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Added libspe2 support contribution by IBM Germany 'Extreme Blue' project:

Browse Source 
Thanks to Benjamin Hoeferlin, Minh Cuong Tran,Martina Huellmann,Frederick Roth.
This commit is contained in:
ejcoumans
2007-09-26 23:33:56 +00:00
parent 7dbc60d931
commit b2b2ea71c6
2 changed files with 430 additions and 347 deletions
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473
Extras/BulletMultiThreaded/SpuLibspe2Support.cpp
View File

@@ -1,216 +1,257 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifdef USE_LIBSPE2
#include "SpuLibspe2Support.h"
#include "SpuCollisionTaskProcess.h"
#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
#include <Windows.h>
///SpuLibspe2Support helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
///Setup and initialize SPU/CELL/Libspe2
SpuLibspe2Support::SpuLibspe2Support(spe_program_handle_t *speprog,int numThreads)
{
program = speprog
startSPUs(numThreads);
N = numThreads;
}
///cleanup/shutdown Libspe2
SpuLibspe2Support::~SpuLibspe2Support()
{
stopSPUs();
}
#include <stdio.h>
#ifdef WIN32
DWORD WINAPI Thread_no_1( LPVOID lpParam )
{
btSpuStatus* status = (btSpuStatus*)lpParam;
while (1)
{
WaitForSingleObject(status->m_eventStartHandle,INFINITE);
btAssert(status->m_status);
SpuGatherAndProcessPairsTaskDesc* taskDesc = status->m_taskDesc;
if (taskDesc)
{
processCollisionTask(*taskDesc);
SetEvent(status->m_eventCompletetHandle);
} else
{
//exit Thread
break;
}
}
return 0;
}
#endif
///send messages to SPUs
void SpuLibspe2Support::sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1)
{
/// gMidphaseSPU.sendRequest(CMD_GATHER_AND_PROCESS_PAIRLIST, (uint32_t) &taskDesc);
///we should spawn an SPU task here, and in 'waitForResponse' it should wait for response of the (one of) the first tasks that finished
switch (uiCommand)
{
case CMD_GATHER_AND_PROCESS_PAIRLIST:
{
SpuGatherAndProcessPairsTaskDesc* taskDesc = (SpuGatherAndProcessPairsTaskDesc*) uiArgument0 ;
//#define SINGLE_THREADED 1
#ifdef SINGLE_THREADED
btSpuStatus& spuStatus = m_activeSpuStatus[0];
taskDesc->m_lsMemory = (CollisionTask_LocalStoreMemory*)spuStatus.m_lsMemory;
processCollisionTask(*taskDesc);
HANDLE handle =0;
#else
btAssert(taskDesc->taskId>=0);
btAssert(taskDesc->taskId<m_activeSpuStatus.size());
btSpuStatus& spuStatus = m_activeSpuStatus[taskDesc->taskId];
spuStatus.m_commandId = uiCommand;
spuStatus.m_status = 1;
spuStatus.m_taskDesc = taskDesc;
taskDesc->m_lsMemory = (CollisionTask_LocalStoreMemory*)spuStatus.m_lsMemory;
///fire event to start new task
SetEvent(spuStatus.m_eventStartHandle);
#endif //CollisionTask_LocalStoreMemory
break;
}
default:
{
///not implemented
btAssert(0);
}
};
}
///check for messages from SPUs
void SpuLibspe2Support::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
{
///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
btAssert(m_activeSpuStatus.size());
int last = -1;
//find an active spu/thread
for (int i=0;i<m_activeSpuStatus.size();i++)
{
if (m_activeSpuStatus[i].m_status)
{
last = i;
break;
}
}
#ifndef SINGLE_THREADED
btAssert(spuStatus.m_threadHandle);
btAssert(spuStatus.m_eventCompletetHandle);
btSpuStatus& spuStatus = m_activeSpuStatus[last];
WaitForSingleObject(spuStatus.m_eventCompletetHandle, INFINITE);
spuStatus.m_status = 0;
///need to find an active spu
btAssert(last>=0);
#else
last=0;
btSpuStatus& spuStatus = m_activeSpuStatus[last];
#endif //SINGLE_THREADED
*puiArgument0 = spuStatus.m_taskId;
*puiArgument1 = spuStatus.m_status;
}
///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
void SpuLibspe2Support::startSPUs(int numThreads)
{
#ifdef WIN32
m_activeSpuStatus.resize(numThreads);
#endif
for (int i=0;i<numThreads;i++)
{
printf("starting thread %d\n",i);
data[i].context = spe_context_create(0, NULL);
spe_program_load(data[i].context, program);
data[i].entry = SPE_DEFAULT_ENTRY;
data[i].flags = 0;
data[i].argp = NULL;
data[i].envp = NULL;
pthread_create(&data[i].pthread, NULL, &ppu_pthread_function, &data[i]);
printf("started thread %d with threadHandle %d\n",i,handle);
}
}
///tell the task scheduler we are done with the SPU tasks
void SpuLibspe2Support::stopSPUs()
{
// wait for all threads to finish
for ( i=0; i<N; i++ ) {
pthread_join (data[i].pthread, NULL);
}
// close SPE program
spe_image_close(program);
// destroy SPE contexts
for ( i=0; i<N; i++ ) {
spe_context_destroy (data[i].context);
}
}
#endif// USE_LIBSPE2
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifdef USE_LIBSPE2
#include "SpuLibspe2Support.h"
//SpuLibspe2Support helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
///Setup and initialize SPU/CELL/Libspe2
SpuLibspe2Support::SpuLibspe2Support(spe_program_handle_t *speprog, int numThreads)
{
this->program = speprog;
this->numThreads = ((numThreads <= spe_cpu_info_get(SPE_COUNT_PHYSICAL_SPES, -1)) ? numThreads : spe_cpu_info_get(SPE_COUNT_PHYSICAL_SPES, -1));
}
///cleanup/shutdown Libspe2
SpuLibspe2Support::~SpuLibspe2Support()
{
stopSPU();
}
///send messages to SPUs
void SpuLibspe2Support::sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1)
{
spe_context_ptr_t context;
switch (uiCommand)
{
case CMD_SAMPLE_TASK_COMMAND:
{
//get taskdescription
SpuSampleTaskDesc* taskDesc = (SpuSampleTaskDesc*) uiArgument0;
btAssert(taskDesc->m_taskId<m_activeSpuStatus.size());
//get status of SPU on which task should run
btSpuStatus& spuStatus = m_activeSpuStatus[taskDesc->m_taskId];
//set data for spuStatus
spuStatus.m_commandId = uiCommand;
spuStatus.m_status = Spu_Status_Occupied; //set SPU as "occupied"
spuStatus.m_taskDesc.p = taskDesc;
//get context
context = data[taskDesc->m_taskId].context;
taskDesc->m_mainMemoryPtr = reinterpret_cast<uint64_t> (spuStatus.m_lsMemory.p);
break;
}
case CMD_GATHER_AND_PROCESS_PAIRLIST:
{
//get taskdescription
SpuGatherAndProcessPairsTaskDesc* taskDesc = (SpuGatherAndProcessPairsTaskDesc*) uiArgument0;
btAssert(taskDesc->taskId<m_activeSpuStatus.size());
//get status of SPU on which task should run
btSpuStatus& spuStatus = m_activeSpuStatus[taskDesc->taskId];
//set data for spuStatus
spuStatus.m_commandId = uiCommand;
spuStatus.m_status = Spu_Status_Occupied; //set SPU as "occupied"
spuStatus.m_taskDesc.p = taskDesc;
//get context
context = data[taskDesc->taskId].context;
taskDesc->m_lsMemory = (CollisionTask_LocalStoreMemory*)spuStatus.m_lsMemory.p;
break;
}
default:
{
///not implemented
btAssert(0);
}
};
//write taskdescription in mailbox
unsigned int event = Spu_Mailbox_Event_Task;
spe_in_mbox_write(context, &event, 1, SPE_MBOX_ANY_NONBLOCKING);
}
///check for messages from SPUs
void SpuLibspe2Support::waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1)
{
///We should wait for (one of) the first tasks to finish (or other SPU messages), and report its response
///A possible response can be 'yes, SPU handled it', or 'no, please do a PPU fallback'
btAssert(m_activeSpuStatus.size());
int last = -1;
//find an active spu/thread
while(last < 0)
{
for (int i=0;i<m_activeSpuStatus.size();i++)
{
if ( m_activeSpuStatus[i].m_status == Spu_Status_Free)
{
last = i;
break;
}
}
if(last < 0)
sched_yield();
}
btSpuStatus& spuStatus = m_activeSpuStatus[last];
///need to find an active spu
btAssert(last>=0);
*puiArgument0 = spuStatus.m_taskId;
*puiArgument1 = spuStatus.m_status;
}
void SpuLibspe2Support::startSPU()
{
this->internal_startSPU();
}
///start the spus group (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
void SpuLibspe2Support::internal_startSPU()
{
m_activeSpuStatus.resize(numThreads);
for (int i=0; i < numThreads; i++)
{
if(data[i].context == NULL)
{
/* Create context */
if ((data[i].context = spe_context_create(0, NULL)) == NULL)
{
perror ("Failed creating context");
exit(1);
}
/* Load program into context */
if(spe_program_load(data[i].context, this->program))
{
perror ("Failed loading program");
exit(1);
}
m_activeSpuStatus[i].m_status = Spu_Status_Startup;
m_activeSpuStatus[i].m_taskId = i;
m_activeSpuStatus[i].m_commandId = 0;
m_activeSpuStatus[i].m_lsMemory.p = NULL;
data[i].entry = SPE_DEFAULT_ENTRY;
data[i].flags = 0;
data[i].argp.p = &m_activeSpuStatus[i];
data[i].envp.p = NULL;
/* Create thread for each SPE context */
if (pthread_create(&data[i].pthread, NULL, &ppu_pthread_function, &(data[i]) ))
{
perror ("Failed creating thread");
exit(1);
}
/*
else
{
printf("started thread %d\n",i);
}*/
}
}
for (int i=0; i < numThreads; i++)
{
if(data[i].context != NULL)
{
while( m_activeSpuStatus[i].m_status == Spu_Status_Startup)
{
// wait for spu to set up
sched_yield();
}
printf("Spu %d is ready\n", i);
}
}
}
///tell the task scheduler we are done with the SPU tasks
void SpuLibspe2Support::stopSPU()
{
// wait for all threads to finish
int i;
for ( i = 0; i < this->numThreads; i++ )
{
unsigned int event = Spu_Mailbox_Event_Shutdown;
spe_context_ptr_t context = data[i].context;
spe_in_mbox_write(context, &event, 1, SPE_MBOX_ALL_BLOCKING);
pthread_join (data[i].pthread, NULL);
}
// close SPE program
spe_image_close(program);
// destroy SPE contexts
for ( i = 0; i < this->numThreads; i++ )
{
if(data[i].context != NULL)
{
spe_context_destroy (data[i].context);
}
}
m_activeSpuStatus.clear();
}
#endif //USE_LIBSPE2

304
Extras/BulletMultiThreaded/SpuLibspe2Support.h
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@@ -1,131 +1,173 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
///USE_LIBSPE2: this define should be in the build system, or in <LinearMath/btScalar.h>
//#define USE_LIBSPE2 1
#ifdef USE_LIBSPE2
#ifndef SPU_LIBSPE2_SUPPORT_H
#define SPU_LIBSPE2_SUPPORT_H
#include "LinearMath/btAlignedObjectArray.h"
#include <libspe2.h>
#include <pthread.h>
/**
* Note:
* The order of elements in this enum are important, that's why each one is explicitly
* given a value. They will correspond to the .elf names/addresses that will be
* loaded into Libspe2.
* Mixing up these values will cause the wrong code to execute, for instance, the
* solver may be asked to do a collision detection job.
*/
#ifdef WIN32 // original enum, but for libspe2 will pass the SPE program handle ptr directly
typedef enum {
SPU_ELF_COLLISION_DETECTION=0,
SPU_ELF_SAMPLE,
//SPU_ELF_INTEGRATION,
//SPU_ELF_SOLVER,
SPU_ELF_LAST,
} SpuLibspe2ElfId_t;
#endif
#ifdef WIN32
#include <malloc.h>
#define memalign(alignment, size) malloc(size);
#else
#include <stdlib.h>
#endif // WIN32
#define MAXSPUS 16
typedef struct ppu_pthread_data {
spe_context_ptr_t context;
pthread_t pthread;
unsigned int entry;
unsigned int flags;
void *argp;
void *envp;
spe_stop_info_t stopinfo;
} ppu_pthread_data_t;
void *ppu_pthread_function(void *arg)
{
ppu_pthread_data_t datap = *(ppu_pthread_data_t *)arg;
int rc;
do {
rc = spe_context_run(datap->context, &datap->entry, datap->flags, datap->argp, datap->envp, &datap->stopinfo);
} while (rc > 0); // loop until exit or error, and while any stop & signal
pthread_exit(NULL);
}
#include <LinearMath/btScalar.h> //for uint32_t etc.
///placeholder, until libspe2 support is there
struct btSpuStatus
{
uint32_t m_taskId;
uint32_t m_commandId;
uint32_t m_status;
struct SpuGatherAndProcessPairsTaskDesc* m_taskDesc;
void* m_threadHandle;
void* m_lsMemory;
void* m_eventStartHandle;
char m_eventStartHandleName[32];
void* m_eventCompletetHandle;
char m_eventCompletetHandleName[32];
};
///SpuLibspe2Support helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
class SpuLibspe2Support {
btAlignedObjectArray<btSpuStatus> m_activeSpuStatus;
public:
///Setup and initialize SPU/CELL/Libspe2
SpuLibspe2Support(spe_program_handle_t *speprog,int numThreads);
// SPE program handle ptr.
spe_program_handle_t *program;
// SPE program data
ppu_pthread_data_t data[MAX_SPUS];
// num SPE Threads
unsigned int N;
///cleanup/shutdown Libspe2
~SpuLibspe2Support();
///send messages to SPUs
void sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1=0);
///check for messages from SPUs
void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
void startSPUs(int numThreads);
///tell the task scheduler we are done with the SPU tasks
void stopSPUs();
};
#endif //SPU_LIBSPE2_SUPPORT_H
#endif //USE_LIBSPE2
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2007 Erwin Coumans http://bulletphysics.com
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef SPU_LIBSPE2_SUPPORT_H
#define SPU_LIBSPE2_SUPPORT_H
#include <LinearMath/btScalar.h> //for uint32_t etc.
#ifdef USE_LIBSPE2
#include <stdlib.h>
#include <stdio.h>
//#include "SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h"
#include "PlatformDefinitions.h"
//extern struct SpuGatherAndProcessPairsTaskDesc;
enum
{
Spu_Mailbox_Event_Nothing = 0,
Spu_Mailbox_Event_Task = 1,
Spu_Mailbox_Event_Shutdown = 2,
Spu_Mailbox_Event_ForceDword = 0xFFFFFFFF
};
enum
{
Spu_Status_Free = 0,
Spu_Status_Occupied = 1,
Spu_Status_Startup = 2,
Spu_Status_ForceDword = 0xFFFFFFFF
};
struct btSpuStatus
{
uint32_t m_taskId;
uint32_t m_commandId;
uint32_t m_status;
addr64 m_taskDesc;
addr64 m_lsMemory;
}
__attribute__ ((aligned (128)))
;
#ifndef __SPU__
#include "LinearMath/btAlignedObjectArray.h"
#include "SpuCollisionTaskProcess.h"
#include "SpuSampleTaskProcess.h"
#include "btThreadSupportInterface.h"
#include <libspe2.h>
#include <pthread.h>
#include <sched.h>
#define MAX_SPUS 4
typedef struct ppu_pthread_data
{
spe_context_ptr_t context;
pthread_t pthread;
unsigned int entry;
unsigned int flags;
addr64 argp;
addr64 envp;
spe_stop_info_t stopinfo;
} ppu_pthread_data_t;
static void *ppu_pthread_function(void *arg)
{
ppu_pthread_data_t * datap = (ppu_pthread_data_t *)arg;
/*
int rc;
do
{*/
spe_context_run(datap->context, &datap->entry, datap->flags, datap->argp.p, datap->envp.p, &datap->stopinfo);
if (datap->stopinfo.stop_reason == SPE_EXIT)
{
if (datap->stopinfo.result.spe_exit_code != 0)
{
perror("FAILED: SPE returned a non-zero exit status: \n");
exit(1);
}
}
else
{
perror("FAILED: SPE abnormally terminated\n");
exit(1);
}
//} while (rc > 0); // loop until exit or error, and while any stop & signal
pthread_exit(NULL);
}
///SpuLibspe2Support helps to initialize/shutdown libspe2, start/stop SPU tasks and communication
class SpuLibspe2Support : public btThreadSupportInterface
{
btAlignedObjectArray<btSpuStatus> m_activeSpuStatus;
public:
//Setup and initialize SPU/CELL/Libspe2
SpuLibspe2Support(spe_program_handle_t *speprog,int numThreads);
// SPE program handle ptr.
spe_program_handle_t *program;
// SPE program data
ppu_pthread_data_t data[MAX_SPUS];
//cleanup/shutdown Libspe2
~SpuLibspe2Support();
///send messages to SPUs
void sendRequest(uint32_t uiCommand, uint32_t uiArgument0, uint32_t uiArgument1=0);
//check for messages from SPUs
void waitForResponse(unsigned int *puiArgument0, unsigned int *puiArgument1);
//start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
virtual void startSPU();
//tell the task scheduler we are done with the SPU tasks
virtual void stopSPU();
private:
///start the spus (can be called at the beginning of each frame, to make sure that the right SPU program is loaded)
void internal_startSPU();
int numThreads;
};
#endif // NOT __SPU__
#endif //USE_LIBSPE2
#endif //SPU_LIBSPE2_SUPPORT_H