_M_LOG2E_F 1.44269502162933f +#define CL_M_LOG10E_F 0.43429449200630f +#define CL_M_LN2_F 0.69314718246460f +#define CL_M_LN10_F 2.30258512496948f +#define CL_M_PI_F 3.14159274101257f +#define CL_M_PI_2_F 1.57079637050629f +#define CL_M_PI_4_F 0.78539818525314f +#define CL_M_1_PI_F 0.31830987334251f +#define CL_M_2_PI_F 0.63661974668503f +#define CL_M_2_SQRTPI_F 1.12837922573090f +#define CL_M_SQRT2_F 1.41421353816986f +#define CL_M_SQRT1_2_F 0.70710676908493f + +#if defined( __GNUC__ ) + #define CL_HUGE_VALF __builtin_huge_valf() + #define CL_HUGE_VAL __builtin_huge_val() + #define CL_NAN __builtin_nanf( "" ) +#else + #define CL_HUGE_VALF ((cl_float) 1e50) + #define CL_HUGE_VAL ((cl_double) 1e500) + float nanf( const char * ); + #define CL_NAN nanf( "" ) +#endif +#define CL_MAXFLOAT CL_FLT_MAX +#define CL_INFINITY CL_HUGE_VALF + +#endif + +#include + +/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */ +typedef unsigned int cl_GLuint; +typedef int cl_GLint; +typedef unsigned int cl_GLenum; + +/* + * Vector types + * + * Note: OpenCL requires that all types be naturally aligned. + * This means that vector types must be naturally aligned. + * For example, a vector of four floats must be aligned to + * a 16 byte boundary (calculated as 4 * the natural 4-byte + * alignment of the float). The alignment qualifiers here + * will only function properly if your compiler supports them + * and if you don't actively work to defeat them. For example, + * in order for a cl_float4 to be 16 byte aligned in a struct, + * the start of the struct must itself be 16-byte aligned. + * + * Maintaining proper alignment is the user's responsibility. + */ + +/* Define basic vector types */ +#if defined( __VEC__ ) + #include /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */ + typedef vector unsigned char __cl_uchar16; + typedef vector signed char __cl_char16; + typedef vector unsigned short __cl_ushort8; + typedef vector signed short __cl_short8; + typedef vector unsigned int __cl_uint4; + typedef vector signed int __cl_int4; + typedef vector float __cl_float4; + #define __CL_UCHAR16__ 1 + #define __CL_CHAR16__ 1 + #define __CL_USHORT8__ 1 + #define __CL_SHORT8__ 1 + #define __CL_UINT4__ 1 + #define __CL_INT4__ 1 + #define __CL_FLOAT4__ 1 +#endif + +#if defined( __SSE__ ) + #if defined( __MINGW64__ ) + #include + #else + #include + #endif + #if defined( __GNUC__ ) + typedef float __cl_float4 __attribute__((vector_size(16))); + #else + typedef __m128 __cl_float4; + #endif + #define __CL_FLOAT4__ 1 +#endif + +#if defined( __SSE2__ ) + #if defined( __MINGW64__ ) + #include + #else + #include + #endif + #if defined( __GNUC__ ) + typedef cl_uchar __cl_uchar16 __attribute__((vector_size(16))); + typedef cl_char __cl_char16 __attribute__((vector_size(16))); + typedef cl_ushort __cl_ushort8 __attribute__((vector_size(16))); + typedef cl_short __cl_short8 __attribute__((vector_size(16))); + typedef cl_uint __cl_uint4 __attribute__((vector_size(16))); + typedef cl_int __cl_int4 __attribute__((vector_size(16))); + typedef cl_ulong __cl_ulong2 __attribute__((vector_size(16))); + typedef cl_long __cl_long2 __attribute__((vector_size(16))); + typedef cl_double __cl_double2 __attribute__((vector_size(16))); + #else + typedef __m128i __cl_uchar16; + typedef __m128i __cl_char16; + typedef __m128i __cl_ushort8; + typedef __m128i __cl_short8; + typedef __m128i __cl_uint4; + typedef __m128i __cl_int4; + typedef __m128i __cl_ulong2; + typedef __m128i __cl_long2; + typedef __m128d __cl_double2; + #endif + #define __CL_UCHAR16__ 1 + #define __CL_CHAR16__ 1 + #define __CL_USHORT8__ 1 + #define __CL_SHORT8__ 1 + #define __CL_INT4__ 1 + #define __CL_UINT4__ 1 + #define __CL_ULONG2__ 1 + #define __CL_LONG2__ 1 + #define __CL_DOUBLE2__ 1 +#endif + +#if defined( __MMX__ ) + #include + #if defined( __GNUC__ ) + typedef cl_uchar __cl_uchar8 __attribute__((vector_size(8))); + typedef cl_char __cl_char8 __attribute__((vector_size(8))); + typedef cl_ushort __cl_ushort4 __attribute__((vector_size(8))); + typedef cl_short __cl_short4 __attribute__((vector_size(8))); + typedef cl_uint __cl_uint2 __attribute__((vector_size(8))); + typedef cl_int __cl_int2 __attribute__((vector_size(8))); + typedef cl_ulong __cl_ulong1 __attribute__((vector_size(8))); + typedef cl_long __cl_long1 __attribute__((vector_size(8))); + typedef cl_float __cl_float2 __attribute__((vector_size(8))); + #else + typedef __m64 __cl_uchar8; + typedef __m64 __cl_char8; + typedef __m64 __cl_ushort4; + typedef __m64 __cl_short4; + typedef __m64 __cl_uint2; + typedef __m64 __cl_int2; + typedef __m64 __cl_ulong1; + typedef __m64 __cl_long1; + typedef __m64 __cl_float2; + #endif + #define __CL_UCHAR8__ 1 + #define __CL_CHAR8__ 1 + #define __CL_USHORT4__ 1 + #define __CL_SHORT4__ 1 + #define __CL_INT2__ 1 + #define __CL_UINT2__ 1 + #define __CL_ULONG1__ 1 + #define __CL_LONG1__ 1 + #define __CL_FLOAT2__ 1 +#endif + +#if defined( __AVX__ ) + #if defined( __MINGW64__ ) + #include + #else + #include + #endif + #if defined( __GNUC__ ) + typedef cl_float __cl_float8 __attribute__((vector_size(32))); + typedef cl_double __cl_double4 __attribute__((vector_size(32))); + #else + typedef __m256 __cl_float8; + typedef __m256d __cl_double4; + #endif + #define __CL_FLOAT8__ 1 + #define __CL_DOUBLE4__ 1 +#endif + +/* Define capabilities for anonymous struct members. */ +#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ ) +#define __CL_HAS_ANON_STRUCT__ 1 +#define __CL_ANON_STRUCT__ __extension__ +#elif defined( _WIN32) && (_MSC_VER >= 1500) + /* Microsoft Developer Studio 2008 supports anonymous structs, but + * complains by default. */ +#define __CL_HAS_ANON_STRUCT__ 1 +#define __CL_ANON_STRUCT__ + /* Disable warning C4201: nonstandard extension used : nameless + * struct/union */ +#pragma warning( push ) +#pragma warning( disable : 4201 ) +#else +#define __CL_HAS_ANON_STRUCT__ 0 +#define __CL_ANON_STRUCT__ +#endif + +/* Define alignment keys */ +#if defined( __GNUC__ ) + #define CL_ALIGNED(_x) __attribute__ ((aligned(_x))) +#elif defined( _WIN32) && (_MSC_VER) + /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements */ + /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx */ + /* #include */ + /* #define CL_ALIGNED(_x) _CRT_ALIGN(_x) */ + #define CL_ALIGNED(_x) +#else + #warning Need to implement some method to align data here + #define CL_ALIGNED(_x) +#endif + +/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */ +#if __CL_HAS_ANON_STRUCT__ + /* .xyzw and .s0123...{f|F} are supported */ + #define CL_HAS_NAMED_VECTOR_FIELDS 1 + /* .hi and .lo are supported */ + #define CL_HAS_HI_LO_VECTOR_FIELDS 1 +#endif + +/* Define cl_vector types */ + +/* ---- cl_charn ---- */ +typedef union +{ + cl_char CL_ALIGNED(2) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_char x, y; }; + __CL_ANON_STRUCT__ struct{ cl_char s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_char lo, hi; }; +#endif +#if defined( __CL_CHAR2__) + __cl_char2 v2; +#endif +}cl_char2; + +typedef union +{ + cl_char CL_ALIGNED(4) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; }; +#endif +#if defined( __CL_CHAR2__) + __cl_char2 v2[2]; +#endif +#if defined( __CL_CHAR4__) + __cl_char4 v4; +#endif +}cl_char4; + +/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */ +typedef cl_char4 cl_char3; + +typedef union +{ + cl_char CL_ALIGNED(8) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; }; +#endif +#if defined( __CL_CHAR2__) + __cl_char2 v2[4]; +#endif +#if defined( __CL_CHAR4__) + __cl_char4 v4[2]; +#endif +#if defined( __CL_CHAR8__ ) + __cl_char8 v8; +#endif +}cl_char8; + +typedef union +{ + cl_char CL_ALIGNED(16) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; }; +#endif +#if defined( __CL_CHAR2__) + __cl_char2 v2[8]; +#endif +#if defined( __CL_CHAR4__) + __cl_char4 v4[4]; +#endif +#if defined( __CL_CHAR8__ ) + __cl_char8 v8[2]; +#endif +#if defined( __CL_CHAR16__ ) + __cl_char16 v16; +#endif +}cl_char16; + + +/* ---- cl_ucharn ---- */ +typedef union +{ + cl_uchar CL_ALIGNED(2) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uchar x, y; }; + __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_uchar lo, hi; }; +#endif +#if defined( __cl_uchar2__) + __cl_uchar2 v2; +#endif +}cl_uchar2; + +typedef union +{ + cl_uchar CL_ALIGNED(4) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; }; +#endif +#if defined( __CL_UCHAR2__) + __cl_uchar2 v2[2]; +#endif +#if defined( __CL_UCHAR4__) + __cl_uchar4 v4; +#endif +}cl_uchar4; + +/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */ +typedef cl_uchar4 cl_uchar3; + +typedef union +{ + cl_uchar CL_ALIGNED(8) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; }; +#endif +#if defined( __CL_UCHAR2__) + __cl_uchar2 v2[4]; +#endif +#if defined( __CL_UCHAR4__) + __cl_uchar4 v4[2]; +#endif +#if defined( __CL_UCHAR8__ ) + __cl_uchar8 v8; +#endif +}cl_uchar8; + +typedef union +{ + cl_uchar CL_ALIGNED(16) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; }; +#endif +#if defined( __CL_UCHAR2__) + __cl_uchar2 v2[8]; +#endif +#if defined( __CL_UCHAR4__) + __cl_uchar4 v4[4]; +#endif +#if defined( __CL_UCHAR8__ ) + __cl_uchar8 v8[2]; +#endif +#if defined( __CL_UCHAR16__ ) + __cl_uchar16 v16; +#endif +}cl_uchar16; + + +/* ---- cl_shortn ---- */ +typedef union +{ + cl_short CL_ALIGNED(4) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_short x, y; }; + __CL_ANON_STRUCT__ struct{ cl_short s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_short lo, hi; }; +#endif +#if defined( __CL_SHORT2__) + __cl_short2 v2; +#endif +}cl_short2; + +typedef union +{ + cl_short CL_ALIGNED(8) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; }; +#endif +#if defined( __CL_SHORT2__) + __cl_short2 v2[2]; +#endif +#if defined( __CL_SHORT4__) + __cl_short4 v4; +#endif +}cl_short4; + +/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */ +typedef cl_short4 cl_short3; + +typedef union +{ + cl_short CL_ALIGNED(16) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; }; +#endif +#if defined( __CL_SHORT2__) + __cl_short2 v2[4]; +#endif +#if defined( __CL_SHORT4__) + __cl_short4 v4[2]; +#endif +#if defined( __CL_SHORT8__ ) + __cl_short8 v8; +#endif +}cl_short8; + +typedef union +{ + cl_short CL_ALIGNED(32) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; }; +#endif +#if defined( __CL_SHORT2__) + __cl_short2 v2[8]; +#endif +#if defined( __CL_SHORT4__) + __cl_short4 v4[4]; +#endif +#if defined( __CL_SHORT8__ ) + __cl_short8 v8[2]; +#endif +#if defined( __CL_SHORT16__ ) + __cl_short16 v16; +#endif +}cl_short16; + + +/* ---- cl_ushortn ---- */ +typedef union +{ + cl_ushort CL_ALIGNED(4) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ushort x, y; }; + __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_ushort lo, hi; }; +#endif +#if defined( __CL_USHORT2__) + __cl_ushort2 v2; +#endif +}cl_ushort2; + +typedef union +{ + cl_ushort CL_ALIGNED(8) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; }; +#endif +#if defined( __CL_USHORT2__) + __cl_ushort2 v2[2]; +#endif +#if defined( __CL_USHORT4__) + __cl_ushort4 v4; +#endif +}cl_ushort4; + +/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */ +typedef cl_ushort4 cl_ushort3; + +typedef union +{ + cl_ushort CL_ALIGNED(16) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; }; +#endif +#if defined( __CL_USHORT2__) + __cl_ushort2 v2[4]; +#endif +#if defined( __CL_USHORT4__) + __cl_ushort4 v4[2]; +#endif +#if defined( __CL_USHORT8__ ) + __cl_ushort8 v8; +#endif +}cl_ushort8; + +typedef union +{ + cl_ushort CL_ALIGNED(32) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; }; +#endif +#if defined( __CL_USHORT2__) + __cl_ushort2 v2[8]; +#endif +#if defined( __CL_USHORT4__) + __cl_ushort4 v4[4]; +#endif +#if defined( __CL_USHORT8__ ) + __cl_ushort8 v8[2]; +#endif +#if defined( __CL_USHORT16__ ) + __cl_ushort16 v16; +#endif +}cl_ushort16; + +/* ---- cl_intn ---- */ +typedef union +{ + cl_int CL_ALIGNED(8) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_int x, y; }; + __CL_ANON_STRUCT__ struct{ cl_int s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_int lo, hi; }; +#endif +#if defined( __CL_INT2__) + __cl_int2 v2; +#endif +}cl_int2; + +typedef union +{ + cl_int CL_ALIGNED(16) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; }; +#endif +#if defined( __CL_INT2__) + __cl_int2 v2[2]; +#endif +#if defined( __CL_INT4__) + __cl_int4 v4; +#endif +}cl_int4; + +/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */ +typedef cl_int4 cl_int3; + +typedef union +{ + cl_int CL_ALIGNED(32) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; }; +#endif +#if defined( __CL_INT2__) + __cl_int2 v2[4]; +#endif +#if defined( __CL_INT4__) + __cl_int4 v4[2]; +#endif +#if defined( __CL_INT8__ ) + __cl_int8 v8; +#endif +}cl_int8; + +typedef union +{ + cl_int CL_ALIGNED(64) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; }; +#endif +#if defined( __CL_INT2__) + __cl_int2 v2[8]; +#endif +#if defined( __CL_INT4__) + __cl_int4 v4[4]; +#endif +#if defined( __CL_INT8__ ) + __cl_int8 v8[2]; +#endif +#if defined( __CL_INT16__ ) + __cl_int16 v16; +#endif +}cl_int16; + + +/* ---- cl_uintn ---- */ +typedef union +{ + cl_uint CL_ALIGNED(8) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uint x, y; }; + __CL_ANON_STRUCT__ struct{ cl_uint s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_uint lo, hi; }; +#endif +#if defined( __CL_UINT2__) + __cl_uint2 v2; +#endif +}cl_uint2; + +typedef union +{ + cl_uint CL_ALIGNED(16) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; }; +#endif +#if defined( __CL_UINT2__) + __cl_uint2 v2[2]; +#endif +#if defined( __CL_UINT4__) + __cl_uint4 v4; +#endif +}cl_uint4; + +/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */ +typedef cl_uint4 cl_uint3; + +typedef union +{ + cl_uint CL_ALIGNED(32) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; }; +#endif +#if defined( __CL_UINT2__) + __cl_uint2 v2[4]; +#endif +#if defined( __CL_UINT4__) + __cl_uint4 v4[2]; +#endif +#if defined( __CL_UINT8__ ) + __cl_uint8 v8; +#endif +}cl_uint8; + +typedef union +{ + cl_uint CL_ALIGNED(64) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; }; +#endif +#if defined( __CL_UINT2__) + __cl_uint2 v2[8]; +#endif +#if defined( __CL_UINT4__) + __cl_uint4 v4[4]; +#endif +#if defined( __CL_UINT8__ ) + __cl_uint8 v8[2]; +#endif +#if defined( __CL_UINT16__ ) + __cl_uint16 v16; +#endif +}cl_uint16; + +/* ---- cl_longn ---- */ +typedef union +{ + cl_long CL_ALIGNED(16) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_long x, y; }; + __CL_ANON_STRUCT__ struct{ cl_long s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_long lo, hi; }; +#endif +#if defined( __CL_LONG2__) + __cl_long2 v2; +#endif +}cl_long2; + +typedef union +{ + cl_long CL_ALIGNED(32) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; }; +#endif +#if defined( __CL_LONG2__) + __cl_long2 v2[2]; +#endif +#if defined( __CL_LONG4__) + __cl_long4 v4; +#endif +}cl_long4; + +/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */ +typedef cl_long4 cl_long3; + +typedef union +{ + cl_long CL_ALIGNED(64) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; }; +#endif +#if defined( __CL_LONG2__) + __cl_long2 v2[4]; +#endif +#if defined( __CL_LONG4__) + __cl_long4 v4[2]; +#endif +#if defined( __CL_LONG8__ ) + __cl_long8 v8; +#endif +}cl_long8; + +typedef union +{ + cl_long CL_ALIGNED(128) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; }; +#endif +#if defined( __CL_LONG2__) + __cl_long2 v2[8]; +#endif +#if defined( __CL_LONG4__) + __cl_long4 v4[4]; +#endif +#if defined( __CL_LONG8__ ) + __cl_long8 v8[2]; +#endif +#if defined( __CL_LONG16__ ) + __cl_long16 v16; +#endif +}cl_long16; + + +/* ---- cl_ulongn ---- */ +typedef union +{ + cl_ulong CL_ALIGNED(16) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ulong x, y; }; + __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_ulong lo, hi; }; +#endif +#if defined( __CL_ULONG2__) + __cl_ulong2 v2; +#endif +}cl_ulong2; + +typedef union +{ + cl_ulong CL_ALIGNED(32) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; }; +#endif +#if defined( __CL_ULONG2__) + __cl_ulong2 v2[2]; +#endif +#if defined( __CL_ULONG4__) + __cl_ulong4 v4; +#endif +}cl_ulong4; + +/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */ +typedef cl_ulong4 cl_ulong3; + +typedef union +{ + cl_ulong CL_ALIGNED(64) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; }; +#endif +#if defined( __CL_ULONG2__) + __cl_ulong2 v2[4]; +#endif +#if defined( __CL_ULONG4__) + __cl_ulong4 v4[2]; +#endif +#if defined( __CL_ULONG8__ ) + __cl_ulong8 v8; +#endif +}cl_ulong8; + +typedef union +{ + cl_ulong CL_ALIGNED(128) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; }; +#endif +#if defined( __CL_ULONG2__) + __cl_ulong2 v2[8]; +#endif +#if defined( __CL_ULONG4__) + __cl_ulong4 v4[4]; +#endif +#if defined( __CL_ULONG8__ ) + __cl_ulong8 v8[2]; +#endif +#if defined( __CL_ULONG16__ ) + __cl_ulong16 v16; +#endif +}cl_ulong16; + + +/* --- cl_floatn ---- */ + +typedef union +{ + cl_float CL_ALIGNED(8) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_float x, y; }; + __CL_ANON_STRUCT__ struct{ cl_float s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_float lo, hi; }; +#endif +#if defined( __CL_FLOAT2__) + __cl_float2 v2; +#endif +}cl_float2; + +typedef union +{ + cl_float CL_ALIGNED(16) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_float2 lo, hi; }; +#endif +#if defined( __CL_FLOAT2__) + __cl_float2 v2[2]; +#endif +#if defined( __CL_FLOAT4__) + __cl_float4 v4; +#endif +}cl_float4; + +/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */ +typedef cl_float4 cl_float3; + +typedef union +{ + cl_float CL_ALIGNED(32) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_float4 lo, hi; }; +#endif +#if defined( __CL_FLOAT2__) + __cl_float2 v2[4]; +#endif +#if defined( __CL_FLOAT4__) + __cl_float4 v4[2]; +#endif +#if defined( __CL_FLOAT8__ ) + __cl_float8 v8; +#endif +}cl_float8; + +typedef union +{ + cl_float CL_ALIGNED(64) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; }; +#endif +#if defined( __CL_FLOAT2__) + __cl_float2 v2[8]; +#endif +#if defined( __CL_FLOAT4__) + __cl_float4 v4[4]; +#endif +#if defined( __CL_FLOAT8__ ) + __cl_float8 v8[2]; +#endif +#if defined( __CL_FLOAT16__ ) + __cl_float16 v16; +#endif +}cl_float16; + +/* --- cl_doublen ---- */ + +typedef union +{ + cl_double CL_ALIGNED(16) s[2]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_double x, y; }; + __CL_ANON_STRUCT__ struct{ cl_double s0, s1; }; + __CL_ANON_STRUCT__ struct{ cl_double lo, hi; }; +#endif +#if defined( __CL_DOUBLE2__) + __cl_double2 v2; +#endif +}cl_double2; + +typedef union +{ + cl_double CL_ALIGNED(32) s[4]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3; }; + __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; }; +#endif +#if defined( __CL_DOUBLE2__) + __cl_double2 v2[2]; +#endif +#if defined( __CL_DOUBLE4__) + __cl_double4 v4; +#endif +}cl_double4; + +/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */ +typedef cl_double4 cl_double3; + +typedef union +{ + cl_double CL_ALIGNED(64) s[8]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; }; + __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7; }; + __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; }; +#endif +#if defined( __CL_DOUBLE2__) + __cl_double2 v2[4]; +#endif +#if defined( __CL_DOUBLE4__) + __cl_double4 v4[2]; +#endif +#if defined( __CL_DOUBLE8__ ) + __cl_double8 v8; +#endif +}cl_double8; + +typedef union +{ + cl_double CL_ALIGNED(128) s[16]; +#if __CL_HAS_ANON_STRUCT__ + __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; }; + __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; }; + __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; }; +#endif +#if defined( __CL_DOUBLE2__) + __cl_double2 v2[8]; +#endif +#if defined( __CL_DOUBLE4__) + __cl_double4 v4[4]; +#endif +#if defined( __CL_DOUBLE8__ ) + __cl_double8 v8[2]; +#endif +#if defined( __CL_DOUBLE16__ ) + __cl_double16 v16; +#endif +}cl_double16; + +/* Macro to facilitate debugging + * Usage: + * Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source. + * The first line ends with: CL_PROGRAM_STRING_DEBUG_INFO \" + * Each line thereafter of OpenCL C source must end with: \n\ + * The last line ends in "; + * + * Example: + * + * const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\ + * kernel void foo( int a, float * b ) \n\ + * { \n\ + * // my comment \n\ + * *b[ get_global_id(0)] = a; \n\ + * } \n\ + * "; + * + * This should correctly set up the line, (column) and file information for your source + * string so you can do source level debugging. + */ +#define __CL_STRINGIFY( _x ) # _x +#define _CL_STRINGIFY( _x ) __CL_STRINGIFY( _x ) +#define CL_PROGRAM_STRING_DEBUG_INFO "#line " _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n" + +#ifdef __cplusplus +} +#endif + +#undef __CL_HAS_ANON_STRUCT__ +#undef __CL_ANON_STRUCT__ +#if defined( _WIN32) && (_MSC_VER >= 1500) +#pragma warning( pop ) +#endif + +#endif /* __CL_PLATFORM_H */ diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h new file mode 100644 index 0000000000..9855cd75e7 --- /dev/null +++ b/third_party/opencl/include/CL/opencl.h @@ -0,0 +1,59 @@ +/******************************************************************************* + * Copyright (c) 2008-2015 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and/or associated documentation files (the + * "Materials"), to deal in the Materials without restriction, including + * without limitation the rights to use, copy, modify, merge, publish, + * distribute, sublicense, and/or sell copies of the Materials, and to + * permit persons to whom the Materials are furnished to do so, subject to + * the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS + * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS + * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT + * https://www.khronos.org/registry/ + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY + * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, + * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE + * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS. + ******************************************************************************/ + +/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */ + +#ifndef __OPENCL_H +#define __OPENCL_H + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef __APPLE__ + +#include +#include +#include +#include + +#else + +#include +#include +#include +#include + +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* __OPENCL_H */ + diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index b79d046fca..d4cfc67280 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -57,9 +57,11 @@ base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] if arch == "Darwin": + base_frameworks.append('OpenCL') base_frameworks.append('QtCharts') base_frameworks.append('QtSerialBus') else: + base_libs.append('OpenCL') base_libs.append('Qt5Charts') base_libs.append('Qt5SerialBus') diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index f428e9972a..5c2131d4bf 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -58,6 +58,9 @@ function install_ubuntu_common_requirements() { libzmq3-dev \ libzstd-dev \ libsqlite3-dev \ + opencl-headers \ + ocl-icd-libopencl1 \ + ocl-icd-opencl-dev \ portaudio19-dev \ qttools5-dev-tools \ libqt5svg5-dev \ diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 698ab9885d..136c4119f6 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -6,6 +6,11 @@ replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations'] base_frameworks = [] base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] +if arch == "Darwin": + base_frameworks.append('OpenCL') +else: + base_libs.append('OpenCL') + replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"] if arch != "Darwin": diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 6abbc47935..67ad2cc8cb 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -10,6 +10,10 @@ What's needed: ## Setup openpilot - Follow [this readme](../README.md) to install and build the requirements +- Install OpenCL Driver (Ubuntu) +``` +sudo apt install pocl-opencl-icd +``` ## Connect the hardware - Connect the camera first From 10edb90ac65b9bcbdd5371b46314abe2a471246b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 10 Feb 2026 23:27:38 -0800 Subject: [PATCH 60/65] newline in updater error --- selfdrive/ui/mici/layouts/settings/device.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py index 60eb7e5b01..a47231340a 100644 --- a/selfdrive/ui/mici/layouts/settings/device.py +++ b/selfdrive/ui/mici/layouts/settings/device.py @@ -224,7 +224,7 @@ class UpdateOpenpilotBigButton(BigButton): if self._waiting_for_updater_t is not None and rl.get_time() - self._waiting_for_updater_t > UPDATER_TIMEOUT: self.set_rotate_icon(False) - self.set_value("updater failed to respond") + self.set_value("updater failed\nto respond") self._state = UpdaterState.IDLE self._hide_value_t = rl.get_time() From 3f382d6e695809afda39efef17d6a993b1e72a52 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 11 Feb 2026 00:18:02 -0800 Subject: [PATCH 61/65] Remove vertical scroll bar --- .../icons_mici/settings/vertical_scroll_indicator.png | 3 --- system/ui/widgets/scroller.py | 10 ---------- 2 files changed, 13 deletions(-) delete mode 100644 selfdrive/assets/icons_mici/settings/vertical_scroll_indicator.png diff --git a/selfdrive/assets/icons_mici/settings/vertical_scroll_indicator.png b/selfdrive/assets/icons_mici/settings/vertical_scroll_indicator.png deleted file mode 100644 index 77d9a77d6f..0000000000 --- a/selfdrive/assets/icons_mici/settings/vertical_scroll_indicator.png +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:88e6c50358f627fc714c1e9883143aeed00baabeab16132e16001aa1051e5eb8 -size 1272 diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py index f33ba941bf..5f932fba7a 100644 --- a/system/ui/widgets/scroller.py +++ b/system/ui/widgets/scroller.py @@ -15,7 +15,6 @@ ANIMATION_SCALE = 0.6 MIN_ZOOM_ANIMATION_TIME = 0.075 # seconds DO_ZOOM = False DO_JELLO = False -SCROLL_BAR = False class LineSeparator(Widget): @@ -65,8 +64,6 @@ class Scroller(Widget): self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items) self._scroll_enabled: bool | Callable[[], bool] = True - self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/vertical_scroll_indicator.png", 40, 80) - for item in items: self.add_widget(item) @@ -241,13 +238,6 @@ class Scroller(Widget): else: item.render() - # Draw scroll indicator - if SCROLL_BAR and not self._horizontal and len(self._visible_items) > 0: - _real_content_size = self._content_size - self._rect.height + self._txt_scroll_indicator.height - scroll_bar_y = -self._scroll_offset / _real_content_size * self._rect.height - scroll_bar_y = min(max(scroll_bar_y, self._rect.y), self._rect.y + self._rect.height - self._txt_scroll_indicator.height) - rl.draw_texture_ex(self._txt_scroll_indicator, rl.Vector2(self._rect.x, scroll_bar_y), 0, 1.0, rl.WHITE) - rl.end_scissor_mode() def show_event(self): From 8ba36b76a0eb45d863c8cee38f4e85c77b1c948a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 11 Feb 2026 01:15:02 -0800 Subject: [PATCH 62/65] Simple scroll indicator (#37162) * scroll indicator * 65% * calibrate * margin * cleaner? * manual clean up * clean up * full scroll bar * look * looks * unlook * no fade, looks good but "too much" * clean up * cmt --- .../settings/horizontal_scroll_indicator.png | 3 ++ selfdrive/ui/mici/layouts/main.py | 2 +- system/ui/widgets/scroller.py | 53 ++++++++++++++++++- 3 files changed, 56 insertions(+), 2 deletions(-) create mode 100644 selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png diff --git a/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png b/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png new file mode 100644 index 0000000000..39dd7b1947 --- /dev/null +++ b/selfdrive/assets/icons_mici/settings/horizontal_scroll_indicator.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af8d5ecb6468442361462aa838a2d234b1256b8139418be8ef2962e4350cfbef +size 2176 diff --git a/selfdrive/ui/mici/layouts/main.py b/selfdrive/ui/mici/layouts/main.py index b52f9ed39a..f12c95eafb 100644 --- a/selfdrive/ui/mici/layouts/main.py +++ b/selfdrive/ui/mici/layouts/main.py @@ -47,7 +47,7 @@ class MiciMainLayout(Widget): self._alerts_layout, self._home_layout, self._onroad_layout, - ], spacing=0, pad_start=0, pad_end=0) + ], spacing=0, pad_start=0, pad_end=0, scroll_indicator=False) self._scroller.set_reset_scroll_at_show(False) # Disable scrolling when onroad is interacting with bookmark diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py index 5f932fba7a..03c49fca65 100644 --- a/system/ui/widgets/scroller.py +++ b/system/ui/widgets/scroller.py @@ -32,9 +32,52 @@ class LineSeparator(Widget): LINE_COLOR) +class ScrollIndicator(Widget): + HORIZONTAL_MARGIN = 4 + + def __init__(self): + super().__init__() + self._txt_scroll_indicator = gui_app.texture("icons_mici/settings/horizontal_scroll_indicator.png", 96, 48) + self._scroll_offset: float = 0.0 + self._content_size: float = 0.0 + self._viewport: rl.Rectangle = rl.Rectangle(0, 0, 0, 0) + + def update(self, scroll_offset: float, content_size: float, viewport: rl.Rectangle) -> None: + self._scroll_offset = scroll_offset + self._content_size = content_size + self._viewport = viewport + + def _render(self, _): + # scale indicator width based on content size + indicator_w = float(np.interp(self._content_size, [1000, 3000], [300, 100])) + + # position based on scroll ratio + slide_range = self._viewport.width - indicator_w + max_scroll = self._content_size - self._viewport.width + scroll_ratio = -self._scroll_offset / max_scroll + x = self._viewport.x + scroll_ratio * slide_range + # don't bounce up when NavWidget shows + y = max(self._viewport.y, 0) + self._viewport.height - self._txt_scroll_indicator.height / 2 + + # squeeze when overscrolling past edges + dest_left = max(x, self._viewport.x) + dest_right = min(x + indicator_w, self._viewport.x + self._viewport.width) + dest_w = max(indicator_w / 2, dest_right - dest_left) + + # keep within viewport after applying minimum width + dest_left = min(dest_left, self._viewport.x + self._viewport.width - dest_w) + dest_left = max(dest_left, self._viewport.x) + + src_rec = rl.Rectangle(0, 0, self._txt_scroll_indicator.width, self._txt_scroll_indicator.height) + dest_rec = rl.Rectangle(dest_left, y, dest_w, self._txt_scroll_indicator.height) + rl.draw_texture_pro(self._txt_scroll_indicator, src_rec, dest_rec, rl.Vector2(0, 0), 0.0, + rl.Color(255, 255, 255, int(255 * 0.45))) + + class Scroller(Widget): def __init__(self, items: list[Widget], horizontal: bool = True, snap_items: bool = True, spacing: int = ITEM_SPACING, - line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING): + line_separator: bool = False, pad_start: int = ITEM_SPACING, pad_end: int = ITEM_SPACING, + scroll_indicator: bool = True): super().__init__() self._items: list[Widget] = [] self._horizontal = horizontal @@ -64,6 +107,9 @@ class Scroller(Widget): self.scroll_panel = GuiScrollPanel2(self._horizontal, handle_out_of_bounds=not self._snap_items) self._scroll_enabled: bool | Callable[[], bool] = True + self._show_scroll_indicator = scroll_indicator + self._scroll_indicator = ScrollIndicator() + for item in items: self.add_widget(item) @@ -240,6 +286,11 @@ class Scroller(Widget): rl.end_scissor_mode() + # Draw scroll indicator + if self._show_scroll_indicator and self._horizontal and len(self._visible_items) > 0: + self._scroll_indicator.update(self._scroll_offset, self._content_size, self._rect) + self._scroll_indicator.render() + def show_event(self): super().show_event() if self._reset_scroll_at_show: From 1e0f1a8abc8302e405527de609e150252e128354 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 11 Feb 2026 01:23:00 -0800 Subject: [PATCH 63/65] Scroll panel: adapt to content size shrinking (#37163) fix --- system/ui/lib/scroll_panel2.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py index 0859071dac..e2a548ba26 100644 --- a/system/ui/lib/scroll_panel2.py +++ b/system/ui/lib/scroll_panel2.py @@ -73,8 +73,14 @@ class GuiScrollPanel2: def _update_state(self, bounds_size: float, content_size: float) -> None: """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity.""" - if self._state == ScrollState.AUTO_SCROLL: - max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size) + max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size) + + if self._state == ScrollState.STEADY: + # if we find ourselves out of bounds, scroll back in (from external layout dimension changes, etc.) + if self.get_offset() > max_offset or self.get_offset() < min_offset: + self._state = ScrollState.AUTO_SCROLL + + elif self._state == ScrollState.AUTO_SCROLL: # simple exponential return if out of bounds out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset if out_of_bounds and self._handle_out_of_bounds: From b9344af9bb8ffcef001471f37936bee4eba57b6d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 11 Feb 2026 01:23:14 -0800 Subject: [PATCH 64/65] WifiManager: sort by known networks (#37164) sort by known --- system/ui/lib/wifi_manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py index bd66b8e03a..e0a9e7ca7f 100644 --- a/system/ui/lib/wifi_manager.py +++ b/system/ui/lib/wifi_manager.py @@ -631,7 +631,7 @@ class WifiManager: known_connections = self._get_connections() networks = [Network.from_dbus(ssid, ap_list, ssid in known_connections) for ssid, ap_list in aps.items()] # sort with quantized strength to reduce jumping - networks.sort(key=lambda n: (-n.is_connected, -round(n.strength / 100 * 2), n.ssid.lower())) + networks.sort(key=lambda n: (-n.is_connected, -n.is_saved, -round(n.strength / 100 * 2), n.ssid.lower())) self._networks = networks self._update_ipv4_address() From 5b98ea04ad8fea33dbde3d9d1c22b7ee74dcfd3c Mon Sep 17 00:00:00 2001 From: felsager <76905857+felsager@users.noreply.github.com> Date: Wed, 11 Feb 2026 10:21:12 -0800 Subject: [PATCH 65/65] mpc tuning report: minor improvements (#37167) --- .../mpc_longitudinal_tuning_report.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py index 547f45aa2e..7623f669cd 100644 --- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py +++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py @@ -186,12 +186,13 @@ def generate_mpc_tuning_report(): for stop_time in np.arange(4, 14, 1): man = Maneuver( '', - duration=50, + duration=30, initial_speed=30.0, + cruise_values=[30.0, 30.0, 30.0], lead_relevancy=True, initial_distance_lead=60.0, - speed_lead_values=[30.0, 30.0, 0.0, 0.0], - breakpoints=[0., 20., 20 + stop_time, 30 + stop_time], + speed_lead_values=[30.0, 30.0, 0.0], + breakpoints=[0., 5., 5 + stop_time], ) valid, results[stop_time] = man.evaluate() results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1] @@ -208,12 +209,12 @@ def generate_mpc_tuning_report(): for speed in np.arange(0, 40, 5): man = Maneuver( '', - duration=10, + duration=20, initial_speed=float(speed), + cruise_values=[speed, speed, speed], lead_relevancy=True, initial_distance_lead=desired_follow_distance(speed, speed)/2, speed_lead_values=[speed, speed, speed], - cruise_values=[speed, speed, speed], prob_lead_values=[0.0, 0.0, 1.0], breakpoints=[0., 5.0, 5.01], ) @@ -231,7 +232,7 @@ def generate_mpc_tuning_report(): for speed in np.arange(0, 40, 5): man = Maneuver( '', - duration=50, + duration=60, initial_speed=0.0, lead_relevancy=True, initial_distance_lead=desired_follow_distance(0.0, 0.0),