Added MiniCL, a limited subset of OpenCL, the open standard for parallel programming of heterogeneous systems.
MiniCL includes a cross-platform run-time frontend based on pthreads, Win32 Threads, or libspe2 for Cell SPU. It is there, to bridge the gap until OpenCL is more widely available. See Bullet/Demos/VectorAdd, influenced by NVidia OpenCL Jumpstart Guide: http://developer.download.nvidia.com/OpenCL/NVIDIA_OpenCL_JumpStart_Guide.pdf
This commit is contained in:
erwin.coumans
116
src/BulletMultiThreaded/MiniCLTask/MiniCLTask.cpp
Normal file
116
src/BulletMultiThreaded/MiniCLTask/MiniCLTask.cpp
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@@ -0,0 +1,116 @@
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/*
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Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
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||||
|
||||
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.
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||||
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*/
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#include "MiniCLTask.h"
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#include "../PlatformDefinitions.h"
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#include "../SpuFakeDma.h"
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#include "LinearMath/btMinMax.h"
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#include "BulletMultiThreaded/MiniCLTask/MiniCLTask.h"
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#ifdef __SPU__
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#include <spu_printf.h>
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#else
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#include <stdio.h>
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#define spu_printf printf
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#endif
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#define __kernel
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#define __global
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#define get_global_id(a) guid
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struct MiniCLTask_LocalStoreMemory
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{
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};
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///////////////////////////////////////////////////
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// OpenCL Kernel Function for element by element vector addition
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__kernel void VectorAdd(__global const float8* a, __global const float8* b, __global float8* c, int guid)
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{
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// get oct-float index into global data array
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int iGID = get_global_id(0);
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// read inputs into registers
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float8 f8InA = a[iGID];
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float8 f8InB = b[iGID];
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float8 f8Out = (float8)0.0f;
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// add the vector elements
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f8Out.s0 = f8InA.s0 + f8InB.s0;
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f8Out.s1 = f8InA.s1 + f8InB.s1;
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f8Out.s2 = f8InA.s2 + f8InB.s2;
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f8Out.s3 = f8InA.s3 + f8InB.s3;
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f8Out.s4 = f8InA.s4 + f8InB.s4;
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f8Out.s5 = f8InA.s5 + f8InB.s5;
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f8Out.s6 = f8InA.s6 + f8InB.s6;
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f8Out.s7 = f8InA.s7 + f8InB.s7;
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// write back out to GMEM
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c[get_global_id(0)] = f8Out;
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}
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///////////////////////////////////////////////////
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//-- MAIN METHOD
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void processMiniCLTask(void* userPtr, void* lsMemory)
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{
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// BT_PROFILE("processSampleTask");
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MiniCLTask_LocalStoreMemory* localMemory = (MiniCLTask_LocalStoreMemory*)lsMemory;
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MiniCLTaskDesc* taskDescPtr = (MiniCLTaskDesc*)userPtr;
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MiniCLTaskDesc& taskDesc = *taskDescPtr;
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printf("Compute Unit[%d] executed kernel %d work items [%d..%d)\n",taskDesc.m_taskId,taskDesc.m_kernelProgramId,taskDesc.m_firstWorkUnit,taskDesc.m_lastWorkUnit);
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switch (taskDesc.m_kernelProgramId)
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{
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case CMD_MINICL_ADDVECTOR:
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{
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for (unsigned int i=taskDesc.m_firstWorkUnit;i<taskDesc.m_lastWorkUnit;i++)
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{
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VectorAdd(*(const float8**)&taskDesc.m_argData[0][0],*(const float8**)&taskDesc.m_argData[1][0],*(float8**)&taskDesc.m_argData[2][0],i);
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}
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break;
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}
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default:
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{
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printf("error in processMiniCLTask: unknown command id: %d\n",taskDesc.m_kernelProgramId);
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}
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};
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}
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#if defined(__CELLOS_LV2__) || defined (LIBSPE2)
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ATTRIBUTE_ALIGNED16(MiniCLTask_LocalStoreMemory gLocalStoreMemory);
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void* createMiniCLLocalStoreMemory()
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{
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return &gLocalStoreMemory;
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}
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#else
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void* createMiniCLLocalStoreMemory()
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{
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return new MiniCLTask_LocalStoreMemory;
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};
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#endif
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81
src/BulletMultiThreaded/MiniCLTask/MiniCLTask.h
Normal file
81
src/BulletMultiThreaded/MiniCLTask/MiniCLTask.h
Normal file
@@ -0,0 +1,81 @@
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/*
|
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Bullet Continuous Collision Detection and Physics Library, Copyright (c) 2007 Erwin Coumans
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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.
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|
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*/
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#ifndef MINICL__TASK_H
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#define MINICL__TASK_H
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#include "../PlatformDefinitions.h"
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#include "LinearMath/btScalar.h"
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#include "LinearMath/btAlignedAllocator.h"
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enum
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{
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CMD_MINICL_1= 1,
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CMD_MINICL_ADDVECTOR
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};
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struct float8
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{
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float s0;
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float s1;
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float s2;
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float s3;
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float s4;
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float s5;
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float s6;
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float s7;
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float8(float scalar)
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{
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s0=s1=s2=s3=s4=s5=s6=s7=scalar;
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}
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};
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#define MINICL_MAX_ARGLENGTH 128
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#define MINI_CL_MAX_ARG 8
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ATTRIBUTE_ALIGNED16(struct) MiniCLTaskDesc
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{
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BT_DECLARE_ALIGNED_ALLOCATOR();
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MiniCLTaskDesc()
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{
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for (int i=0;i<MINI_CL_MAX_ARG;i++)
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{
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m_argSizes[i]=0;
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}
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}
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uint32_t m_taskId;
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uint32_t m_kernelProgramId;
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uint32_t m_firstWorkUnit;
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uint32_t m_lastWorkUnit;
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char m_argData[MINI_CL_MAX_ARG][MINICL_MAX_ARGLENGTH];
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int m_argSizes[MINI_CL_MAX_ARG];
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};
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void processMiniCLTask(void* userPtr, void* lsMemory);
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void* createMiniCLLocalStoreMemory();
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#endif //MINICL__TASK_H
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227
src/BulletMultiThreaded/MiniCLTaskScheduler.cpp
Normal file
227
src/BulletMultiThreaded/MiniCLTaskScheduler.cpp
Normal file
@@ -0,0 +1,227 @@
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/*
|
||||
Bullet Continuous Collision Detection and Physics Library
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||||
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.
|
||||
*/
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//#define __CELLOS_LV2__ 1
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#define USE_SAMPLE_PROCESS 1
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#ifdef USE_SAMPLE_PROCESS
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#include "MiniCLTaskScheduler.h"
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#include <stdio.h>
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#ifdef __SPU__
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void SampleThreadFunc(void* userPtr,void* lsMemory)
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{
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//do nothing
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printf("hello world\n");
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}
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void* SamplelsMemoryFunc()
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{
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//don't create local store memory, just return 0
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return 0;
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}
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#else
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#include "btThreadSupportInterface.h"
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//# include "SPUAssert.h"
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#include <string.h>
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extern "C" {
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extern char SPU_SAMPLE_ELF_SYMBOL[];
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}
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MiniCLTaskScheduler::MiniCLTaskScheduler(btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks)
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:m_threadInterface(threadInterface),
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m_maxNumOutstandingTasks(maxNumOutstandingTasks)
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{
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m_taskBusy.resize(m_maxNumOutstandingTasks);
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m_spuSampleTaskDesc.resize(m_maxNumOutstandingTasks);
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for (int i = 0; i < m_maxNumOutstandingTasks; i++)
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{
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m_taskBusy[i] = false;
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}
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m_numBusyTasks = 0;
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m_currentTask = 0;
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m_initialized = false;
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m_threadInterface->startSPU();
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}
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MiniCLTaskScheduler::~MiniCLTaskScheduler()
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{
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m_threadInterface->stopSPU();
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}
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void MiniCLTaskScheduler::initialize()
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{
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#ifdef DEBUG_SPU_TASK_SCHEDULING
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printf("MiniCLTaskScheduler::initialize()\n");
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#endif //DEBUG_SPU_TASK_SCHEDULING
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for (int i = 0; i < m_maxNumOutstandingTasks; i++)
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{
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m_taskBusy[i] = false;
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}
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m_numBusyTasks = 0;
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m_currentTask = 0;
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m_initialized = true;
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}
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void MiniCLTaskScheduler::issueTask(int firstWorkUnit, int lastWorkUnit,int kernelProgramId,char* argData,int* argSizes)
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{
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||||
|
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#ifdef DEBUG_SPU_TASK_SCHEDULING
|
||||
printf("MiniCLTaskScheduler::issueTask (m_currentTask= %d\)n", m_currentTask);
|
||||
#endif //DEBUG_SPU_TASK_SCHEDULING
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||||
|
||||
m_taskBusy[m_currentTask] = true;
|
||||
m_numBusyTasks++;
|
||||
|
||||
MiniCLTaskDesc& taskDesc = m_spuSampleTaskDesc[m_currentTask];
|
||||
{
|
||||
// send task description in event message
|
||||
taskDesc.m_firstWorkUnit = firstWorkUnit;
|
||||
taskDesc.m_lastWorkUnit = lastWorkUnit;
|
||||
taskDesc.m_kernelProgramId = kernelProgramId;
|
||||
//some bookkeeping to recognize finished tasks
|
||||
taskDesc.m_taskId = m_currentTask;
|
||||
|
||||
for (int i=0;i<MINI_CL_MAX_ARG;i++)
|
||||
{
|
||||
taskDesc.m_argSizes[i] = argSizes[i];
|
||||
if (taskDesc.m_argSizes[i])
|
||||
{
|
||||
memcpy(&taskDesc.m_argData[i],&argData[MINICL_MAX_ARGLENGTH*i],taskDesc.m_argSizes[i]);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
m_threadInterface->sendRequest(1, (ppu_address_t) &taskDesc, m_currentTask);
|
||||
|
||||
// if all tasks busy, wait for spu event to clear the task.
|
||||
|
||||
if (m_numBusyTasks >= m_maxNumOutstandingTasks)
|
||||
{
|
||||
unsigned int taskId;
|
||||
unsigned int outputSize;
|
||||
|
||||
for (int i=0;i<m_maxNumOutstandingTasks;i++)
|
||||
{
|
||||
if (m_taskBusy[i])
|
||||
{
|
||||
taskId = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
m_threadInterface->waitForResponse(&taskId, &outputSize);
|
||||
|
||||
//printf("PPU: after issue, received event: %u %d\n", taskId, outputSize);
|
||||
|
||||
postProcess(taskId, outputSize);
|
||||
|
||||
m_taskBusy[taskId] = false;
|
||||
|
||||
m_numBusyTasks--;
|
||||
}
|
||||
|
||||
// find new task buffer
|
||||
for (int i = 0; i < m_maxNumOutstandingTasks; i++)
|
||||
{
|
||||
if (!m_taskBusy[i])
|
||||
{
|
||||
m_currentTask = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
///Optional PPU-size post processing for each task
|
||||
void MiniCLTaskScheduler::postProcess(int taskId, int outputSize)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
|
||||
void MiniCLTaskScheduler::flush()
|
||||
{
|
||||
#ifdef DEBUG_SPU_TASK_SCHEDULING
|
||||
printf("\nSpuCollisionTaskProcess::flush()\n");
|
||||
#endif //DEBUG_SPU_TASK_SCHEDULING
|
||||
|
||||
|
||||
// all tasks are issued, wait for all tasks to be complete
|
||||
while(m_numBusyTasks > 0)
|
||||
{
|
||||
// Consolidating SPU code
|
||||
unsigned int taskId;
|
||||
unsigned int outputSize;
|
||||
|
||||
for (int i=0;i<m_maxNumOutstandingTasks;i++)
|
||||
{
|
||||
if (m_taskBusy[i])
|
||||
{
|
||||
taskId = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
{
|
||||
|
||||
m_threadInterface->waitForResponse(&taskId, &outputSize);
|
||||
}
|
||||
|
||||
//printf("PPU: flushing, received event: %u %d\n", taskId, outputSize);
|
||||
|
||||
postProcess(taskId, outputSize);
|
||||
|
||||
m_taskBusy[taskId] = false;
|
||||
|
||||
m_numBusyTasks--;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
#endif //USE_SAMPLE_PROCESS
|
||||
181
src/BulletMultiThreaded/MiniCLTaskScheduler.h
Normal file
181
src/BulletMultiThreaded/MiniCLTaskScheduler.h
Normal file
@@ -0,0 +1,181 @@
|
||||
/*
|
||||
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 MINICL_TASK_SCHEDULER_H
|
||||
#define MINICL_TASK_SCHEDULER_H
|
||||
|
||||
#include <assert.h>
|
||||
|
||||
|
||||
#include "PlatformDefinitions.h"
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "LinearMath/btAlignedObjectArray.h"
|
||||
|
||||
|
||||
#include "MiniCLTask/MiniCLTask.h"
|
||||
|
||||
|
||||
//just add your commands here, try to keep them globally unique for debugging purposes
|
||||
#define CMD_SAMPLE_TASK_COMMAND 10
|
||||
|
||||
|
||||
|
||||
/// MiniCLTaskScheduler handles SPU processing of collision pairs.
|
||||
/// When PPU issues a task, it will look for completed task buffers
|
||||
/// PPU will do postprocessing, dependent on workunit output (not likely)
|
||||
class MiniCLTaskScheduler
|
||||
{
|
||||
// track task buffers that are being used, and total busy tasks
|
||||
btAlignedObjectArray<bool> m_taskBusy;
|
||||
btAlignedObjectArray<MiniCLTaskDesc> m_spuSampleTaskDesc;
|
||||
|
||||
int m_numBusyTasks;
|
||||
|
||||
// the current task and the current entry to insert a new work unit
|
||||
int m_currentTask;
|
||||
|
||||
bool m_initialized;
|
||||
|
||||
void postProcess(int taskId, int outputSize);
|
||||
|
||||
class btThreadSupportInterface* m_threadInterface;
|
||||
|
||||
int m_maxNumOutstandingTasks;
|
||||
|
||||
|
||||
|
||||
public:
|
||||
MiniCLTaskScheduler(btThreadSupportInterface* threadInterface, int maxNumOutstandingTasks);
|
||||
|
||||
~MiniCLTaskScheduler();
|
||||
|
||||
///call initialize in the beginning of the frame, before addCollisionPairToTask
|
||||
void initialize();
|
||||
|
||||
void issueTask(int firstWorkUnit, int lastWorkUnit,int kernelProgramId,char* argData,int* argSizes);
|
||||
|
||||
///call flush to submit potential outstanding work to SPUs and wait for all involved SPUs to be finished
|
||||
void flush();
|
||||
|
||||
class btThreadSupportInterface* getThreadSupportInterface()
|
||||
{
|
||||
return m_threadInterface;
|
||||
}
|
||||
|
||||
int findProgramCommandIdByName(const char* programName) const
|
||||
{
|
||||
return CMD_MINICL_ADDVECTOR;//hardcoded temp value, todo: implement multi-program support
|
||||
}
|
||||
|
||||
int getMaxNumOutstandingTasks() const
|
||||
{
|
||||
return m_maxNumOutstandingTasks;
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
struct MiniCLKernel
|
||||
{
|
||||
MiniCLTaskScheduler* m_scheduler;
|
||||
|
||||
int m_kernelProgramCommandId;
|
||||
|
||||
char m_argData[MINI_CL_MAX_ARG][MINICL_MAX_ARGLENGTH];
|
||||
int m_argSizes[MINI_CL_MAX_ARG];
|
||||
};
|
||||
|
||||
|
||||
#if defined(USE_LIBSPE2) && defined(__SPU__)
|
||||
////////////////////MAIN/////////////////////////////
|
||||
#include "../SpuLibspe2Support.h"
|
||||
#include <spu_intrinsics.h>
|
||||
#include <spu_mfcio.h>
|
||||
#include <SpuFakeDma.h>
|
||||
|
||||
void * SamplelsMemoryFunc();
|
||||
void SampleThreadFunc(void* userPtr,void* lsMemory);
|
||||
|
||||
//#define DEBUG_LIBSPE2_MAINLOOP
|
||||
|
||||
int main(unsigned long long speid, addr64 argp, addr64 envp)
|
||||
{
|
||||
printf("SPU is up \n");
|
||||
|
||||
ATTRIBUTE_ALIGNED128(btSpuStatus status);
|
||||
ATTRIBUTE_ALIGNED16( SpuSampleTaskDesc taskDesc ) ;
|
||||
unsigned int received_message = Spu_Mailbox_Event_Nothing;
|
||||
bool shutdown = false;
|
||||
|
||||
cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(3));
|
||||
|
||||
status.m_status = Spu_Status_Free;
|
||||
status.m_lsMemory.p = SamplelsMemoryFunc();
|
||||
|
||||
cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(3));
|
||||
|
||||
|
||||
while (!shutdown)
|
||||
{
|
||||
received_message = spu_read_in_mbox();
|
||||
|
||||
|
||||
|
||||
switch(received_message)
|
||||
{
|
||||
case Spu_Mailbox_Event_Shutdown:
|
||||
shutdown = true;
|
||||
break;
|
||||
case Spu_Mailbox_Event_Task:
|
||||
// refresh the status
|
||||
#ifdef DEBUG_LIBSPE2_MAINLOOP
|
||||
printf("SPU recieved Task \n");
|
||||
#endif //DEBUG_LIBSPE2_MAINLOOP
|
||||
cellDmaGet(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(3));
|
||||
|
||||
btAssert(status.m_status==Spu_Status_Occupied);
|
||||
|
||||
cellDmaGet(&taskDesc, status.m_taskDesc.p, sizeof(SpuSampleTaskDesc), DMA_TAG(3), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(3));
|
||||
|
||||
SampleThreadFunc((void*)&taskDesc, reinterpret_cast<void*> (taskDesc.m_mainMemoryPtr) );
|
||||
break;
|
||||
case Spu_Mailbox_Event_Nothing:
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
// set to status free and wait for next task
|
||||
status.m_status = Spu_Status_Free;
|
||||
cellDmaLargePut(&status, argp.ull, sizeof(btSpuStatus), DMA_TAG(3), 0, 0);
|
||||
cellDmaWaitTagStatusAll(DMA_MASK(3));
|
||||
|
||||
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
//////////////////////////////////////////////////////
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#endif // MINICL_TASK_SCHEDULER_H
|
||||
|
||||
Reference in New Issue
Block a user