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

211 lines
6.8 KiB
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#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <sstream>
#import <IOSurface/IOSurfaceRef.h>
#import <Foundation/Foundation.h>
#import <CoreFoundation/CoreFoundation.h>
#include "h11ane.h"
using namespace H11ANE;
//#define DEBUG printf
#define DEBUG(x, ...)
extern "C" {
// global vars
H11ANEDevice *dev = NULL;
int MyH11ANEDeviceControllerNotification(H11ANEDeviceController *param_1, void *param_2, H11ANEDevice *param_3) {
DEBUG("MyH11ANEDeviceControllerNotification %p %p %p\n", param_1, param_2, param_3);
dev = param_3;
return 0;
}
int MyH11ANEDeviceMessageNotification(H11ANE::H11ANEDevice* dev, unsigned int param_1, void* param_2, void* param_3) {
DEBUG("MyH11ANEDeviceMessageNotification %d %p %p\n", param_1, param_2, param_3);
return 0;
}
int ANE_Open() {
int ret;
H11ANEDeviceController dc(MyH11ANEDeviceControllerNotification, NULL);
dc.SetupDeviceController();
assert(dev != NULL);
dev->EnableDeviceMessages();
char empty[0x90] = {0};
H11ANEDeviceInfoStruct dis = {0};
ret = dev->H11ANEDeviceOpen(MyH11ANEDeviceMessageNotification, empty, UsageCompile, &dis);
DEBUG("open 0x%x %p\n", ret, dev);
ret = dev->ANE_PowerOn();
DEBUG("power on: %d\n", ret);
ret = dev->ANE_IsPowered();
DEBUG("powered? %d\n", ret);
return 0;
}
int stride_for_width(int width) {
int ret = width*2;
ret += (64-(ret % 64))%64;
return ret;
}
void *ANE_TensorCreate(int width, int height) {
// all float16
// input buffer
NSDictionary* dict = [NSDictionary dictionaryWithObjectsAndKeys:
[NSNumber numberWithInt:width], kIOSurfaceWidth,
[NSNumber numberWithInt:height], kIOSurfaceHeight,
[NSNumber numberWithInt:2], kIOSurfaceBytesPerElement,
[NSNumber numberWithInt:stride_for_width(width)], kIOSurfaceBytesPerRow,
[NSNumber numberWithInt:1278226536], kIOSurfacePixelFormat,
nil];
IOSurfaceRef in_surf = IOSurfaceCreate((CFDictionaryRef)dict);
IOSurfaceLock((IOSurfaceRef)in_surf, 0, nil);
return (void *)in_surf;
}
void* ANE_TensorData(void *out_surf) {
void *ret = (void *)IOSurfaceGetBaseAddress((IOSurfaceRef)out_surf);
//IOSurfaceUnlock((IOSurfaceRef)out_surf, 0, nil);
DEBUG("TensorData %p -> %p\n", out_surf, ret);
return ret;
}
uint64_t ANE_Compile(char *iprog, int sz) {
int ret;
int cksum = 0;
for (int i = 0; i < sz; i++) cksum += iprog[i];
DEBUG("ANE_Compile %p with checksum %x size %d\n", iprog, cksum, sz);
char *prog = (char*)aligned_alloc(0x1000, sz);
memcpy(prog, iprog, sz);
H11ANEProgramCreateArgsStruct mprog = {0};
mprog.program = prog;
mprog.program_length = sz;
H11ANEProgramCreateArgsStructOutput *out = new H11ANEProgramCreateArgsStructOutput;
memset(out, 0, sizeof(H11ANEProgramCreateArgsStructOutput));
ret = dev->ANE_ProgramCreate(&mprog, out);
uint64_t program_handle = out->program_handle;
delete out;
DEBUG("program create: %lx %lx\n", ret, program_handle);
// early failure
if (ret != 0) return 0;
H11ANEProgramPrepareArgsStruct pas = {0};
pas.program_handle = program_handle;
pas.flags = 0x0000000100010001;
ret = dev->ANE_ProgramPrepare(&pas);
DEBUG("program prepare: %lx\n", ret);
return program_handle;
}
int ANE_Run(uint64_t program_handle, void *in_surf, void *out_surf, void *w_surf) {
int ret;
DEBUG("ANE_Run %p %p\n", in_surf, out_surf);
H11ANEProgramRequestArgsStruct *pras = new H11ANEProgramRequestArgsStruct;
memset(pras, 0, sizeof(H11ANEProgramRequestArgsStruct));
// TODO: make real struct
pras->args[0] = program_handle;
pras->args[4] = 0x0000002100000003;
// inputs
int in_surf_id = IOSurfaceGetID((IOSurfaceRef)in_surf);
int out_surf_id = IOSurfaceGetID((IOSurfaceRef)out_surf);
if (w_surf != NULL) {
pras->args[0x28/8] = 0x0000010000000002;
int w_surf_id = IOSurfaceGetID((IOSurfaceRef)w_surf);
pras->args[0x130/8] = (long long)w_surf_id;
} else {
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);
DEBUG("recv port: 0x%x\n", recvPort);
// run program
ret = dev->ANE_ProgramSendRequest(pras, recvPort);
DEBUG("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);
DEBUG("got message: %d sz %d\n", ret, message.header.msgh_size);
delete pras;
return 0;
}
int ANECCompile(CFDictionaryRef param_1, CFDictionaryRef param_2, unsigned long param_3);
int ANE_CompilePlist(char *path, bool debug=false) {
CFTypeRef ikeys[2];
ikeys[0] = CFSTR("NetworkPlistName");
ikeys[1] = CFSTR("NetworkPlistPath");
CFTypeRef ivalues[2];
ivalues[0] = CFStringCreateWithCString(kCFAllocatorDefault, path, kCFStringEncodingUTF8);
ivalues[1] = CFSTR("./");
CFDictionaryRef iDictionary = CFDictionaryCreate(kCFAllocatorDefault, ikeys, ivalues, 2, &kCFTypeDictionaryKeyCallBacks, &kCFTypeDictionaryValueCallBacks);
CFArrayRef array = CFArrayCreate(kCFAllocatorDefault, (const void**)&iDictionary, 1, &kCFTypeArrayCallBacks);
CFMutableDictionaryRef optionsDictionary = CFDictionaryCreateMutable(kCFAllocatorDefault, 0, &kCFTypeDictionaryKeyCallBacks, &kCFTypeDictionaryValueCallBacks);
CFMutableDictionaryRef flagsDictionary = CFDictionaryCreateMutable(kCFAllocatorDefault, 0, &kCFTypeDictionaryKeyCallBacks, &kCFTypeDictionaryValueCallBacks);
// h11 (or anything?) works here too, and creates different outputs that don't run
CFDictionaryAddValue(flagsDictionary, CFSTR("TargetArchitecture"), CFSTR("h13"));
CFDictionaryAddValue(optionsDictionary, CFSTR("OutputFileName"), CFSTR("model.hwx"));
if (debug) {
CFDictionaryAddValue(flagsDictionary, CFSTR("CompileANEProgramForDebugging"), kCFBooleanTrue);
int debug_mask = 0x7fffffff;
CFDictionaryAddValue(flagsDictionary, CFSTR("DebugMask"), CFNumberCreate(kCFAllocatorDefault, 3, &debug_mask));
}
return ANECCompile(optionsDictionary, flagsDictionary, 0);
}
/*void _Z24ZinIrRegBitPrintOutDebugILj7EE11ZinIrStatusjRN11ZinHWTraitsIXT_EE6HwTypeEiRNSt3__113basic_ostreamIcNS5_11char_traitsIcEEEE(
unsigned long param_1, void *param_2,int param_3, std::basic_ostream<char> *param_4);
char *ANE_RegDebug(int a1, void *dat, int a2) {
std::ostringstream ss;
_Z24ZinIrRegBitPrintOutDebugILj7EE11ZinIrStatusjRN11ZinHWTraitsIXT_EE6HwTypeEiRNSt3__113basic_ostreamIcNS5_11char_traitsIcEEEE(a1, dat, a2, &ss);
std::string cppstr = ss.str();
const char *str = cppstr.c_str();
char *ret = (char *)malloc(strlen(str)+1);
strcpy(ret, str);
return ret;
}*/
}