FrogAi 659adb6457 openpilot v0.9.7 release
date: 2024-03-17T10:14:38
master commit: 7e9a909e0e57ecb31df4c87c5b9a06b1204fd034
2024-05-24 17:43:27 -07:00

185 lines
5.9 KiB
Plaintext

#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#import <IOSurface/IOSurfaceRef.h>
#import <Foundation/Foundation.h>
#import <CoreFoundation/CoreFoundation.h>
void hexdump(void *vdat, int l) {
unsigned char *dat = (unsigned char *)vdat;
for (int i = 0; i < l; i++) {
if (i!=0 && (i%0x10) == 0) printf("\n");
printf("%02X ", dat[i]);
}
printf("\n");
}
#include "h11ane.h"
using namespace H11ANE;
H11ANEDevice *device = NULL;
int MyH11ANEDeviceControllerNotification(H11ANEDeviceController *param_1, void *param_2, H11ANEDevice *param_3) {
printf("MyH11ANEDeviceControllerNotification %p %p %p\n", param_1, param_2, param_3);
device = param_3;
return 0;
}
int MyH11ANEDeviceMessageNotification(H11ANE::H11ANEDevice* dev, unsigned int param_1, void* param_2, void* param_3) {
printf("MyH11ANEDeviceMessageNotification %d %p %p\n", param_1, param_2, param_3);
return 0;
}
int main() {
int ret;
printf("hello %d\n", getpid());
H11ANEDeviceController dc(MyH11ANEDeviceControllerNotification, NULL);
dc.SetupDeviceController();
assert(device != NULL);
H11ANEDevice *dev = device;
dev->EnableDeviceMessages();
char empty[0x90] = {0};
H11ANEDeviceInfoStruct dis = {0};
//dis.nothing = 0x87c15a20a;
//dis.sleep_timer = 5000;
ret = dev->H11ANEDeviceOpen(MyH11ANEDeviceMessageNotification, empty, UsageCompile, &dis);
printf("open 0x%x %p\n", ret, dev);
/*ret = dev->ANE_AddPersistentClient();
printf("add persistent %x\n", ret);*/
H11ANEStatusStruct blah = {0};
ret = dev->ANE_GetStatus(&blah);
printf("get status %x\n", ret);
// this isn't callable anymore, it requires debugger
ret = dev->ANE_PowerOn();
printf("power on: %x\n", ret);
ret = dev->ANE_IsPowered();
printf("powered? %d\n", ret);
/*if (ret == 0) {
printf("POWER ON FAILED\n");
return -1;
}*/
H11ANEProgramCreateArgsStruct mprog = {0};
mprog.program_length = 0xc000;
char *prog = (char*)aligned_alloc(0x1000, mprog.program_length);
mprog.program = prog;
FILE *f = fopen("../2_compile/model.hwx", "rb");
assert(f);
int sz = fread(prog, 1, mprog.program_length, f);
printf("read %x %p\n", sz, prog);
fclose(f);
H11ANEProgramCreateArgsStructOutput *out = new H11ANEProgramCreateArgsStructOutput;
memset(out, 0, sizeof(H11ANEProgramCreateArgsStructOutput));
ret = dev->ANE_ProgramCreate(&mprog, out);
uint64_t program_handle = out->program_handle;
printf("program create: %lx %lx\n", ret, program_handle);
H11ANEProgramPrepareArgsStruct pas = {0};
pas.program_handle = program_handle;
pas.flags = 0x0000000100010001;
//pas.flags = 0x0000000102010001;
ret = dev->ANE_ProgramPrepare(&pas);
printf("program prepare: %lx\n", ret);
// input buffer
NSDictionary* dict = [NSDictionary dictionaryWithObjectsAndKeys:
[NSNumber numberWithInt:16], kIOSurfaceWidth,
[NSNumber numberWithInt:16], kIOSurfaceHeight,
[NSNumber numberWithInt:1], kIOSurfaceBytesPerElement,
[NSNumber numberWithInt:64], kIOSurfaceBytesPerRow,
[NSNumber numberWithInt:1278226536], kIOSurfacePixelFormat,
nil];
IOSurfaceRef in_surf = IOSurfaceCreate((CFDictionaryRef)dict);
int in_surf_id = IOSurfaceGetID(in_surf);
printf("we have surface %p with id 0x%x\n", in_surf, in_surf_id);
// load inputs
IOSurfaceLock(in_surf, 0, nil);
unsigned char *inp = (unsigned char *)IOSurfaceGetBaseAddress(in_surf);
for (int i = 0; i < 16; i++) inp[i] = (i+1)*0x10;
/*inp[0] = 0x39;
inp[1] = 0x65;*/
hexdump(inp, 0x20);
IOSurfaceUnlock(in_surf, 0, nil);
// output buffer
NSDictionary* odict = [NSDictionary dictionaryWithObjectsAndKeys:
[NSNumber numberWithInt:16], kIOSurfaceWidth,
[NSNumber numberWithInt:16], kIOSurfaceHeight,
[NSNumber numberWithInt:1], kIOSurfaceBytesPerElement,
[NSNumber numberWithInt:64], kIOSurfaceBytesPerRow,
[NSNumber numberWithInt:1278226536], kIOSurfacePixelFormat,
nil];
IOSurfaceRef out_surf = IOSurfaceCreate((CFDictionaryRef)odict);
int out_surf_id = IOSurfaceGetID(out_surf);
printf("we have surface %p with id 0x%x\n", out_surf, out_surf_id);
H11ANEProgramRequestArgsStruct *pras = new H11ANEProgramRequestArgsStruct;
memset(pras, 0, sizeof(H11ANEProgramRequestArgsStruct));
// TODO: make real struct
pras->args[0] = program_handle;
pras->args[4] = 0x0000002100000003;
// inputs
pras->args[0x28/8] = 1;
pras->args[0x128/8] = (long long)in_surf_id<<32LL;
// outputs
pras->args[0x528/8] = 1;
// 0x628 = outputBufferSurfaceId
pras->args[0x628/8] = (long long)out_surf_id<<32LL;
mach_port_t recvPort = 0;
IOCreateReceivePort(kOSAsyncCompleteMessageID, &recvPort);
printf("recv port: 0x%x\n", recvPort);
// *** reopen with other client ***
H11ANEDeviceController dc2(MyH11ANEDeviceControllerNotification, NULL);
dc2.SetupDeviceController();
assert(device != NULL);
dev = device;
dev->EnableDeviceMessages();
char empty2[0x90] = {0};
dis.program_handle = program_handle;
dis.program_auth_code = 0;
ret = dev->H11ANEDeviceOpen(MyH11ANEDeviceMessageNotification, empty2, UsageWithProgram, &dis);
printf("reopen 0x%x %p\n", ret, dev);
// run program (i think we need the other client for this)
ret = dev->ANE_ProgramSendRequest(pras, recvPort);
printf("send 0x%x\n", ret);
struct {
mach_msg_header_t header;
char data[256];
} message;
ret = mach_msg(&message.header,
MACH_RCV_MSG,
0, sizeof(message),
recvPort,
MACH_MSG_TIMEOUT_NONE,
MACH_PORT_NULL);
printf("got message: %d sz %d\n", ret, message.header.msgh_size);
unsigned char *dat = (unsigned char *)IOSurfaceGetBaseAddress(out_surf);
printf("%p\n", dat);
hexdump(dat, 0x100);
}