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pull/3471/head
kallaballa 3 years ago
parent 3f3c0c5318
commit eb697124bd
1 changed files with 0 additions and 620 deletions
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  1. 620
      src/tetra/subsystems.hpp

620
src/tetra/subsystems.hpp
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#ifndef SRC_TETRA_SUBSYSTEMS_HPP_
#define SRC_TETRA_SUBSYSTEMS_HPP_
#include <dirent.h>
#include <fcntl.h>
#include <unistd.h>
#include <filesystem>
#include <va/va.h>
#include <va/va_drm.h>
#include <va/va_backend.h>
#include <opencv2/opencv.hpp>
#include "opencv2/core/va_intel.hpp"
#include <opencv2/videoio.hpp>
#include <X11/Xlib.h>
#include <X11/Xatom.h>
#include <X11/Xutil.h>
#include <GL/glew.h>
#include <EGL/egl.h>
#include <CL/cl.h>
#include <CL/cl_gl.h>
#include <opencv2/core/ocl.hpp>
#include <opencv2/core/opengl.hpp>
using std::cout;
using std::cerr;
using std::endl;
namespace kb {
void glCheckError(const std::filesystem::path &file, unsigned int line, const char *expression) {
GLint errorCode = glGetError();
if (errorCode != GL_NO_ERROR) {
cerr << "GL failed in " << file.filename() << " (" << line << ") : " << "\nExpression:\n " << expression << "\nError code:\n " << errorCode << "\n " << endl;
assert(false);
}
}
#define glCheck(expr) \
expr; \
kb::glCheckError(__FILE__, __LINE__, #expr);
void eglCheckError(const std::filesystem::path &file, unsigned int line, const char *expression) {
EGLint errorCode = eglGetError();
if (errorCode != EGL_SUCCESS) {
cerr << "EGL failed in " << file.filename() << " (" << line << ") : " << "\nExpression:\n " << expression << "\nError code:\n " << errorCode << "\n " << endl;
assert(false);
}
}
#define eglCheck(expr) \
expr; \
kb::eglCheckError(__FILE__, __LINE__, #expr);
namespace va {
//code in the kb::va namespace adapted from https://github.com/opencv/opencv/blob/4.x/samples/va_intel/display.cpp.inc
bool open_display();
void close_display();
VADisplay display = NULL;
bool initialized = false;
#define VA_INTEL_PCI_DIR "/sys/bus/pci/devices"
#define VA_INTEL_DRI_DIR "/dev/dri/"
#define VA_INTEL_PCI_DISPLAY_CONTROLLER_CLASS 0x03
static unsigned read_id(const char *devName, const char *idName);
static int find_adapter(unsigned desiredVendorId);
int drmfd = -1;
class Directory {
typedef int (*fsort)(const struct dirent**, const struct dirent**);
public:
Directory(const char *path) {
dirEntries_ = 0;
numEntries_ = scandir(path, &dirEntries_, filterFunc, (fsort) alphasort);
}
~Directory() {
if (numEntries_ && dirEntries_) {
for (int i = 0; i < numEntries_; ++i)
free(dirEntries_[i]);
free(dirEntries_);
}
}
int count() const {
return numEntries_;
}
const struct dirent* operator[](int index) const {
return ((dirEntries_ != 0) && (index >= 0) && (index < numEntries_)) ? dirEntries_[index] : 0;
}
protected:
static int filterFunc(const struct dirent *dir) {
if (!dir)
return 0;
if (!strcmp(dir->d_name, "."))
return 0;
if (!strcmp(dir->d_name, ".."))
return 0;
return 1;
}
private:
int numEntries_;
struct dirent **dirEntries_;
};
static unsigned read_id(const char *devName, const char *idName) {
long int id = 0;
std::string fileName = cv::format("%s/%s/%s", VA_INTEL_PCI_DIR, devName, idName);
FILE *file = fopen(fileName.c_str(), "r");
if (file) {
char str[16] = "";
if (fgets(str, sizeof(str), file))
id = strtol(str, NULL, 16);
fclose(file);
}
return (unsigned) id;
}
static int find_adapter(unsigned desiredVendorId) {
int adapterIndex = -1;
Directory dir(VA_INTEL_PCI_DIR);
for (int i = 0; i < dir.count(); ++i) {
const char *name = dir[i]->d_name;
unsigned classId = read_id(name, "class");
if ((classId >> 16) == VA_INTEL_PCI_DISPLAY_CONTROLLER_CLASS) {
unsigned vendorId = read_id(name, "vendor");
if (vendorId == desiredVendorId) {
std::string subdirName = cv::format("%s/%s/%s", VA_INTEL_PCI_DIR, name, "drm");
Directory subdir(subdirName.c_str());
for (int j = 0; j < subdir.count(); ++j) {
if (!strncmp(subdir[j]->d_name, "card", 4)) {
adapterIndex = strtoul(subdir[j]->d_name + 4, NULL, 10);
}
}
break;
}
}
}
return adapterIndex;
}
class NodeInfo {
enum {
NUM_NODES = 2
};
public:
NodeInfo(int adapterIndex) {
const char *names[NUM_NODES] = { "renderD", "card" };
int numbers[NUM_NODES];
numbers[0] = adapterIndex + 128;
numbers[1] = adapterIndex;
for (int i = 0; i < NUM_NODES; ++i) {
paths_[i] = cv::format("%s%s%d", VA_INTEL_DRI_DIR, names[i], numbers[i]);
}
}
~NodeInfo() {
// nothing
}
int count() const {
return NUM_NODES;
}
const char* path(int index) const {
return ((index >= 0) && (index < NUM_NODES)) ? paths_[index].c_str() : 0;
}
private:
std::string paths_[NUM_NODES];
};
static bool open_device_intel();
static bool open_device_generic();
static bool open_device_intel() {
const unsigned IntelVendorID = 0x8086;
int adapterIndex = find_adapter(IntelVendorID);
if (adapterIndex >= 0) {
NodeInfo nodes(adapterIndex);
for (int i = 0; i < nodes.count(); ++i) {
drmfd = open(nodes.path(i), O_RDWR);
if (drmfd >= 0) {
display = vaGetDisplayDRM(drmfd);
vaSetInfoCallback(display,nullptr,nullptr);
if (display)
return true;
close(drmfd);
drmfd = -1;
}
}
}
return false;
}
static bool open_device_generic() {
static const char *device_paths[] = { "/dev/dri/renderD128", "/dev/dri/card0" };
static const int num_devices = sizeof(device_paths) / sizeof(device_paths[0]);
for (int i = 0; i < num_devices; ++i) {
drmfd = open(device_paths[i], O_RDWR);
if (drmfd >= 0) {
display = vaGetDisplayDRM(drmfd);
vaSetInfoCallback(display,nullptr,nullptr);
if (display)
return true;
close(drmfd);
drmfd = -1;
}
}
return false;
}
bool open_display() {
if (!initialized) {
drmfd = -1;
display = 0;
if (open_device_intel() || open_device_generic()) {
int majorVersion = 0, minorVersion = 0;
if (vaInitialize(display, &majorVersion, &minorVersion) == VA_STATUS_SUCCESS) {
initialized = true;
return true;
}
close(drmfd);
display = 0;
drmfd = -1;
}
return false; // Can't open VA display
}
return true;
}
void close_display() {
if (initialized) {
if (display)
vaTerminate(display);
if (drmfd >= 0)
close(drmfd);
display = 0;
drmfd = -1;
initialized = false;
}
}
void check_if_YUV420_available() {
VAEntrypoint entrypoints[5];
int num_entrypoints, vld_entrypoint;
VAConfigAttrib attrib;
VAStatus status;
status = vaQueryConfigEntrypoints(va::display, VAProfileVP9Profile0, entrypoints, &num_entrypoints);
assert(status == VA_STATUS_SUCCESS);
for (vld_entrypoint = 0; vld_entrypoint < num_entrypoints; ++vld_entrypoint) {
if (entrypoints[vld_entrypoint] == VAEntrypointVLD)
break;
}
if (vld_entrypoint == num_entrypoints)
throw std::runtime_error("Failed to find VLD entry point");
attrib.type = VAConfigAttribRTFormat;
vaGetConfigAttributes(va::display, VAProfileVP9Profile0, VAEntrypointVLD, &attrib, 1);
if ((attrib.value & VA_RT_FORMAT_YUV420) == 0)
throw std::runtime_error("Desired YUV420 RT format not found");
}
void init_va() {
if (!va::open_display())
throw std::runtime_error("Failed to open VA display for CL-VA interoperability");
va::check_if_YUV420_available();
cv::va_intel::ocl::initializeContextFromVA(va::display, true);
}
std::string get_info() {
std::stringstream ss;
ss << VA_VERSION_S << " (" << vaQueryVendorString(display) << ")";
return ss.str();
}
} // namespace va
namespace x11 {
Display* xdisplay;
Window xroot;
Window xwin;
Atom wmDeleteMessage;
bool initialized = false;
Display* get_x11_display() {
return xdisplay;
}
Window get_x11_window() {
return xwin;
}
bool is_initialized() {
return initialized;
}
bool window_closed() {
if(XPending(xdisplay) == 0)
return false;
XEvent event;
XNextEvent(xdisplay, &event);
switch (event.type)
{
case ClientMessage:
if (event.xclient.data.l[0] == static_cast<long int>(wmDeleteMessage))
return true;
break;
default:
break;
}
return false;
}
void init_x11() {
xdisplay = XOpenDisplay(nullptr);
if (xdisplay == nullptr) {
cerr << "Unable to open X11 display" << endl;
exit(3);
}
xroot = DefaultRootWindow(xdisplay);
XSetWindowAttributes swa;
swa.event_mask = ClientMessage;
xwin = XCreateWindow(xdisplay, xroot, 0, 0, WIDTH, HEIGHT, 0,
CopyFromParent, InputOutput, CopyFromParent, CWEventMask, &swa);
XSetWindowAttributes xattr;
xattr.override_redirect = False;
XChangeWindowAttributes(xdisplay, xwin, CWOverrideRedirect, &xattr);
int one = 1;
XChangeProperty(
xdisplay, xwin,
XInternAtom ( xdisplay, "_HILDON_NON_COMPOSITED_WINDOW", False ),
XA_INTEGER, 32, PropModeReplace,
(unsigned char*) &one, 1);
XWMHints hints;
hints.input = True;
hints.flags = InputHint;
XSetWMHints(xdisplay, xwin, &hints);
XMapWindow(xdisplay, xwin);
XStoreName(xdisplay, xwin, "tetra-demo");
wmDeleteMessage = XInternAtom(xdisplay, "WM_DELETE_WINDOW", False);
XSetWMProtocols(xdisplay, xwin, &wmDeleteMessage, 1);
initialized = true;
}
}
namespace egl {
//code in the kb::egl namespace deals with setting up EGL
EGLDisplay display;
EGLSurface surface;
EGLContext context;
void debugMessageCallback(GLenum source, GLenum type, GLuint id,
GLenum severity, GLsizei length,
const GLchar *msg, const void *data)
{
std::string _source;
std::string _type;
std::string _severity;
switch (source) {
case GL_DEBUG_SOURCE_API:
_source = "API";
break;
case GL_DEBUG_SOURCE_WINDOW_SYSTEM:
_source = "WINDOW SYSTEM";
break;
case GL_DEBUG_SOURCE_SHADER_COMPILER:
_source = "SHADER COMPILER";
break;
case GL_DEBUG_SOURCE_THIRD_PARTY:
_source = "THIRD PARTY";
break;
case GL_DEBUG_SOURCE_APPLICATION:
_source = "APPLICATION";
break;
case GL_DEBUG_SOURCE_OTHER:
_source = "UNKNOWN";
break;
default:
_source = "UNKNOWN";
break;
}
switch (type) {
case GL_DEBUG_TYPE_ERROR:
_type = "ERROR";
break;
case GL_DEBUG_TYPE_DEPRECATED_BEHAVIOR:
_type = "DEPRECATED BEHAVIOR";
break;
case GL_DEBUG_TYPE_UNDEFINED_BEHAVIOR:
_type = "UDEFINED BEHAVIOR";
break;
case GL_DEBUG_TYPE_PORTABILITY:
_type = "PORTABILITY";
break;
case GL_DEBUG_TYPE_PERFORMANCE:
_type = "PERFORMANCE";
break;
case GL_DEBUG_TYPE_OTHER:
_type = "OTHER";
break;
case GL_DEBUG_TYPE_MARKER:
_type = "MARKER";
break;
default:
_type = "UNKNOWN";
break;
}
switch (severity) {
case GL_DEBUG_SEVERITY_HIGH:
_severity = "HIGH";
break;
case GL_DEBUG_SEVERITY_MEDIUM:
_severity = "MEDIUM";
break;
case GL_DEBUG_SEVERITY_LOW:
_severity = "LOW";
break;
case GL_DEBUG_SEVERITY_NOTIFICATION:
_severity = "NOTIFICATION";
break;
default:
_severity = "UNKNOWN";
break;
}
fprintf(stderr, "%d: %s of %s severity, raised from %s: %s\n",
id, _type.c_str(), _severity.c_str(), _source.c_str(), msg);
if(type == GL_DEBUG_TYPE_ERROR)
exit(2);
}
void init_egl(bool debug = false) {
bool offscreen = !x11::is_initialized();
eglCheck(eglBindAPI(EGL_OPENGL_API));
if(offscreen) {
eglCheck(display = eglGetDisplay(EGL_DEFAULT_DISPLAY));
} else {
eglCheck(display = eglGetDisplay(x11::get_x11_display()));
}
eglCheck(eglInitialize(display, nullptr, nullptr));
const EGLint egl_config_constraints[] = {
EGL_STENCIL_SIZE, static_cast<EGLint>(0),
EGL_SAMPLE_BUFFERS,
EGL_FALSE,
EGL_SAMPLES, 0,
EGL_SURFACE_TYPE,
EGL_WINDOW_BIT | EGL_PBUFFER_BIT,
EGL_RENDERABLE_TYPE,
EGL_OPENGL_BIT,
EGL_NONE
};
EGLint configCount;
EGLConfig configs[1];
eglCheck(eglChooseConfig(display, egl_config_constraints, configs, 1, &configCount));
if(!offscreen) {
eglCheck(surface = eglCreateWindowSurface(display, configs[0], x11::get_x11_window(), nullptr));
} else {
EGLint pbuffer_attrib_list[] = {
EGL_WIDTH, WIDTH,
EGL_HEIGHT, HEIGHT,
EGL_NONE
};
eglCheck(surface = eglCreatePbufferSurface(display, configs[0], pbuffer_attrib_list));
}
const EGLint contextVersion[] = {
EGL_CONTEXT_CLIENT_VERSION, 2,
EGL_CONTEXT_OPENGL_DEBUG, debug ? EGL_TRUE : EGL_FALSE,
EGL_NONE
};
eglCheck(context = eglCreateContext(display, configs[0], EGL_NO_CONTEXT, contextVersion));
eglCheck(eglMakeCurrent(display, surface, surface, context));
eglCheck(eglSwapInterval(display, 1));
if(debug) {
glCheck(glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS));
auto glDebugMessageCallback = (void (*)(void *, void *))eglGetProcAddress("glDebugMessageCallback");
assert(glDebugMessageCallback);
glCheck(glDebugMessageCallback(reinterpret_cast<void*>(debugMessageCallback), nullptr));
}
}
EGLBoolean swapBuffers() {
return eglCheck(eglSwapBuffers(display, surface));
}
std::string get_info() {
return eglQueryString(display, EGL_VERSION);
}
} //namespace egl
namespace gl {
//code in the kb::gl namespace deals with OpenGL (and OpenCV/GL) internals
cv::ogl::Texture2D *frame_buf_tex;
GLuint frame_buf;
void init_gl() {
glewInit();
cv::ogl::ocl::initializeContextFromGL();
frame_buf = 0;
glCheck(glGenFramebuffers(1, &frame_buf));
glCheck(glBindFramebuffer(GL_FRAMEBUFFER, frame_buf));
frame_buf_tex = new cv::ogl::Texture2D(cv::Size(WIDTH, HEIGHT), cv::ogl::Texture2D::RGBA, false);
frame_buf_tex->bind();
glCheck(glFramebufferTexture(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, frame_buf_tex->texId(), 0));
assert(glCheckFramebufferStatus(GL_FRAMEBUFFER) == GL_FRAMEBUFFER_COMPLETE);
glCheck(glViewport(0, 0, WIDTH, HEIGHT));
glCheck(glColor3f(1.0, 1.0, 1.0));
glCheck(glEnable(GL_CULL_FACE));
glCheck(glCullFace(GL_BACK));
glCheck(glMatrixMode(GL_PROJECTION));
glCheck(glLoadIdentity());
glCheck(glFrustum(-2, 2, -1.5, 1.5, 1, 40));
glCheck(glMatrixMode(GL_MODELVIEW));
glCheck(glLoadIdentity());
glCheck(glTranslatef(0, 0, -3));
glCheck(glRotatef(50, 1, 0, 0));
glCheck(glRotatef(70, 0, 1, 0));
}
void swapBuffers() {
kb::egl::swapBuffers();
}
std::string get_info() {
return reinterpret_cast<const char*>(glGetString(GL_VERSION));
}
void fetch_frame_buffer(cv::UMat &m) {
glCheck(cv::ogl::convertFromGLTexture2D(*gl::frame_buf_tex, m));
}
void return_frame_buffer(cv::UMat &m) {
glCheck(cv::ogl::convertToGLTexture2D(m, *gl::frame_buf_tex));
}
void blit_frame_buffer_to_screen() {
glBindFramebuffer(GL_READ_FRAMEBUFFER, kb::gl::frame_buf);
glReadBuffer(GL_COLOR_ATTACHMENT0);
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0);
glViewport(0, 0, WIDTH, HEIGHT);
glBlitFramebuffer(0, 0, WIDTH, HEIGHT, 0, 0, WIDTH, HEIGHT, GL_COLOR_BUFFER_BIT, GL_NEAREST);
}
} // namespace gl
namespace cl {
std::string get_info() {
std::stringstream ss;
std::vector<cv::ocl::PlatformInfo> plt_info;
cv::ocl::getPlatfomsInfo(plt_info);
const cv::ocl::Device& device = cv::ocl::Device::getDefault();
for (const auto &info : plt_info) {
ss << "\t* " << info.version() << " = " << info.name() << endl;
}
ss << "\t GL sharing: " << (device.isExtensionSupported("cl_khr_gl_sharing") ? "true" : "false") << endl;
ss << "\t GL MSAA sharing: " << (device.isExtensionSupported("cl_khr_gl_msaa_sharing") ? "true" : "false") << endl;
ss << "\t VAAPI media sharing: " << (device.isExtensionSupported("cl_intel_va_api_media_sharing") ? "true" : "false") << endl;
return ss.str();
}
}
}
#endif /* SRC_TETRA_SUBSYSTEMS_HPP_ */
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