From d20896ced5f4204d84916d77b90d379ad912b93d Mon Sep 17 00:00:00 2001
From: Willem Melching <willem.melching@gmail.com>
Date: Fri, 8 Nov 2019 12:49:30 -0800
Subject: [PATCH] Make visiond compile on pc (#874)

---
 selfdrive/common/visionbuf_cl.c               | 89 +++++++++++++++++++
 selfdrive/visiond/build_from_src.mk           |  8 +-
 .../visiond/cameras/camera_frame_stream.h     |  2 +
 3 files changed, 95 insertions(+), 4 deletions(-)
 create mode 100644 selfdrive/common/visionbuf_cl.c

diff --git a/selfdrive/common/visionbuf_cl.c b/selfdrive/common/visionbuf_cl.c
new file mode 100644
index 00000000000000..58c66a854d9c3c
--- /dev/null
+++ b/selfdrive/common/visionbuf_cl.c
@@ -0,0 +1,89 @@
+#include "visionbuf.h"
+
+#include <fcntl.h>
+#include <assert.h>
+#include <stdlib.h>
+
+#ifdef __APPLE__
+#include <OpenCL/cl.h>
+#else
+#include <CL/cl.h>
+#endif
+
+VisionBuf visionbuf_allocate(size_t len) {
+  // const size_t alignment = 4096;
+  // void* addr = aligned_alloc(alignment, alignment * ((len - 1) / alignment + 1));
+  void* addr = calloc(1, len);
+
+  return (VisionBuf){
+      .len = len, .addr = addr, .handle = 1, .fd = -1,
+  };
+}
+
+cl_mem visionbuf_to_cl(const VisionBuf* buf, cl_device_id device_id, cl_context ctx) {
+  // HACK because this platform is just for convenience
+  VisionBuf *w_buf = (VisionBuf*)buf;
+  cl_mem ret;
+  *w_buf = visionbuf_allocate_cl(buf->len, device_id, ctx, &ret);
+  return ret;
+}
+
+VisionBuf visionbuf_allocate_cl(size_t len, cl_device_id device_id, cl_context ctx, cl_mem *out_mem) {
+  int err;
+  assert(out_mem);
+
+#if __OPENCL_VERSION__ >= 200
+  void* host_ptr =
+      clSVMAlloc(ctx, CL_MEM_READ_WRITE | CL_MEM_SVM_FINE_GRAIN_BUFFER, len, 0);
+  assert(host_ptr);
+#else
+  void* host_ptr = calloc(1, len);
+
+  cl_command_queue q = clCreateCommandQueue(ctx, device_id, 0, &err);
+  assert(err == 0);
+#endif
+
+  cl_mem mem = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, len, host_ptr, &err);
+  assert(err == 0);
+
+  *out_mem = mem;
+
+  return (VisionBuf){
+      .len = len, .addr = host_ptr, .handle = 0, .fd = -1,
+      .device_id = device_id, .ctx = ctx, .buf_cl = mem,
+
+#if __OPENCL_VERSION__ < 200
+      .copy_q = q,
+#endif
+
+  };
+}
+
+void visionbuf_sync(const VisionBuf* buf, int dir) {
+  int err = 0;
+  if (!buf->buf_cl) return;
+
+#if __OPENCL_VERSION__ < 200
+  if (dir == VISIONBUF_SYNC_FROM_DEVICE) {
+    err = clEnqueueReadBuffer(buf->copy_q, buf->buf_cl, CL_FALSE, 0, buf->len, buf->addr, 0, NULL, NULL);
+  } else {
+    err = clEnqueueWriteBuffer(buf->copy_q, buf->buf_cl, CL_FALSE, 0, buf->len, buf->addr, 0, NULL, NULL);
+  }
+  assert(err == 0);
+  clFinish(buf->copy_q);
+#endif
+}
+
+void visionbuf_free(const VisionBuf* buf) {
+  if (buf->handle) {
+    free(buf->addr);
+  } else {
+    int err = clReleaseMemObject(buf->buf_cl);
+    assert(err == 0);
+#if __OPENCL_VERSION__ >= 200
+    clSVMFree(buf->ctx, buf->addr);
+#else
+    free(buf->addr);
+#endif
+  }
+}
diff --git a/selfdrive/visiond/build_from_src.mk b/selfdrive/visiond/build_from_src.mk
index 639f0a95df7741..725b345fa42002 100644
--- a/selfdrive/visiond/build_from_src.mk
+++ b/selfdrive/visiond/build_from_src.mk
@@ -54,9 +54,9 @@ else
 
   OPENCL_LIBS = -lOpenCL
 
-  TF_FLAGS = -I$(EXTERNAL)/tensorflow/include
-  TF_LIBS = -L$(EXTERNAL)/tensorflow/lib -ltensorflow \
-            -Wl,-rpath $(EXTERNAL)/tensorflow/lib
+  #TF_FLAGS = -I$(EXTERNAL)/tensorflow/include
+  #TF_LIBS = -L$(EXTERNAL)/tensorflow/lib -ltensorflow \
+  #          -Wl,-rpath $(EXTERNAL)/tensorflow/lib
 
   SNPE_FLAGS = -I$(PHONELIBS)/snpe/include/
   SNPE_LIBS = -L$(PHONELIBS)/snpe/x86_64-linux-clang/ \
@@ -69,7 +69,7 @@ else
   PLATFORM_OBJS = cameras/camera_frame_stream.o \
                   ../common/visionbuf_cl.o \
                   ../common/visionimg.o \
-                  runners/tfmodel.o
+                  # runners/tfmodel.o
 endif
 
   SSL_FLAGS = -I/usr/include/openssl/
diff --git a/selfdrive/visiond/cameras/camera_frame_stream.h b/selfdrive/visiond/cameras/camera_frame_stream.h
index 6351a183d35c3c..5cb7e27c5fa72a 100644
--- a/selfdrive/visiond/cameras/camera_frame_stream.h
+++ b/selfdrive/visiond/cameras/camera_frame_stream.h
@@ -33,6 +33,8 @@ typedef struct CameraState {
   int fps;
   float digital_gain;
 
+  float cur_gain_frac;
+
   mat3 transform;
 } CameraState;