From a7dfd36c00c910b694dfd3e2b3f6e0a8cc892802 Mon Sep 17 00:00:00 2001
From: Lukas <61192133+lukasloetkolben@users.noreply.github.com>
Date: Wed, 21 Jan 2026 00:15:12 +0100
Subject: [PATCH 001/150] docs: comma 3X to comma four (#37009)
* comma 3X -> comma four
* add comma four ports image
---
README.md | 8 ++++----
docs/CONTRIBUTING.md | 8 ++++----
docs/assets/four-ports.svg | 3 +++
docs/concepts/glossary.md | 2 +-
docs/getting-started/what-is-openpilot.md | 2 +-
docs/how-to/connect-to-comma.md | 17 +++++++++--------
docs/how-to/replay-a-drive.md | 2 +-
mkdocs.yml | 2 +-
selfdrive/debug/README.md | 2 +-
tools/camerastream/README.md | 2 +-
tools/joystick/joystick_control.py | 4 ++--
tools/replay/README.md | 2 +-
12 files changed, 29 insertions(+), 25 deletions(-)
create mode 100644 docs/assets/four-ports.svg
diff --git a/README.md b/README.md
index a77a80935d..158bb08c49 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@
·
Community
·
- Try it on a comma 3X
+ Try it on a comma four
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
@@ -42,10 +42,10 @@ Using openpilot in a car
------
To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+1. **Supported Device:** a comma four, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index 7583095eaf..d189324ff7 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
## What contributions are we looking for?
**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
-openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
### What gets merged?
The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
All of these are examples of good PRs:
* typo fix: https://github.com/commaai/openpilot/pull/30678
@@ -29,7 +29,7 @@ All of these are examples of good PRs:
### What doesn't get merged?
-* **style changes**: code is art, and it's up to the author to make it beautiful
+* **style changes**: code is art, and it's up to the author to make it beautiful
* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
* **PRs without a clear goal**: every PR must have a singular and clear goal
* **UI design**: we do not have a good review process for this yet
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
### First contribution
[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma 3X or a car.
+There's lot of bounties that don't require a comma four or a car.
## Pull Requests
diff --git a/docs/assets/four-ports.svg b/docs/assets/four-ports.svg
new file mode 100644
index 0000000000..7bab31abf3
--- /dev/null
+++ b/docs/assets/four-ports.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494bd79c4d81d8bf766845cb451fa14e5b9ad931ff8aa90daea0ba67e164abe3
+size 105562
diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md
index a09b0f0785..df9e9aa080 100644
--- a/docs/concepts/glossary.md
+++ b/docs/concepts/glossary.md
@@ -6,4 +6,4 @@
* **segment**: routes are split into one minute chunks called segments.
* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
-* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
+* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
diff --git a/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md
index b3c56c8410..6fab2b979b 100644
--- a/docs/getting-started/what-is-openpilot.md
+++ b/docs/getting-started/what-is-openpilot.md
@@ -5,7 +5,7 @@
## How do I use it?
-openpilot is designed to be used on the comma 3X.
+openpilot is designed to be used on the comma four.
## How does it work?
diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index 5f02e11599..f0e45b19af 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -1,19 +1,20 @@
-# connect to a comma 3X
+# Connect to comma 3X or comma four
-A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma four is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
## Serial Console
-On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
+On the comma 3X, the serial console is accessible from the main OBD-C port.
Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
-On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
-
-On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+The serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
* Username: `comma`
* Password: `comma`
+> [!NOTE]
+> Serial console access through the OBD-C port is not available on the comma four. On comma four devices, serial access requires opening the device to access the internal debug connector.
+
## SSH
In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
@@ -34,7 +35,7 @@ For doing development work on device, it's recommended to use [SSH agent forward
In order to use ADB on your device, you'll need to perform the following steps using the image below for reference:
-
+
* Plug your device into constant power using port 2, letting the device boot up
* Enable ADB in your device's settings
@@ -45,7 +46,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
> [!NOTE]
-> The default port for ADB is 5555 on the comma 3X.
+> The default port for ADB is 5555 on the comma four.
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md
index b0db36a46f..a11b29dcc4 100644
--- a/docs/how-to/replay-a-drive.md
+++ b/docs/how-to/replay-a-drive.md
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
Just run `tools/replay/replay --demo`.
## Replaying CAN data
-*Hardware required: jungle and comma 3X*
+*Hardware required: jungle and comma four*
1. Connect your PC to a jungle.
2.
diff --git a/mkdocs.yml b/mkdocs.yml
index 550f807aca..f54c6e39bb 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -21,7 +21,7 @@ nav:
- What is openpilot?: getting-started/what-is-openpilot.md
- How-to:
- Turn the speed blue: how-to/turn-the-speed-blue.md
- - Connect to a comma 3X: how-to/connect-to-comma.md
+ - Connect to a comma 3X or comma four: how-to/connect-to-comma.md
# - Make your first pull request: how-to/make-first-pr.md
#- Replay a drive: how-to/replay-a-drive.md
- Concepts:
diff --git a/selfdrive/debug/README.md b/selfdrive/debug/README.md
index 83b8a994db..172cf700e4 100644
--- a/selfdrive/debug/README.md
+++ b/selfdrive/debug/README.md
@@ -52,7 +52,7 @@ optional arguments:
-h, --help show this help message and exit
--debug enable ISO-TP/UDS stack debugging output
-This tool is meant to run directly on a vehicle-installed comma three, with
+This tool is meant to run directly on a vehicle-installed comma four, with
the openpilot/tmux processes stopped. It should also work on a separate PC with a USB-
attached comma panda. Vehicle ignition must be on. Recommend engine not be running when
making changes. Must turn ignition off and on again for any changes to take effect.
diff --git a/tools/camerastream/README.md b/tools/camerastream/README.md
index 2f7498a07c..f75ebbf0fb 100644
--- a/tools/camerastream/README.md
+++ b/tools/camerastream/README.md
@@ -49,7 +49,7 @@ usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr
Decode video streams and broadcast on VisionIPC
positional arguments:
- addr Address of comma three
+ addr Address of comma four
options:
-h, --help show this help message and exit
diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index 11d17e587e..8fe28ec0f0 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -42,7 +42,7 @@ class Keyboard:
class Joystick:
def __init__(self):
- # This class supports a PlayStation 5 DualSense controller on the comma 3X
+ # This class supports a PlayStation 5 DualSense controller on the comma four
# TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
self.cancel_button = 'BTN_NORTH' # BTN_NORTH=X/triangle
if HARDWARE.get_device_type() == 'pc':
@@ -123,7 +123,7 @@ def main():
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
'openpilot must be offroad before starting joystick_control. This tool supports ' +
- 'a PlayStation 5 DualSense controller on the comma 3X.',
+ 'a PlayStation 5 DualSense controller on the comma four.',
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
args = parser.parse_args()
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 794c08f6a3..97ee91d988 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -101,7 +101,7 @@ tools/plotjuggler/juggle.py --stream
## watch3
-watch all three cameras simultaneously from your comma three routes with watch3
+watch all three cameras simultaneously from your comma four routes with watch3
simply replay a route using the `--dcam` and `--ecam` flags:
From adf6f28ebf31fc3dcc502a5d761bf113d0d46546 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?=
Date: Tue, 20 Jan 2026 15:34:57 -0800
Subject: [PATCH 002/150] LatcontrolTorque: always fill buffer (#36991)
---
selfdrive/controls/lib/latcontrol_torque.py | 17 +++++++++--------
selfdrive/test/process_replay/ref_commit | 2 +-
2 files changed, 10 insertions(+), 9 deletions(-)
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 0ba38736db..1f7fb4dfa4 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -59,27 +59,28 @@ class LatControlTorque(LatControl):
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay):
pid_log = log.ControlsState.LateralTorqueState.new_message()
pid_log.version = VERSION
+ measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
+ measurement = measured_curvature * CS.vEgo ** 2
+ future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
+ self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+
if not active:
output_torque = 0.0
pid_log.active = False
else:
- measured_curvature = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
- delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
+ delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len))
expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+ setpoint = expected_lateral_accel
+ error = setpoint - measurement
+
lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
- future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
- self.lat_accel_request_buffer.append(future_desired_lateral_accel)
gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
- setpoint = expected_lateral_accel
-
- measurement = measured_curvature * CS.vEgo ** 2
- error = setpoint - measurement
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
pid_log.error = float(error)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c109bf49f1..274bec8b4f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-b259f6f8f099a9d82e4c65dd5deae2e4e293007b
\ No newline at end of file
+cdd8ecaf03b0581d6a4df7659b916f3d22167a23
\ No newline at end of file
From 79472cdf83c65345e666f40069ac34082bb4be84 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh
Date: Tue, 20 Jan 2026 16:04:05 -0800
Subject: [PATCH 003/150] Revert "docs: comma 3X to comma four (#37009)"
This reverts commit a7dfd36c00c910b694dfd3e2b3f6e0a8cc892802.
---
README.md | 8 ++++----
docs/CONTRIBUTING.md | 8 ++++----
docs/assets/four-ports.svg | 3 ---
docs/concepts/glossary.md | 2 +-
docs/getting-started/what-is-openpilot.md | 2 +-
docs/how-to/connect-to-comma.md | 17 ++++++++---------
docs/how-to/replay-a-drive.md | 2 +-
mkdocs.yml | 2 +-
selfdrive/debug/README.md | 2 +-
tools/camerastream/README.md | 2 +-
tools/joystick/joystick_control.py | 4 ++--
tools/replay/README.md | 2 +-
12 files changed, 25 insertions(+), 29 deletions(-)
delete mode 100644 docs/assets/four-ports.svg
diff --git a/README.md b/README.md
index 158bb08c49..a77a80935d 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@
·
Community
·
- Try it on a comma four
+ Try it on a comma 3X
Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
@@ -42,10 +42,10 @@ Using openpilot in a car
------
To use openpilot in a car, you need four things:
-1. **Supported Device:** a comma four, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
-2. **Software:** The setup procedure for the comma four allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
-4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma four to your car.
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
index d189324ff7..7583095eaf 100644
--- a/docs/CONTRIBUTING.md
+++ b/docs/CONTRIBUTING.md
@@ -13,13 +13,13 @@ Development is coordinated through [Discord](https://discord.comma.ai) and GitHu
## What contributions are we looking for?
**openpilot's priorities are [safety](SAFETY.md), stability, quality, and features, in that order.**
-openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
+openpilot is part of comma's mission to *solve self-driving cars while delivering shippable intermediaries*, and all development is towards that goal.
### What gets merged?
The probability of a pull request being merged is a function of its value to the project and the effort it will take us to get it merged.
If a PR offers *some* value but will take lots of time to get merged, it will be closed.
-Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
+Simple, well-tested bug fixes are the easiest to merge, and new features are the hardest to get merged.
All of these are examples of good PRs:
* typo fix: https://github.com/commaai/openpilot/pull/30678
@@ -29,7 +29,7 @@ All of these are examples of good PRs:
### What doesn't get merged?
-* **style changes**: code is art, and it's up to the author to make it beautiful
+* **style changes**: code is art, and it's up to the author to make it beautiful
* **500+ line PRs**: clean it up, break it up into smaller PRs, or both
* **PRs without a clear goal**: every PR must have a singular and clear goal
* **UI design**: we do not have a good review process for this yet
@@ -39,7 +39,7 @@ All of these are examples of good PRs:
### First contribution
[Projects / openpilot bounties](https://github.com/orgs/commaai/projects/26/views/1?pane=info) is the best place to get started and goes in-depth on what's expected when working on a bounty.
-There's lot of bounties that don't require a comma four or a car.
+There's lot of bounties that don't require a comma 3X or a car.
## Pull Requests
diff --git a/docs/assets/four-ports.svg b/docs/assets/four-ports.svg
deleted file mode 100644
index 7bab31abf3..0000000000
--- a/docs/assets/four-ports.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:494bd79c4d81d8bf766845cb451fa14e5b9ad931ff8aa90daea0ba67e164abe3
-size 105562
diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md
index df9e9aa080..a09b0f0785 100644
--- a/docs/concepts/glossary.md
+++ b/docs/concepts/glossary.md
@@ -6,4 +6,4 @@
* **segment**: routes are split into one minute chunks called segments.
* **comma connect**: the web viewer for all your routes; check it out at [connect.comma.ai](https://connect.comma.ai).
* **panda**: this is the secondary processor on the device that implements the functional safety and directly talks to the car over CAN. See the [panda repo](https://github.com/commaai/panda).
-* **comma four**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
+* **comma 3X**: the latest hardware by comma.ai for running openpilot. more info at [comma.ai/shop](https://comma.ai/shop).
diff --git a/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md
index 6fab2b979b..b3c56c8410 100644
--- a/docs/getting-started/what-is-openpilot.md
+++ b/docs/getting-started/what-is-openpilot.md
@@ -5,7 +5,7 @@
## How do I use it?
-openpilot is designed to be used on the comma four.
+openpilot is designed to be used on the comma 3X.
## How does it work?
diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index f0e45b19af..5f02e11599 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -1,20 +1,19 @@
-# Connect to comma 3X or comma four
+# connect to a comma 3X
-A comma four is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+A comma 3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
## Serial Console
-On the comma 3X, the serial console is accessible from the main OBD-C port.
+On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
Connect the comma 3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
-The serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/scripts/serial.sh` can be used to connect.
+
+On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
* Username: `comma`
* Password: `comma`
-> [!NOTE]
-> Serial console access through the OBD-C port is not available on the comma four. On comma four devices, serial access requires opening the device to access the internal debug connector.
-
## SSH
In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
@@ -35,7 +34,7 @@ For doing development work on device, it's recommended to use [SSH agent forward
In order to use ADB on your device, you'll need to perform the following steps using the image below for reference:
-
+
* Plug your device into constant power using port 2, letting the device boot up
* Enable ADB in your device's settings
@@ -46,7 +45,7 @@ In order to use ADB on your device, you'll need to perform the following steps u
* Here's an example command for connecting to your device using its tethered connection: `adb connect 192.168.43.1:5555`
> [!NOTE]
-> The default port for ADB is 5555 on the comma four.
+> The default port for ADB is 5555 on the comma 3X.
For more info on ADB, see the [Android Debug Bridge (ADB) documentation](https://developer.android.com/tools/adb).
diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md
index a11b29dcc4..b0db36a46f 100644
--- a/docs/how-to/replay-a-drive.md
+++ b/docs/how-to/replay-a-drive.md
@@ -8,7 +8,7 @@ Replaying is a critical tool for openpilot development and debugging.
Just run `tools/replay/replay --demo`.
## Replaying CAN data
-*Hardware required: jungle and comma four*
+*Hardware required: jungle and comma 3X*
1. Connect your PC to a jungle.
2.
diff --git a/mkdocs.yml b/mkdocs.yml
index f54c6e39bb..550f807aca 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -21,7 +21,7 @@ nav:
- What is openpilot?: getting-started/what-is-openpilot.md
- How-to:
- Turn the speed blue: how-to/turn-the-speed-blue.md
- - Connect to a comma 3X or comma four: how-to/connect-to-comma.md
+ - Connect to a comma 3X: how-to/connect-to-comma.md
# - Make your first pull request: how-to/make-first-pr.md
#- Replay a drive: how-to/replay-a-drive.md
- Concepts:
diff --git a/selfdrive/debug/README.md b/selfdrive/debug/README.md
index 172cf700e4..83b8a994db 100644
--- a/selfdrive/debug/README.md
+++ b/selfdrive/debug/README.md
@@ -52,7 +52,7 @@ optional arguments:
-h, --help show this help message and exit
--debug enable ISO-TP/UDS stack debugging output
-This tool is meant to run directly on a vehicle-installed comma four, with
+This tool is meant to run directly on a vehicle-installed comma three, with
the openpilot/tmux processes stopped. It should also work on a separate PC with a USB-
attached comma panda. Vehicle ignition must be on. Recommend engine not be running when
making changes. Must turn ignition off and on again for any changes to take effect.
diff --git a/tools/camerastream/README.md b/tools/camerastream/README.md
index f75ebbf0fb..2f7498a07c 100644
--- a/tools/camerastream/README.md
+++ b/tools/camerastream/README.md
@@ -49,7 +49,7 @@ usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr
Decode video streams and broadcast on VisionIPC
positional arguments:
- addr Address of comma four
+ addr Address of comma three
options:
-h, --help show this help message and exit
diff --git a/tools/joystick/joystick_control.py b/tools/joystick/joystick_control.py
index 8fe28ec0f0..11d17e587e 100755
--- a/tools/joystick/joystick_control.py
+++ b/tools/joystick/joystick_control.py
@@ -42,7 +42,7 @@ class Keyboard:
class Joystick:
def __init__(self):
- # This class supports a PlayStation 5 DualSense controller on the comma four
+ # This class supports a PlayStation 5 DualSense controller on the comma 3X
# TODO: find a way to get this from API or detect gamepad/PC, perhaps "inputs" doesn't support it
self.cancel_button = 'BTN_NORTH' # BTN_NORTH=X/triangle
if HARDWARE.get_device_type() == 'pc':
@@ -123,7 +123,7 @@ def main():
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='Publishes events from your joystick to control your car.\n' +
'openpilot must be offroad before starting joystick_control. This tool supports ' +
- 'a PlayStation 5 DualSense controller on the comma four.',
+ 'a PlayStation 5 DualSense controller on the comma 3X.',
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick')
args = parser.parse_args()
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 97ee91d988..794c08f6a3 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -101,7 +101,7 @@ tools/plotjuggler/juggle.py --stream
## watch3
-watch all three cameras simultaneously from your comma four routes with watch3
+watch all three cameras simultaneously from your comma three routes with watch3
simply replay a route using the `--dcam` and `--ecam` flags:
From bc979ea6aa858a811b8ecb75485577ecf10f251d Mon Sep 17 00:00:00 2001
From: felsager <76905857+felsager@users.noreply.github.com>
Date: Tue, 20 Jan 2026 16:16:38 -0800
Subject: [PATCH 004/150] Latcontrol torque test: ensure desired lateral accel
buffer is consistent (#37004)
---
.../tests/test_latcontrol_torque_buffer.py | 36 +++++++++++++++++++
1 file changed, 36 insertions(+)
create mode 100644 selfdrive/controls/tests/test_latcontrol_torque_buffer.py
diff --git a/selfdrive/controls/tests/test_latcontrol_torque_buffer.py b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
new file mode 100644
index 0000000000..76d0c28423
--- /dev/null
+++ b/selfdrive/controls/tests/test_latcontrol_torque_buffer.py
@@ -0,0 +1,36 @@
+from parameterized import parameterized
+
+from cereal import car, log
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque, LAT_ACCEL_REQUEST_BUFFER_SECONDS
+
+def get_controller(car_name):
+ CarInterface = interfaces[car_name]
+ CP = CarInterface.get_non_essential_params(car_name)
+ CI = CarInterface(CP)
+ VM = VehicleModel(CP)
+ controller = LatControlTorque(CP.as_reader(), CI, DT_CTRL)
+ return controller, VM
+
+class TestLatControlTorqueBuffer:
+
+ @parameterized.expand([(TOYOTA.TOYOTA_COROLLA_TSS2,)])
+ def test_request_buffer_consistency(self, car_name):
+ buffer_steps = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / DT_CTRL)
+ controller, VM = get_controller(car_name)
+
+ CS = car.CarState.new_message()
+ CS.vEgo = 30
+ CS.steeringPressed = False
+ params = log.LiveParametersData.new_message()
+
+ for _ in range(buffer_steps):
+ controller.update(True, CS, VM, params, False, 0.001, False, 0.2)
+ assert all(val != 0 for val in controller.lat_accel_request_buffer)
+
+ for _ in range(buffer_steps):
+ controller.update(False, CS, VM, params, False, 0.0, False, 0.2)
+ assert all(val == 0 for val in controller.lat_accel_request_buffer)
From c9cfe2c7273074a350a39fd4d78d16933cb6a81f Mon Sep 17 00:00:00 2001
From: felsager <76905857+felsager@users.noreply.github.com>
Date: Wed, 21 Jan 2026 12:32:56 -0800
Subject: [PATCH 005/150] LatcontrolTorque: move jerk calculation and filtering
outside if else (#37011)
---
selfdrive/controls/lib/latcontrol_torque.py | 36 ++++++++++-----------
selfdrive/test/process_replay/ref_commit | 2 +-
2 files changed, 19 insertions(+), 19 deletions(-)
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 1f7fb4dfa4..903700d4b3 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -64,30 +64,30 @@ class LatControlTorque(LatControl):
future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
self.lat_accel_request_buffer.append(future_desired_lateral_accel)
+ roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
+ curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
+ lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
+
+ delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len))
+ expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
+ setpoint = expected_lateral_accel
+ error = setpoint - measurement
+
+ lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
+ raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
+ desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
+ gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
+ ff = gravity_adjusted_future_lateral_accel
+ # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
+ ff -= self.torque_params.latAccelOffset
+ ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+
if not active:
output_torque = 0.0
pid_log.active = False
else:
- roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
- curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
- lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
-
- delay_frames = int(np.clip(lat_delay / self.dt + 1, 1, self.lat_accel_request_buffer_len))
- expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
- setpoint = expected_lateral_accel
- error = setpoint - measurement
-
- lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
- raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
- desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
- gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
pid_log.error = float(error)
- ff = gravity_adjusted_future_lateral_accel
- # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
- ff -= self.torque_params.latAccelOffset
- ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 274bec8b4f..7b9039180c 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-cdd8ecaf03b0581d6a4df7659b916f3d22167a23
\ No newline at end of file
+77951c4ccd0916b87c8dfda9faa33cd2d5d2cc11
\ No newline at end of file
From 1459d3519da2fdb2d981baf7811c2eaa2127eb80 Mon Sep 17 00:00:00 2001
From: ZwX1616
Date: Thu, 22 Jan 2026 18:41:08 -0800
Subject: [PATCH 006/150] DM: Ford GT model (#37013)
* b483cec4-7816-4570-a774-be3a2c100098/50
* shipfest
* da4b8724-8998-45da-aa36-d8fb390492b9
* revert
* typo
* deprecates
---
cereal/log.capnp | 4 +--
.../modeld/models/dmonitoring_model.onnx | 4 +--
selfdrive/monitoring/helpers.py | 25 +++----------------
3 files changed, 8 insertions(+), 25 deletions(-)
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 2f300881b1..12bef17b95 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2227,9 +2227,9 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
isActiveMode @16 :Bool;
isRHD @4 :Bool;
uncertainCount @19 :UInt32;
- phoneProbOffset @20 :Float32;
- phoneProbValidCount @21 :UInt32;
+ phoneProbOffsetDEPRECATED @20 :Float32;
+ phoneProbValidCountDEPRECATED @21 :UInt32;
isPreviewDEPRECATED @15 :Bool;
rhdCheckedDEPRECATED @5 :Bool;
eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx
index 9b1c4a1834..4052a15481 100644
--- a/selfdrive/modeld/models/dmonitoring_model.onnx
+++ b/selfdrive/modeld/models/dmonitoring_model.onnx
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:3446bf8b22e50e47669a25bf32460ae8baf8547037f346753e19ecbfcf6d4e59
-size 6954368
+oid sha256:35e4a5d4c4d481f915e42358af4665b2c92b8f5c1efd1c0731f21b876ad1d856
+size 6954249
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 3377ce6c68..0b54504b64 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -35,14 +35,7 @@ class DRIVER_MONITOR_SETTINGS:
self._EYE_THRESHOLD = 0.65
self._SG_THRESHOLD = 0.9
self._BLINK_THRESHOLD = 0.865
-
- self._PHONE_THRESH = 0.75 if device_type == 'mici' else 0.4
- self._PHONE_THRESH2 = 15.0
- self._PHONE_MAX_OFFSET = 0.06
- self._PHONE_MIN_OFFSET = 0.025
- self._PHONE_DATA_AVG = 0.05
- self._PHONE_DATA_VAR = 3*0.005
- self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
+ self._PHONE_THRESH = 0.5
self._POSE_PITCH_THRESHOLD = 0.3133
self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -152,11 +145,10 @@ class DriverMonitoring:
# init driver status
wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
- phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
- self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
self.pose = DriverPose(settings=self.settings)
self.blink = DriverBlink()
+ self.phone_prob = 0.
self.always_on = always_on
self.distracted_types = []
@@ -257,12 +249,7 @@ class DriverMonitoring:
if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
distracted_types.append(DistractedType.DISTRACTED_BLINK)
- if self.phone.prob_calibrated:
- using_phone = self.phone.prob > max(min(self.phone.prob_offseter.filtered_stat.M, self.settings._PHONE_MAX_OFFSET), self.settings._PHONE_MIN_OFFSET) \
- * self.settings._PHONE_THRESH2
- else:
- using_phone = self.phone.prob > self.settings._PHONE_THRESH
- if using_phone:
+ if self.phone_prob > self.settings._PHONE_THRESH:
distracted_types.append(DistractedType.DISTRACTED_PHONE)
return distracted_types
@@ -301,7 +288,7 @@ class DriverMonitoring:
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
self.blink.right = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) \
* (driver_data.sunglassesProb < self.settings._SG_THRESHOLD)
- self.phone.prob = driver_data.phoneProb
+ self.phone_prob = driver_data.phoneProb
self.distracted_types = self._get_distracted_types()
self.driver_distracted = (DistractedType.DISTRACTED_PHONE in self.distracted_types
@@ -315,11 +302,9 @@ class DriverMonitoring:
if self.face_detected and car_speed > self.settings._POSE_CALIB_MIN_SPEED and self.pose.low_std and (not op_engaged or not self.driver_distracted):
self.pose.pitch_offseter.push_and_update(self.pose.pitch)
self.pose.yaw_offseter.push_and_update(self.pose.yaw)
- self.phone.prob_offseter.push_and_update(self.phone.prob)
self.pose.calibrated = self.pose.pitch_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT and \
self.pose.yaw_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
- self.phone.prob_calibrated = self.phone.prob_offseter.filtered_stat.n > self.settings._POSE_OFFSET_MIN_COUNT
if self.face_detected and not self.driver_distracted:
if model_std_max > self.settings._DCAM_UNCERTAIN_ALERT_THRESHOLD:
@@ -425,8 +410,6 @@ class DriverMonitoring:
"posePitchValidCount": self.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset": self.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount": self.pose.yaw_offseter.filtered_stat.n,
- "phoneProbOffset": self.phone.prob_offseter.filtered_stat.mean(),
- "phoneProbValidCount": self.phone.prob_offseter.filtered_stat.n,
"stepChange": self.step_change,
"awarenessActive": self.awareness_active,
"awarenessPassive": self.awareness_passive,
From ba6e5f125dfa2f1e3fa3cd2a57be77de989fe3d6 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Fri, 23 Jan 2026 00:24:15 -0800
Subject: [PATCH 007/150] Fix bridge w/ ZMQ (#37018)
* fix
* can also do this
* 1 less +lines but more diff - Revert "can also do this"
This reverts commit 8e18218099af6d3bc852d8ef0069b80d9322d6ca.
---
cereal/messaging/bridge.cc | 3 ++-
cereal/messaging/msgq_to_zmq.cc | 4 +++-
2 files changed, 5 insertions(+), 2 deletions(-)
diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc
index 69ecd188e1..fb92c575c9 100644
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -33,7 +33,8 @@ void zmq_to_msgq(const std::vector &endpoints, const std::string &i
for (auto endpoint : endpoints) {
auto pub_sock = new MSGQPubSocket();
auto sub_sock = new ZMQSubSocket();
- pub_sock->connect(pub_context.get(), endpoint);
+ size_t queue_size = services.at(endpoint).queue_size;
+ pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
sub_sock->connect(sub_context.get(), endpoint, ip, false);
poller->registerSocket(sub_sock);
diff --git a/cereal/messaging/msgq_to_zmq.cc b/cereal/messaging/msgq_to_zmq.cc
index ce626f2aad..7f8c738d4d 100644
--- a/cereal/messaging/msgq_to_zmq.cc
+++ b/cereal/messaging/msgq_to_zmq.cc
@@ -2,6 +2,7 @@
#include
+#include "cereal/services.h"
#include "common/util.h"
extern ExitHandler do_exit;
@@ -108,7 +109,8 @@ void MsgqToZmq::zmqMonitorThread() {
if (++pair.connected_clients == 1) {
// Create new MSGQ subscriber socket and map to ZMQ publisher
pair.sub_sock = std::make_unique();
- pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
+ size_t queue_size = services.at(pair.endpoint).queue_size;
+ pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
registerSockets();
}
From 3715fe85aa76506e3be33505ef5dab64979d24e8 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Fri, 23 Jan 2026 00:55:12 -0800
Subject: [PATCH 008/150] bump opendbc (#37019)
---
opendbc_repo | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/opendbc_repo b/opendbc_repo
index 796ece26ac..1908668b05 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 796ece26acd8b9255810ca71941ed72626589ee7
+Subproject commit 1908668b05691564ea5fc80bc11b784a9dee0714
From 12220ec82dc50cd12e9df57e6c350ab0d774443e Mon Sep 17 00:00:00 2001
From: Matt Purnell <65473602+mpurnell1@users.noreply.github.com>
Date: Fri, 23 Jan 2026 19:11:23 -0600
Subject: [PATCH 009/150] cereal: update msgq imports (#36833)
Update outdated reference
Co-authored-by: Adeeb Shihadeh
---
cereal/messaging/__init__.py | 8 +++-----
1 file changed, 3 insertions(+), 5 deletions(-)
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index d5033cd634..2c925b4cc4 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -1,10 +1,8 @@
# must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
- set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, drain_sock_raw
+from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
+ Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+ set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
import msgq
-
import os
import capnp
import time
From 560ed80123caa15ee9a7f81ecd57f05815ba857e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?=
Date: Sat, 24 Jan 2026 04:04:54 +0000
Subject: [PATCH 010/150] tools: seekable URLFile (#37022)
* Make URLFile seekable
* Return value in seek
---
tools/lib/url_file.py | 21 +++++++++++++++++++--
1 file changed, 19 insertions(+), 2 deletions(-)
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 790fa7e8fb..8e2f0a9222 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -192,8 +192,25 @@ class URLFile:
raise URLFileException(f"Expected {len(ranges)} parts, got {len(parts)} ({self._url})")
return parts
- def seek(self, pos: int) -> None:
- self._pos = int(pos)
+ def seekable(self) -> bool:
+ return True
+
+ def seek(self, pos: int, whence: int = 0) -> int:
+ pos = int(pos)
+ if whence == os.SEEK_SET:
+ self._pos = pos
+ elif whence == os.SEEK_CUR:
+ self._pos += pos
+ elif whence == os.SEEK_END:
+ length = self.get_length()
+ assert length != -1, "Cannot seek from end on unknown length file"
+ self._pos = length + pos
+ else:
+ raise URLFileException("Invalid whence value")
+ return self._pos
+
+ def tell(self) -> int:
+ return self._pos
@property
def name(self) -> str:
From 7c90c0669a8257fb9e086d9ae392950cc511ce82 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh
Date: Sat, 24 Jan 2026 10:51:41 -0800
Subject: [PATCH 011/150] script for CI results (#37024)
---
scripts/ci_results.py | 209 ++++++++++++++++++++++++++++++++++++++++++
1 file changed, 209 insertions(+)
create mode 100755 scripts/ci_results.py
diff --git a/scripts/ci_results.py b/scripts/ci_results.py
new file mode 100755
index 0000000000..c3d53f222a
--- /dev/null
+++ b/scripts/ci_results.py
@@ -0,0 +1,209 @@
+#!/usr/bin/env python3
+"""Fetch CI results from GitHub Actions and Jenkins."""
+
+import argparse
+import json
+import subprocess
+import time
+import urllib.error
+import urllib.request
+from datetime import datetime
+
+JENKINS_URL = "https://jenkins.comma.life"
+DEFAULT_TIMEOUT = 1800 # 30 minutes
+POLL_INTERVAL = 30 # seconds
+LOG_TAIL_LINES = 10 # lines of log to include for failed jobs
+
+
+def get_git_info():
+ branch = subprocess.check_output(["git", "rev-parse", "--abbrev-ref", "HEAD"], text=True).strip()
+ commit = subprocess.check_output(["git", "rev-parse", "HEAD"], text=True).strip()
+ return branch, commit
+
+
+def get_github_actions_status(commit_sha):
+ result = subprocess.run(
+ ["gh", "run", "list", "--commit", commit_sha, "--workflow", "tests.yaml", "--json", "databaseId,status,conclusion"],
+ capture_output=True, text=True, check=True
+ )
+ runs = json.loads(result.stdout)
+ if not runs:
+ return None, None
+
+ run_id = runs[0]["databaseId"]
+ result = subprocess.run(
+ ["gh", "run", "view", str(run_id), "--json", "jobs"],
+ capture_output=True, text=True, check=True
+ )
+ data = json.loads(result.stdout)
+ jobs = {job["name"]: {"status": job["status"], "conclusion": job["conclusion"],
+ "duration": format_duration(job) if job["conclusion"] not in ("skipped", None) and job.get("startedAt") else "",
+ "id": job["databaseId"]}
+ for job in data.get("jobs", [])}
+ return jobs, run_id
+
+
+def get_github_job_log(run_id, job_id):
+ result = subprocess.run(
+ ["gh", "run", "view", str(run_id), "--job", str(job_id), "--log-failed"],
+ capture_output=True, text=True
+ )
+ lines = result.stdout.strip().split('\n')
+ return '\n'.join(lines[-LOG_TAIL_LINES:]) if len(lines) > LOG_TAIL_LINES else result.stdout.strip()
+
+
+def format_duration(job):
+ start = datetime.fromisoformat(job["startedAt"].replace("Z", "+00:00"))
+ end = datetime.fromisoformat(job["completedAt"].replace("Z", "+00:00"))
+ secs = int((end - start).total_seconds())
+ return f"{secs // 60}m {secs % 60}s"
+
+
+def get_jenkins_status(branch, commit_sha):
+ base_url = f"{JENKINS_URL}/job/openpilot/job/{branch}"
+ try:
+ # Get list of recent builds
+ with urllib.request.urlopen(f"{base_url}/api/json?tree=builds[number,url]", timeout=10) as resp:
+ builds = json.loads(resp.read().decode()).get("builds", [])
+
+ # Find build matching commit
+ for build in builds[:20]: # check last 20 builds
+ with urllib.request.urlopen(f"{build['url']}api/json", timeout=10) as resp:
+ data = json.loads(resp.read().decode())
+ for action in data.get("actions", []):
+ if action.get("_class") == "hudson.plugins.git.util.BuildData":
+ build_sha = action.get("lastBuiltRevision", {}).get("SHA1", "")
+ if build_sha.startswith(commit_sha) or commit_sha.startswith(build_sha):
+ # Get stages info
+ stages = []
+ try:
+ with urllib.request.urlopen(f"{build['url']}wfapi/describe", timeout=10) as resp2:
+ wf_data = json.loads(resp2.read().decode())
+ stages = [{"name": s["name"], "status": s["status"]} for s in wf_data.get("stages", [])]
+ except urllib.error.HTTPError:
+ pass
+ return {
+ "number": data["number"],
+ "in_progress": data.get("inProgress", False),
+ "result": data.get("result"),
+ "url": data.get("url", ""),
+ "stages": stages,
+ }
+ return None # no build found for this commit
+ except urllib.error.HTTPError:
+ return None # branch doesn't exist on Jenkins
+
+
+def get_jenkins_log(build_url):
+ url = f"{build_url}consoleText"
+ with urllib.request.urlopen(url, timeout=30) as resp:
+ text = resp.read().decode(errors='replace')
+ lines = text.strip().split('\n')
+ return '\n'.join(lines[-LOG_TAIL_LINES:]) if len(lines) > LOG_TAIL_LINES else text.strip()
+
+
+def is_complete(gh_status, jenkins_status):
+ gh_done = gh_status is None or all(j["status"] == "completed" for j in gh_status.values())
+ jenkins_done = jenkins_status is None or not jenkins_status.get("in_progress", True)
+ return gh_done and jenkins_done
+
+
+def status_icon(status, conclusion=None):
+ if status == "completed":
+ return ":white_check_mark:" if conclusion == "success" else ":x:"
+ return ":hourglass:" if status == "in_progress" else ":grey_question:"
+
+
+def format_markdown(gh_status, gh_run_id, jenkins_status, commit_sha, branch):
+ lines = ["# CI Results", "",
+ f"**Branch**: {branch}",
+ f"**Commit**: {commit_sha[:7]}",
+ f"**Generated**: {datetime.now().strftime('%Y-%m-%d %H:%M:%S')}", ""]
+
+ lines.extend(["## GitHub Actions", "", "| Job | Status | Duration |", "|-----|--------|----------|"])
+ failed_gh_jobs = []
+ if gh_status:
+ for job_name, job in gh_status.items():
+ icon = status_icon(job["status"], job.get("conclusion"))
+ conclusion = job.get("conclusion") or job["status"]
+ lines.append(f"| {job_name} | {icon} {conclusion} | {job.get('duration', '')} |")
+ if job.get("conclusion") == "failure":
+ failed_gh_jobs.append((job_name, job.get("id")))
+ else:
+ lines.append("| - | No workflow runs found | |")
+
+ lines.extend(["", "## Jenkins", "", "| Stage | Status |", "|-------|--------|"])
+ failed_jenkins_stages = []
+ if jenkins_status:
+ stages = jenkins_status.get("stages", [])
+ if stages:
+ for stage in stages:
+ icon = ":white_check_mark:" if stage["status"] == "SUCCESS" else (
+ ":x:" if stage["status"] == "FAILED" else ":hourglass:")
+ lines.append(f"| {stage['name']} | {icon} {stage['status'].lower()} |")
+ if stage["status"] == "FAILED":
+ failed_jenkins_stages.append(stage["name"])
+ else:
+ icon = ":hourglass:" if jenkins_status["in_progress"] else (
+ ":white_check_mark:" if jenkins_status["result"] == "SUCCESS" else ":x:")
+ status = "in progress" if jenkins_status["in_progress"] else (jenkins_status["result"] or "unknown")
+ lines.append(f"| #{jenkins_status['number']} | {icon} {status.lower()} |")
+ if jenkins_status.get("url"):
+ lines.append(f"\n[View build]({jenkins_status['url']})")
+ else:
+ lines.append("| - | No builds found for branch |")
+
+ if failed_gh_jobs or failed_jenkins_stages:
+ lines.extend(["", "## Failure Logs", ""])
+
+ for job_name, job_id in failed_gh_jobs:
+ lines.append(f"### GitHub Actions: {job_name}")
+ log = get_github_job_log(gh_run_id, job_id)
+ lines.extend(["", "```", log, "```", ""])
+
+ for stage_name in failed_jenkins_stages:
+ lines.append(f"### Jenkins: {stage_name}")
+ log = get_jenkins_log(jenkins_status["url"])
+ lines.extend(["", "```", log, "```", ""])
+
+ return "\n".join(lines) + "\n"
+
+
+def main():
+ parser = argparse.ArgumentParser(description="Fetch CI results from GitHub Actions and Jenkins")
+ parser.add_argument("--wait", action="store_true", help="Wait for CI to complete")
+ parser.add_argument("--timeout", type=int, default=DEFAULT_TIMEOUT, help="Timeout in seconds (default: 1800)")
+ parser.add_argument("-o", "--output", default="ci_results.md", help="Output file (default: ci_results.md)")
+ parser.add_argument("--branch", help="Branch to check (default: current branch)")
+ parser.add_argument("--commit", help="Commit SHA to check (default: HEAD)")
+ args = parser.parse_args()
+
+ branch, commit = get_git_info()
+ branch = args.branch or branch
+ commit = args.commit or commit
+ print(f"Fetching CI results for {branch} @ {commit[:7]}")
+
+ start_time = time.monotonic()
+ while True:
+ gh_status, gh_run_id = get_github_actions_status(commit)
+ jenkins_status = get_jenkins_status(branch, commit) if branch != "HEAD" else None
+
+ if not args.wait or is_complete(gh_status, jenkins_status):
+ break
+
+ elapsed = time.monotonic() - start_time
+ if elapsed >= args.timeout:
+ print(f"Timeout after {int(elapsed)}s")
+ break
+
+ print(f"CI still running, waiting {POLL_INTERVAL}s... ({int(elapsed)}s elapsed)")
+ time.sleep(POLL_INTERVAL)
+
+ content = format_markdown(gh_status, gh_run_id, jenkins_status, commit, branch)
+ with open(args.output, "w") as f:
+ f.write(content)
+ print(f"Results written to {args.output}")
+
+
+if __name__ == "__main__":
+ main()
From de024fd4a7f7d92a825dbbf614078d123c2fc25c Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh
Date: Sat, 24 Jan 2026 12:02:33 -0800
Subject: [PATCH 012/150] pandad: pure Python capnp helpers (#37025)
* pandad: pure Python capnp helpers
* cleanup
---
.../lib/longitudinal_mpc_lib/SConscript | 4 +-
selfdrive/pandad/SConscript | 6 +-
selfdrive/pandad/__init__.py | 1 -
selfdrive/pandad/can_list_to_can_capnp.cc | 50 -----------
selfdrive/pandad/can_types.h | 15 ----
selfdrive/pandad/pandad_api_impl.py | 88 +++++++++++++++++++
selfdrive/pandad/pandad_api_impl.pyx | 56 ------------
7 files changed, 91 insertions(+), 129 deletions(-)
delete mode 100644 selfdrive/pandad/can_list_to_can_capnp.cc
delete mode 100644 selfdrive/pandad/can_types.h
create mode 100644 selfdrive/pandad/pandad_api_impl.py
delete mode 100644 selfdrive/pandad/pandad_api_impl.pyx
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 164b965142..7a6c02a538 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'pandad_python', 'np_version')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'np_version')
gen = "c_generated_code"
@@ -67,7 +67,7 @@ lenv.Clean(generated_files, Dir(gen))
generated_long = lenv.Command(generated_files,
source_list,
f"cd {Dir('.').abspath} && python3 long_mpc.py")
-lenv.Depends(generated_long, [msgq_python, common_python, pandad_python])
+lenv.Depends(generated_long, [msgq_python, common_python])
lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript
index 58777cafe9..5e0b782c1e 100644
--- a/selfdrive/pandad/SConscript
+++ b/selfdrive/pandad/SConscript
@@ -1,13 +1,9 @@
-Import('env', 'envCython', 'common', 'messaging')
+Import('env', 'common', 'messaging')
libs = ['usb-1.0', common, messaging, 'pthread']
panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
env.Program('pandad', ['main.cc', 'pandad.cc', 'panda_safety.cc'], LIBS=[panda] + libs)
-env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
-
-pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
-Export('pandad_python')
if GetOption('extras'):
env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs)
diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py
index cc680e1676..0c17e886a2 100644
--- a/selfdrive/pandad/__init__.py
+++ b/selfdrive/pandad/__init__.py
@@ -1,4 +1,3 @@
-# Cython, now uses scons to build
from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list
assert can_list_to_can_capnp
assert can_capnp_to_list
diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc
deleted file mode 100644
index f2cf153453..0000000000
--- a/selfdrive/pandad/can_list_to_can_capnp.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-#include "cereal/messaging/messaging.h"
-#include "selfdrive/pandad/can_types.h"
-
-void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendcan, bool valid) {
- MessageBuilder msg;
- auto event = msg.initEvent(valid);
-
- auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size());
- int j = 0;
- for (auto it = can_list.begin(); it != can_list.end(); it++, j++) {
- auto c = canData[j];
- c.setAddress(it->address);
- c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size()));
- c.setSrc(it->src);
- }
- const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
- out.resize(msg_size);
- kj::ArrayOutputStream output_stream(kj::ArrayPtr((unsigned char *)out.data(), msg_size));
- capnp::writeMessage(output_stream, msg);
-}
-
-// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures.
-void can_capnp_to_can_list_cpp(const std::vector &strings, std::vector &can_list, bool sendcan) {
- AlignedBuffer aligned_buf;
- can_list.reserve(strings.size());
-
- for (const auto &str : strings) {
- // extract the messages
- capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size()));
- cereal::Event::Reader event = reader.getRoot();
-
- auto frames = sendcan ? event.getSendcan() : event.getCan();
-
- // Add new CanData entry
- CanData &can_data = can_list.emplace_back();
- can_data.nanos = event.getLogMonoTime();
- can_data.frames.reserve(frames.size());
-
- // Populate CAN frames
- for (const auto &frame : frames) {
- CanFrame &can_frame = can_data.frames.emplace_back();
- can_frame.src = frame.getSrc();
- can_frame.address = frame.getAddress();
-
- // Copy CAN data
- auto dat = frame.getDat();
- can_frame.dat.assign(dat.begin(), dat.end());
- }
- }
-}
diff --git a/selfdrive/pandad/can_types.h b/selfdrive/pandad/can_types.h
deleted file mode 100644
index 5fae581cfa..0000000000
--- a/selfdrive/pandad/can_types.h
+++ /dev/null
@@ -1,15 +0,0 @@
-#pragma once
-
-#include
-#include
-
-struct CanFrame {
- long src;
- uint32_t address;
- std::vector dat;
-};
-
-struct CanData {
- uint64_t nanos;
- std::vector frames;
-};
\ No newline at end of file
diff --git a/selfdrive/pandad/pandad_api_impl.py b/selfdrive/pandad/pandad_api_impl.py
new file mode 100644
index 0000000000..75a7ba484e
--- /dev/null
+++ b/selfdrive/pandad/pandad_api_impl.py
@@ -0,0 +1,88 @@
+import time
+from cereal import log
+
+NO_TRAVERSAL_LIMIT = 2**64 - 1
+
+# Cache schema fields for faster access (avoids string lookup on each field access)
+_cached_reader_fields = None # (address_field, dat_field, src_field) for reading
+_cached_writer_fields = None # (address_field, dat_field, src_field) for writing
+
+
+def _get_reader_fields(schema):
+ """Get cached schema field objects for reading."""
+ global _cached_reader_fields
+ if _cached_reader_fields is None:
+ fields = schema.fields
+ _cached_reader_fields = (fields['address'], fields['dat'], fields['src'])
+ return _cached_reader_fields
+
+
+def _get_writer_fields(schema):
+ """Get cached schema field objects for writing."""
+ global _cached_writer_fields
+ if _cached_writer_fields is None:
+ fields = schema.fields
+ _cached_writer_fields = (fields['address'], fields['dat'], fields['src'])
+ return _cached_writer_fields
+
+
+def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
+ """Convert list of CAN messages to Cap'n Proto serialized bytes.
+
+ Args:
+ can_msgs: List of tuples [(address, data_bytes, src), ...]
+ msgtype: 'can' or 'sendcan'
+ valid: Whether the event is valid
+
+ Returns:
+ Cap'n Proto serialized bytes
+ """
+ global _cached_writer_fields
+
+ dat = log.Event.new_message(valid=valid, logMonoTime=int(time.monotonic() * 1e9))
+ can_data = dat.init(msgtype, len(can_msgs))
+
+ # Cache schema fields on first call
+ if _cached_writer_fields is None and len(can_msgs) > 0:
+ _cached_writer_fields = _get_writer_fields(can_data[0].schema)
+
+ if _cached_writer_fields is not None:
+ addr_f, dat_f, src_f = _cached_writer_fields
+ for i, msg in enumerate(can_msgs):
+ f = can_data[i]
+ f._set_by_field(addr_f, msg[0])
+ f._set_by_field(dat_f, msg[1])
+ f._set_by_field(src_f, msg[2])
+
+ return dat.to_bytes()
+
+
+def can_capnp_to_list(strings, msgtype='can'):
+ """Convert Cap'n Proto serialized bytes to list of CAN messages.
+
+ Args:
+ strings: Tuple/list of serialized Cap'n Proto bytes
+ msgtype: 'can' or 'sendcan'
+
+ Returns:
+ List of tuples [(nanos, [(address, data, src), ...]), ...]
+ """
+ global _cached_reader_fields
+ result = []
+
+ for s in strings:
+ with log.Event.from_bytes(s, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as event:
+ frames = getattr(event, msgtype)
+
+ # Cache schema fields on first frame for faster access
+ if _cached_reader_fields is None and len(frames) > 0:
+ _cached_reader_fields = _get_reader_fields(frames[0].schema)
+
+ if _cached_reader_fields is not None:
+ addr_f, dat_f, src_f = _cached_reader_fields
+ frame_list = [(f._get_by_field(addr_f), f._get_by_field(dat_f), f._get_by_field(src_f)) for f in frames]
+ else:
+ frame_list = []
+
+ result.append((event.logMonoTime, frame_list))
+ return result
diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx
deleted file mode 100644
index aaecb8a594..0000000000
--- a/selfdrive/pandad/pandad_api_impl.pyx
+++ /dev/null
@@ -1,56 +0,0 @@
-# distutils: language = c++
-# cython: language_level=3
-from cython.operator cimport dereference as deref, preincrement as preinc
-from libcpp.vector cimport vector
-from libcpp.string cimport string
-from libcpp cimport bool
-from libc.stdint cimport uint8_t, uint32_t, uint64_t
-
-cdef extern from "selfdrive/pandad/can_types.h":
- cdef struct CanFrame:
- long src
- uint32_t address
- vector[uint8_t] dat
-
- cdef struct CanData:
- uint64_t nanos
- vector[CanFrame] frames
-
-cdef extern from "can_list_to_can_capnp.cc":
- void can_list_to_can_capnp_cpp(const vector[CanFrame] &can_list, string &out, bool sendcan, bool valid) nogil
- void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan)
-
-def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
- cdef CanFrame *f
- cdef vector[CanFrame] can_list
- cdef uint32_t cpp_can_msgs_len = len(can_msgs)
-
- with nogil:
- can_list.reserve(cpp_can_msgs_len)
-
- for can_msg in can_msgs:
- f = &(can_list.emplace_back())
- f.address = can_msg[0]
- f.dat = can_msg[1]
- f.src = can_msg[2]
-
- cdef string out
- cdef bool is_sendcan = (msgtype == 'sendcan')
- cdef bool is_valid = valid
- with nogil:
- can_list_to_can_capnp_cpp(can_list, out, is_sendcan, is_valid)
- return out
-
-def can_capnp_to_list(strings, msgtype='can'):
- cdef vector[CanData] data
- can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan')
-
- result = []
- cdef CanData *d
- cdef vector[CanData].iterator it = data.begin()
- while it != data.end():
- d = &deref(it)
- frames = [(f.address, (&f.dat[0])[:f.dat.size()], f.src) for f in d.frames]
- result.append((d.nanos, frames))
- preinc(it)
- return result
From 71a418d166d00d86226c02453a70c57776f46009 Mon Sep 17 00:00:00 2001
From: commaci-public <60409688+commaci-public@users.noreply.github.com>
Date: Mon, 26 Jan 2026 09:14:57 -0800
Subject: [PATCH 013/150] [bot] Update Python packages (#37028)
Update Python packages
Co-authored-by: Vehicle Researcher
---
docs/CARS.md | 3 +-
opendbc_repo | 2 +-
panda | 2 +-
tinygrad_repo | 2 +-
uv.lock | 262 +++++++++++++++++++++++++-------------------------
5 files changed, 136 insertions(+), 135 deletions(-)
diff --git a/docs/CARS.md b/docs/CARS.md
index 08c06b2303..b349679395 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
-# 326 Supported Cars
+# 327 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|![]()
Hardware Needed
|Video|Setup Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -14,6 +14,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[](##)|[](##)|Parts
- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 VW J533 connector
- 1 comma four
- 1 harness box
- 1 long OBD-C cable (9.5 ft)
- 1 mount
Buy Here
'
+
+
+htmls = []
+
+results = {}
+name = 'Resuming behind lead'
+labels = []
+for lead_accel in np.linspace(1.0, 4.0, 4):
+ man = Maneuver(
+ '',
+ duration=11,
+ initial_speed=0.0,
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(0.0, 0.0),
+ speed_lead_values=[0.0, 10 * lead_accel],
+ cruise_values=[100, 100],
+ prob_lead_values=[1.0, 1.0],
+ breakpoints=[1., 11],
+ )
+ valid, results[lead_accel] = man.evaluate()
+ labels.append(f'{lead_accel} m/s^2 lead acceleration')
+
+htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, EGO_V))
+htmls.append(get_html_from_results(results, labels, EGO_A))
+
+
+results = {}
+name = 'Approaching stopped car from 140m'
+labels = []
+for speed in np.arange(0,45,5):
+ man = Maneuver(
+ name,
+ duration=30.,
+ initial_speed=float(speed),
+ lead_relevancy=True,
+ initial_distance_lead=140.,
+ speed_lead_values=[0.0, 0.],
+ breakpoints=[0., 30.],
+ )
+ valid, results[speed] = man.evaluate()
+ results[speed][:,2] = results[speed][:,2] - results[speed][:,1]
+ labels.append(f'{speed} m/s approach speed')
+
+htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, EGO_A))
+htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
+
+
+results = {}
+name = 'Following 5s oscillating lead'
+labels = []
+speed = np.int64(10)
+for oscil in np.arange(0, 10, 1):
+ man = Maneuver(
+ '',
+ duration=30.,
+ initial_speed=float(speed),
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(speed, speed),
+ speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil],
+ breakpoints=[0.,2., 5, 8, 15, 18, 25.],
+ )
+ valid, results[oscil] = man.evaluate()
+ labels.append(f'{oscil} m/s oscilliation size')
+
+htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, EGO_V))
+htmls.append(get_html_from_results(results, labels, EGO_A))
+
+
+
+results = {}
+name = 'Speed profile when converging to steady state lead at 30m/s'
+labels = []
+for distance in np.arange(20, 140, 10):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=30.0,
+ lead_relevancy=True,
+ initial_distance_lead=distance,
+ speed_lead_values=[30.0],
+ breakpoints=[0.],
+ )
+ valid, results[distance] = man.evaluate()
+ results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
+ labels.append(f'{distance} m initial distance')
+
+htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, EGO_V))
+htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
+
+
+results = {}
+name = 'Speed profile when converging to steady state lead at 20m/s'
+labels = []
+for distance in np.arange(20, 140, 10):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=20.0,
+ lead_relevancy=True,
+ initial_distance_lead=distance,
+ speed_lead_values=[20.0],
+ breakpoints=[0.],
+ )
+ valid, results[distance] = man.evaluate()
+ results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
+ labels.append(f'{distance} m initial distance')
+
+htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, EGO_V))
+htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
+
+
+results = {}
+name = 'Following car at 30m/s that comes to a stop'
+labels = []
+for stop_time in np.arange(4, 14, 1):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=30.0,
+ lead_relevancy=True,
+ initial_distance_lead=60.0,
+ speed_lead_values=[30.0, 30.0, 0.0, 0.0],
+ breakpoints=[0., 20., 20 + stop_time, 30 + stop_time],
+ )
+ valid, results[stop_time] = man.evaluate()
+ results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1]
+ labels.append(f'{stop_time} seconds stop time')
+
+htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, EGO_A))
+htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
+
+
+results = {}
+name = 'Response to cut-in at half follow distance'
+labels = []
+for speed in np.arange(0, 40, 5):
+ man = Maneuver(
+ '',
+ duration=10,
+ initial_speed=float(speed),
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(speed, speed)/2,
+ speed_lead_values=[speed, speed, speed],
+ cruise_values=[speed, speed, speed],
+ prob_lead_values=[0.0, 0.0, 1.0],
+ breakpoints=[0., 5.0, 5.01],
+ )
+ valid, results[speed] = man.evaluate()
+ labels.append(f'{speed} m/s speed')
+
+htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, EGO_A))
+htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
+
+
+results = {}
+name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed'
+labels = []
+for speed in np.arange(0, 40, 5):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=0.0,
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(0.0, 0.0),
+ speed_lead_values=[0.0, 0.0, speed],
+ prob_lead_values=[1.0, 1.0, 1.0],
+ breakpoints=[0., 1.0, speed/2],
+ )
+ valid, results[speed] = man.evaluate()
+ labels.append(f'{speed} m/s speed')
+
+htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, EGO_V))
+htmls.append(get_html_from_results(results, labels, EGO_A))
+
+
+results = {}
+name = 'From stop to cruise'
+labels = []
+for speed in np.arange(0, 40, 5):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=0.0,
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(0.0, 0.0),
+ speed_lead_values=[0.0, 0.0],
+ cruise_values=[0.0, speed],
+ prob_lead_values=[0.0, 0.0],
+ breakpoints=[1., 1.01],
+ )
+ valid, results[speed] = man.evaluate()
+ labels.append(f'{speed} m/s speed')
+
+htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, EGO_V))
+htmls.append(get_html_from_results(results, labels, EGO_A))
+
+
+results = {}
+name = 'From cruise to min'
+labels = []
+for speed in np.arange(10, 40, 5):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=float(speed),
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(0.0, 0.0),
+ speed_lead_values=[0.0, 0.0],
+ cruise_values=[speed, 10.0],
+ prob_lead_values=[0.0, 0.0],
+ breakpoints=[1., 1.01],
+ )
+ valid, results[speed] = man.evaluate()
+ labels.append(f'{speed} m/s speed')
+
+htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, EGO_V))
+htmls.append(get_html_from_results(results, labels, EGO_A))
+
+if len(sys.argv) < 2:
+ file_name = 'long_mpc_tune_report.html'
+else:
+ file_name = sys.argv[1]
+
+with open(file_name, 'w') as f:
+ f.write(markdown.markdown('# MPC longitudinal tuning report'))
+
+with open(file_name, 'a') as f:
+ for html in htmls:
+ f.write(html)
From 93015c1c178e218adcfe9688ea13f58effc6d94e Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Tue, 27 Jan 2026 15:40:09 -0800
Subject: [PATCH 016/150] ui: fix button label color (#37031)
label color
---
selfdrive/ui/mici/widgets/button.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py
index 82310577b0..9678827a91 100644
--- a/selfdrive/ui/mici/widgets/button.py
+++ b/selfdrive/ui/mici/widgets/button.py
@@ -16,7 +16,7 @@ except ImportError:
SCROLLING_SPEED_PX_S = 50
COMPLICATION_SIZE = 36
-LABEL_COLOR = rl.WHITE
+LABEL_COLOR = rl.Color(255, 255, 255, int(255 * 0.9))
LABEL_HORIZONTAL_PADDING = 40
COMPLICATION_GREY = rl.Color(0xAA, 0xAA, 0xAA, 255)
PRESSED_SCALE = 1.15 if DO_ZOOM else 1.07
From bf8cae5e7cbbec97483f7e358568ea2e21ca8579 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Tue, 27 Jan 2026 16:20:32 -0800
Subject: [PATCH 017/150] mici ui: new icons (#37021)
* new icons
* add missing
* fixed tethering big icon, size of pairing comma, buttons now use 90percent white
* why o why
* newline
* fancy
* already default
* fixes
* add firehose
* ltl
* fix caps lock icon
---------
Co-authored-by: nickorie
---
selfdrive/assets/icons_mici/adb_short.png | 3 +++
.../buttons/toggle_dot_disabled.png | 4 +--
.../assets/icons_mici/exclamation_point.png | 4 +--
.../assets/icons_mici/experimental_mode.png | 4 +--
selfdrive/assets/icons_mici/microphone.png | 4 +--
.../icons_mici/offroad_alerts/green_wheel.png | 4 +--
.../offroad_alerts/orange_warning.png | 4 +--
.../icons_mici/offroad_alerts/red_warning.png | 4 +--
.../icons_mici/onroad/blind_spot_left.png | 4 +--
.../icons_mici/onroad/blind_spot_right.png | 4 +--
.../assets/icons_mici/onroad/bookmark.png | 4 +--
.../icons_mici/onroad/bookmark_fill.png | 3 +++
.../driver_monitoring/dm_background.png | 4 +--
.../onroad/driver_monitoring/dm_person.png | 4 +--
.../assets/icons_mici/onroad/eye_fill.png | 4 +--
.../assets/icons_mici/onroad/eye_orange.png | 4 +--
.../assets/icons_mici/onroad/glasses.png | 4 +--
.../assets/icons_mici/onroad/onroad_fade.png | 4 +--
.../icons_mici/onroad/turn_signal_left.png | 4 +--
.../icons_mici/onroad/turn_signal_right.png | 4 +--
selfdrive/assets/icons_mici/settings.png | 4 +--
.../assets/icons_mici/settings/comma_icon.png | 4 +--
.../icons_mici/settings/developer/ssh.png | 4 +--
.../icons_mici/settings/developer_icon.png | 4 +--
.../icons_mici/settings/device/cameras.png | 4 +--
.../icons_mici/settings/device/info.png | 4 +--
.../icons_mici/settings/device/language.png | 4 +--
.../icons_mici/settings/device/lkas.png | 4 +--
.../icons_mici/settings/device/pair.png | 4 +--
.../icons_mici/settings/device/power.png | 4 +--
.../icons_mici/settings/device/reboot.png | 4 +--
.../icons_mici/settings/device/uninstall.png | 4 +--
.../icons_mici/settings/device/up_to_date.png | 4 +--
.../icons_mici/settings/device/update.png | 4 +--
.../icons_mici/settings/device_icon.png | 4 +--
.../assets/icons_mici/settings/firehose.png | 3 +++
.../settings/keyboard/backspace.png | 4 +--
.../settings/keyboard/caps_lock.png | 4 +--
.../settings/keyboard/caps_lower.png | 4 +--
.../settings/keyboard/caps_upper.png | 4 +--
.../icons_mici/settings/keyboard/confirm.png | 4 +--
.../icons_mici/settings/keyboard/space.png | 4 +--
.../icons_mici/settings/manual_icon.png | 3 ---
.../settings/network/cell_strength_full.png | 4 +--
.../settings/network/cell_strength_high.png | 4 +--
.../settings/network/cell_strength_low.png | 4 +--
.../settings/network/cell_strength_medium.png | 4 +--
.../settings/network/cell_strength_none.png | 4 +--
.../icons_mici/settings/network/new/lock.png | 4 +--
.../icons_mici/settings/network/new/trash.png | 4 +--
.../icons_mici/settings/network/tethering.png | 4 +--
.../settings/network/wifi_strength_full.png | 4 +--
.../settings/network/wifi_strength_low.png | 4 +--
.../settings/network/wifi_strength_medium.png | 4 +--
.../settings/network/wifi_strength_none.png | 4 +--
.../settings/network/wifi_strength_slash.png | 4 +--
.../icons_mici/settings/toggles_icon.png | 3 ---
.../assets/icons_mici/setup/back_new.png | 4 +--
.../setup/driver_monitoring/dm_check.png | 4 +--
.../setup/driver_monitoring/dm_question.png | 4 +--
.../assets/icons_mici/setup/green_car.png | 3 ---
.../assets/icons_mici/setup/green_dm.png | 4 +--
.../assets/icons_mici/setup/green_info.png | 4 +--
.../assets/icons_mici/setup/green_pedal.png | 3 ---
.../assets/icons_mici/setup/orange_dm.png | 4 +--
.../assets/icons_mici/setup/red_warning.png | 4 +--
selfdrive/assets/icons_mici/setup/restore.png | 4 +--
.../setup/scroll_down_indicator.png | 4 +--
.../setup/small_slider/slider_arrow.png | 4 +--
selfdrive/assets/icons_mici/setup/warning.png | 4 +--
selfdrive/assets/icons_mici/ssh_short.png | 3 +++
.../assets/icons_mici/tethering_short.png | 3 +++
.../assets/icons_mici/turn_intent_left.png | 4 +--
.../assets/icons_mici/turn_intent_right.png | 4 +--
selfdrive/assets/icons_mici/wheel.png | 4 +--
.../assets/icons_mici/wheel_critical.png | 4 +--
selfdrive/ui/mici/layouts/home.py | 20 +++++++--------
selfdrive/ui/mici/layouts/onboarding.py | 4 +--
.../ui/mici/layouts/settings/developer.py | 8 +++---
selfdrive/ui/mici/layouts/settings/device.py | 12 ++++-----
.../mici/layouts/settings/network/__init__.py | 9 +++----
.../mici/layouts/settings/network/wifi_ui.py | 12 ++++-----
.../ui/mici/layouts/settings/settings.py | 10 ++++----
selfdrive/ui/mici/onroad/alert_renderer.py | 8 +++---
selfdrive/ui/mici/onroad/hud_renderer.py | 4 +--
selfdrive/ui/mici/widgets/button.py | 25 +++++++++++--------
selfdrive/ui/mici/widgets/dialog.py | 4 +--
selfdrive/ui/mici/widgets/pairing_dialog.py | 2 +-
system/ui/widgets/mici_keyboard.py | 20 ++++++++-------
89 files changed, 220 insertions(+), 213 deletions(-)
create mode 100644 selfdrive/assets/icons_mici/adb_short.png
create mode 100644 selfdrive/assets/icons_mici/onroad/bookmark_fill.png
create mode 100644 selfdrive/assets/icons_mici/settings/firehose.png
delete mode 100644 selfdrive/assets/icons_mici/settings/manual_icon.png
delete mode 100644 selfdrive/assets/icons_mici/settings/toggles_icon.png
delete mode 100644 selfdrive/assets/icons_mici/setup/green_car.png
delete mode 100644 selfdrive/assets/icons_mici/setup/green_pedal.png
create mode 100644 selfdrive/assets/icons_mici/ssh_short.png
create mode 100644 selfdrive/assets/icons_mici/tethering_short.png
diff --git a/selfdrive/assets/icons_mici/adb_short.png b/selfdrive/assets/icons_mici/adb_short.png
new file mode 100644
index 0000000000..c49226c858
--- /dev/null
+++ b/selfdrive/assets/icons_mici/adb_short.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:263598da73c577c01cebd31ae78f45969ef8b335be1a5f55d54a696bb2982c0a
+size 2062
diff --git a/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png b/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
index 0e21bc1b5a..1ff4db45a5 100644
--- a/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
+++ b/selfdrive/assets/icons_mici/buttons/toggle_dot_disabled.png
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:613af9ed79bb26c60fbd19c094214f0881736c0e293f6d000b530cde0478a273
-size 2470
+oid sha256:89ac033d879beeb0a7fa1919838e0ec64b1a625a4aafc14f7b990c607a79b676
+size 2220
diff --git a/selfdrive/assets/icons_mici/exclamation_point.png b/selfdrive/assets/icons_mici/exclamation_point.png
index 246fc015ec..ede3b638bc 100644
--- a/selfdrive/assets/icons_mici/exclamation_point.png
+++ b/selfdrive/assets/icons_mici/exclamation_point.png
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:b77579c099c688d1a27f356197fba9c2c8efcf4d391af580b4b29f0e70587919
-size 2086
+oid sha256:254b7f753b70c964847b686f0f71af751f2f49beea6ede4aeb333fe06062a257
+size 2289
diff --git a/selfdrive/assets/icons_mici/experimental_mode.png b/selfdrive/assets/icons_mici/experimental_mode.png
index e0138bfd65..75850d08f5 100644
--- a/selfdrive/assets/icons_mici/experimental_mode.png
+++ b/selfdrive/assets/icons_mici/experimental_mode.png
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:eb42b8d6259238beb26f286dc28fb2dc8d91b00fec1f7a7655296b5769439a15
-size 15690
+oid sha256:01841b602632c66ab14a8e52b874a1623f09641dc2ef0620f4e2d00bb4a913f3
+size 16243
diff --git a/selfdrive/assets/icons_mici/microphone.png b/selfdrive/assets/icons_mici/microphone.png
index 9718a6b135..9af8f2f455 100644
--- a/selfdrive/assets/icons_mici/microphone.png
+++ b/selfdrive/assets/icons_mici/microphone.png
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:17b6fe530598cbad34bcf31d4f21f929b792aacedef51b3ffef1941c86017811
-size 7331
+oid sha256:744dbaa68ee74e300cd46439bad79449c860e1c5c027304b0f382bd5383fba77
+size 6817
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png b/selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png
index 6a8351f6ee..08181ca35f 100644
--- a/selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png
+++ b/selfdrive/assets/icons_mici/offroad_alerts/green_wheel.png
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:05f3626e790622a4ad90e982c4aacb612d0785a752339352a3187addf763e2e9
-size 13288
+oid sha256:3b11ee84d48972a2499cb29f01594d77a1a39692f6424a315a3f83262bc16087
+size 13481
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png b/selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png
index 13af475c6d..52e6836d4b 100644
--- a/selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png
+++ b/selfdrive/assets/icons_mici/offroad_alerts/orange_warning.png
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:a877882a8dccb884bd35918f9f9b427a724a59e90a638e54f6fd5d0680ad173c
-size 12137
+oid sha256:d548405a65ba4d4590c55866612dc6aa0e78d9278fc864ef60fe3e463edf4a68
+size 12169
diff --git a/selfdrive/assets/icons_mici/offroad_alerts/red_warning.png b/selfdrive/assets/icons_mici/offroad_alerts/red_warning.png
index 83c3595b29..df608d3518 100644
--- a/selfdrive/assets/icons_mici/offroad_alerts/red_warning.png
+++ b/selfdrive/assets/icons_mici/offroad_alerts/red_warning.png
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:ba944b208abed9b8b9752adb8017bd29cd2e98c89fb07ee5d0a595185c7564a5
-size 11898
+oid sha256:b6fc63326d34fbe72f6daf104d101ce19e547dbfe134427c067c957a7179df74
+size 12124
diff --git a/selfdrive/assets/icons_mici/onroad/blind_spot_left.png b/selfdrive/assets/icons_mici/onroad/blind_spot_left.png
index 5d3b1e5d7b..fdc189b858 100644
--- a/selfdrive/assets/icons_mici/onroad/blind_spot_left.png
+++ b/selfdrive/assets/icons_mici/onroad/blind_spot_left.png
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:a23743d21bc8160e013625210654a55634e4ed58e60057b70e08761bac1c3680
-size 40406
+oid sha256:77b20a8c478d982412d556afb3a035b80b4aa9fe7a86aea761af4a42147d9435
+size 45297
diff --git a/selfdrive/assets/icons_mici/onroad/blind_spot_right.png b/selfdrive/assets/icons_mici/onroad/blind_spot_right.png
index 67216078d9..b6cd7834ef 100644
--- a/selfdrive/assets/icons_mici/onroad/blind_spot_right.png
+++ b/selfdrive/assets/icons_mici/onroad/blind_spot_right.png
@@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
-oid sha256:acbfa3e38f0b9f422f5c1335ce20013852df2892b813db176a51918adc83ad58
-size 40979
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index c0e5e8619e..676b0b4d71 100644
--- a/selfdrive/assets/icons_mici/wheel_critical.png
+++ b/selfdrive/assets/icons_mici/wheel_critical.png
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diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index 9152bdc7fa..f5dab7249a 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -92,22 +92,22 @@ class MiciHomeLayout(Widget):
self._settings_txt = gui_app.texture("icons_mici/settings.png", 48, 48)
self._experimental_txt = gui_app.texture("icons_mici/experimental_mode.png", 48, 48)
- self._mic_txt = gui_app.texture("icons_mici/microphone.png", 48, 48)
+ self._mic_txt = gui_app.texture("icons_mici/microphone.png", 32, 46)
self._net_type = NETWORK_TYPES.get(NetworkType.none)
self._net_strength = 0
self._wifi_slash_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_slash.png", 50, 44)
- self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 44)
- self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 44)
- self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 44)
- self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 44)
+ self._wifi_none_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_none.png", 50, 37)
+ self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 50, 37)
+ self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 50, 37)
+ self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 50, 37)
- self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 55, 35)
- self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 55, 35)
- self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 55, 35)
- self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 55, 35)
- self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 55, 35)
+ self._cell_none_txt = gui_app.texture("icons_mici/settings/network/cell_strength_none.png", 54, 36)
+ self._cell_low_txt = gui_app.texture("icons_mici/settings/network/cell_strength_low.png", 54, 36)
+ self._cell_medium_txt = gui_app.texture("icons_mici/settings/network/cell_strength_medium.png", 54, 36)
+ self._cell_high_txt = gui_app.texture("icons_mici/settings/network/cell_strength_high.png", 54, 36)
+ self._cell_full_txt = gui_app.texture("icons_mici/settings/network/cell_strength_full.png", 54, 36)
self._openpilot_label = MiciLabel("openpilot", font_size=96, color=rl.Color(255, 255, 255, int(255 * 0.9)), font_weight=FontWeight.DISPLAY)
self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 16e96d6f7d..4248fef2ec 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -124,9 +124,9 @@ class TrainingGuideDMTutorial(Widget):
def __init__(self, continue_callback):
super().__init__()
- self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 48, 48))
+ self._back_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_question.png", 28, 48))
self._back_button.set_click_callback(self._show_bad_face_page)
- self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 48, 35))
+ self._good_button = SmallCircleIconButton(gui_app.texture("icons_mici/setup/driver_monitoring/dm_check.png", 42, 42))
# Wrap the continue callback to restore settings
def wrapped_continue_callback():
diff --git a/selfdrive/ui/mici/layouts/settings/developer.py b/selfdrive/ui/mici/layouts/settings/developer.py
index 8fc63e8963..b6145e042e 100644
--- a/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/selfdrive/ui/mici/layouts/settings/developer.py
@@ -3,7 +3,7 @@ from collections.abc import Callable
from openpilot.common.time_helpers import system_time_valid
from openpilot.system.ui.widgets.scroller import Scroller
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl
from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog
from openpilot.system.ui.lib.application import gui_app
from openpilot.system.ui.widgets import NavWidget
@@ -36,15 +36,15 @@ class DeveloperLayoutMici(NavWidget):
return
gui_app.set_modal_overlay(dlg)
- txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 77, 44)
+ txt_ssh = gui_app.texture("icons_mici/settings/developer/ssh.png", 56, 64)
github_username = ui_state.params.get("GithubUsername") or ""
self._ssh_keys_btn = BigButton("SSH keys", "Not set" if not github_username else github_username, icon=txt_ssh)
self._ssh_keys_btn.set_click_callback(ssh_keys_callback)
# adb, ssh, ssh keys, debug mode, joystick debug mode, longitudinal maneuver mode, ip address
# ******** Main Scroller ********
- self._adb_toggle = BigParamControl("enable ADB", "AdbEnabled")
- self._ssh_toggle = BigParamControl("enable SSH", "SshEnabled")
+ self._adb_toggle = BigCircleParamControl("icons_mici/adb_short.png", "AdbEnabled", icon_size=(82, 82), icon_offset=(0, 12))
+ self._ssh_toggle = BigCircleParamControl("icons_mici/ssh_short.png", "SshEnabled", icon_size=(82, 82), icon_offset=(0, 12))
self._joystick_toggle = BigToggle("joystick debug mode",
initial_state=ui_state.params.get_bool("JoystickDebugMode"),
toggle_callback=self._on_joystick_debug_mode)
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index 988c823a99..30ea90f3d1 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -119,7 +119,7 @@ class UpdaterState(IntEnum):
class PairBigButton(BigButton):
def __init__(self):
- super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png")
+ super().__init__("pair", "connect.comma.ai", "icons_mici/settings/comma_icon.png", icon_size=(33, 60))
def _update_state(self):
if ui_state.prime_state.is_paired():
@@ -153,8 +153,8 @@ UPDATER_TIMEOUT = 10.0 # seconds to wait for updater to respond
class UpdateOpenpilotBigButton(BigButton):
def __init__(self):
- self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 64)
- self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 64)
+ self._txt_update_icon = gui_app.texture("icons_mici/settings/device/update.png", 64, 75)
+ self._txt_reboot_icon = gui_app.texture("icons_mici/settings/device/reboot.png", 64, 70)
self._txt_up_to_date_icon = gui_app.texture("icons_mici/settings/device/up_to_date.png", 64, 64)
super().__init__("update openpilot", "", self._txt_update_icon)
@@ -291,16 +291,16 @@ class DeviceLayoutMici(NavWidget):
def uninstall_openpilot_callback():
ui_state.params.put_bool("DoUninstall", True)
- reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png")
+ reset_calibration_btn = BigButton("reset calibration", "", "icons_mici/settings/device/lkas.png", icon_size=(114, 60))
reset_calibration_btn.set_click_callback(lambda: _engaged_confirmation_callback(reset_calibration_callback, "reset"))
uninstall_openpilot_btn = BigButton("uninstall openpilot", "", "icons_mici/settings/device/uninstall.png")
uninstall_openpilot_btn.set_click_callback(lambda: _engaged_confirmation_callback(uninstall_openpilot_callback, "uninstall"))
- reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False)
+ reboot_btn = BigCircleButton("icons_mici/settings/device/reboot.png", red=False, icon_size=(64, 70))
reboot_btn.set_click_callback(lambda: _engaged_confirmation_callback(reboot_callback, "reboot"))
- self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True)
+ self._power_off_btn = BigCircleButton("icons_mici/settings/device/power.png", red=True, icon_size=(64, 66))
self._power_off_btn.set_click_callback(lambda: _engaged_confirmation_callback(power_off_callback, "power off"))
self._load_languages()
diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py
index 1faf49311a..0d5e527836 100644
--- a/selfdrive/ui/mici/layouts/settings/network/__init__.py
+++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py
@@ -4,7 +4,7 @@ from collections.abc import Callable
from openpilot.system.ui.widgets.scroller import Scroller
from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigParamControl, BigCircleToggle
from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
from openpilot.selfdrive.ui.ui_state import ui_state
from openpilot.selfdrive.ui.lib.prime_state import PrimeType
@@ -33,15 +33,14 @@ class NetworkLayoutMici(NavWidget):
networks_updated=self._on_network_updated,
)
- _tethering_icon = "icons_mici/settings/network/tethering.png"
-
# ******** Tethering ********
def tethering_toggle_callback(checked: bool):
self._tethering_toggle_btn.set_enabled(False)
self._network_metered_btn.set_enabled(False)
self._wifi_manager.set_tethering_active(checked)
- self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
+ self._tethering_toggle_btn = BigCircleToggle("icons_mici/tethering_short.png", toggle_callback=tethering_toggle_callback,
+ icon_size=(82, 82), icon_offset=(0, 12))
def tethering_password_callback(password: str):
if password:
@@ -53,7 +52,7 @@ class NetworkLayoutMici(NavWidget):
confirm_callback=tethering_password_callback)
gui_app.set_modal_overlay(dlg)
- txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
+ txt_tethering = gui_app.texture("icons_mici/settings/network/tethering.png", 64, 54)
self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
self._tethering_password_btn.set_click_callback(tethering_password_clicked)
diff --git a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
index 565fef5af3..23b89438dc 100644
--- a/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
+++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
@@ -34,12 +34,12 @@ class LoadingAnimation(Widget):
class WifiIcon(Widget):
def __init__(self):
super().__init__()
- self.set_rect(rl.Rectangle(0, 0, 89, 64))
+ self.set_rect(rl.Rectangle(0, 0, 86, 64))
- self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 89, 64)
- self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 89, 64)
- self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 89, 64)
- self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 23, 32)
+ self._wifi_low_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_low.png", 86, 64)
+ self._wifi_medium_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_medium.png", 86, 64)
+ self._wifi_full_txt = gui_app.texture("icons_mici/settings/network/wifi_strength_full.png", 86, 64)
+ self._lock_txt = gui_app.texture("icons_mici/settings/network/new/lock.png", 22, 32)
self._network: Network | None = None
self._scale = 1.0
@@ -169,7 +169,7 @@ class ForgetButton(Widget):
self._bg_txt = gui_app.texture("icons_mici/settings/network/new/forget_button.png", 100, 100)
self._bg_pressed_txt = gui_app.texture("icons_mici/settings/network/new/forget_button_pressed.png", 100, 100)
- self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 32, 36)
+ self._trash_txt = gui_app.texture("icons_mici/settings/network/new/trash.png", 35, 42)
self.set_rect(rl.Rectangle(0, 0, 100 + self.HORIZONTAL_MARGIN * 2, 100))
def _handle_mouse_release(self, mouse_pos: MousePos):
diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py
index a452777748..3917899032 100644
--- a/selfdrive/ui/mici/layouts/settings/settings.py
+++ b/selfdrive/ui/mici/layouts/settings/settings.py
@@ -36,16 +36,16 @@ class SettingsLayout(NavWidget):
self._params = Params()
self._current_panel = None # PanelType.DEVICE
- toggles_btn = BigButton("toggles", "", "icons_mici/settings/toggles_icon.png")
+ toggles_btn = BigButton("toggles", "", "icons_mici/settings.png")
toggles_btn.set_click_callback(lambda: self._set_current_panel(PanelType.TOGGLES))
- network_btn = BigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png")
+ network_btn = BigButton("network", "", "icons_mici/settings/network/wifi_strength_full.png", icon_size=(76, 56))
network_btn.set_click_callback(lambda: self._set_current_panel(PanelType.NETWORK))
- device_btn = BigButton("device", "", "icons_mici/settings/device_icon.png")
+ device_btn = BigButton("device", "", "icons_mici/settings/device_icon.png", icon_size=(74, 60))
device_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVICE))
- developer_btn = BigButton("developer", "", "icons_mici/settings/developer_icon.png")
+ developer_btn = BigButton("developer", "", "icons_mici/settings/developer_icon.png", icon_size=(64, 60))
developer_btn.set_click_callback(lambda: self._set_current_panel(PanelType.DEVELOPER))
- firehose_btn = BigButton("firehose", "", "icons_mici/settings/comma_icon.png")
+ firehose_btn = BigButton("firehose", "", "icons_mici/settings/firehose.png", icon_size=(52, 62))
firehose_btn.set_click_callback(lambda: self._set_current_panel(PanelType.FIREHOSE))
self._scroller = Scroller([
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index 7ee83ff880..64dd04c310 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -111,10 +111,10 @@ class AlertRenderer(Widget):
self._load_icons()
def _load_icons(self):
- self._txt_turn_signal_left = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 100, 91)
- self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_right.png', 100, 91)
- self._txt_blind_spot_left = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 108, 128)
- self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 108, 128)
+ self._txt_turn_signal_left = gui_app.texture('icons_mici/onroad/turn_signal_left.png', 104, 96)
+ self._txt_turn_signal_right = gui_app.texture('icons_mici/onroad/turn_signal_right.png', 104, 96)
+ self._txt_blind_spot_left = gui_app.texture('icons_mici/onroad/blind_spot_left.png', 134, 150)
+ self._txt_blind_spot_right = gui_app.texture('icons_mici/onroad/blind_spot_right.png', 134, 150)
def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
"""Generate the current alert based on selfdrive state."""
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index 7f489ccf98..a6fa1a62bb 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -49,8 +49,8 @@ class TurnIntent(Widget):
self._turn_intent_alpha_filter = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
self._turn_intent_rotation_filter = FirstOrderFilter(0, 0.1, 1 / gui_app.target_fps)
- self._txt_turn_intent_left: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 19)
- self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_right.png', 50, 19)
+ self._txt_turn_intent_left: rl.Texture = gui_app.texture('icons_mici/turn_intent_left.png', 50, 20)
+ self._txt_turn_intent_right: rl.Texture = gui_app.texture('icons_mici/turn_intent_right.png', 50, 20)
def _render(self, _):
if self._turn_intent_alpha_filter.x > 1e-2:
diff --git a/selfdrive/ui/mici/widgets/button.py b/selfdrive/ui/mici/widgets/button.py
index 9678827a91..0b252c21aa 100644
--- a/selfdrive/ui/mici/widgets/button.py
+++ b/selfdrive/ui/mici/widgets/button.py
@@ -29,9 +29,10 @@ class ScrollState(Enum):
class BigCircleButton(Widget):
- def __init__(self, icon: str, red: bool = False):
+ def __init__(self, icon: str, red: bool = False, icon_size: tuple[int, int] = (64, 53), icon_offset: tuple[int, int] = (0, 0)):
super().__init__()
self._red = red
+ self._icon_offset = icon_offset
# State
self.set_rect(rl.Rectangle(0, 0, 180, 180))
@@ -39,7 +40,7 @@ class BigCircleButton(Widget):
self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
# Icons
- self._txt_icon = gui_app.texture(icon, 64, 53)
+ self._txt_icon = gui_app.texture(icon, *icon_size)
self._txt_btn_disabled_bg = gui_app.texture("icons_mici/buttons/button_circle_disabled.png", 180, 180)
self._txt_btn_bg = gui_app.texture("icons_mici/buttons/button_circle.png", 180, 180)
@@ -66,13 +67,13 @@ class BigCircleButton(Widget):
# draw icon
icon_color = rl.WHITE if self.enabled else rl.Color(255, 255, 255, int(255 * 0.35))
- rl.draw_texture(self._txt_icon, int(self._rect.x + (self._rect.width - self._txt_icon.width) / 2),
- int(self._rect.y + (self._rect.height - self._txt_icon.height) / 2), icon_color)
+ rl.draw_texture(self._txt_icon, int(self._rect.x + (self._rect.width - self._txt_icon.width) / 2 + self._icon_offset[0]),
+ int(self._rect.y + (self._rect.height - self._txt_icon.height) / 2 + self._icon_offset[1]), icon_color)
class BigCircleToggle(BigCircleButton):
- def __init__(self, icon: str, toggle_callback: Callable | None = None):
- super().__init__(icon, False)
+ def __init__(self, icon: str, toggle_callback: Callable | None = None, icon_size: tuple[int, int] = (64, 53), icon_offset: tuple[int, int] = (0, 0)):
+ super().__init__(icon, False, icon_size=icon_size, icon_offset=icon_offset)
self._toggle_callback = toggle_callback
# State
@@ -80,7 +81,7 @@ class BigCircleToggle(BigCircleButton):
# Icons
self._txt_toggle_enabled = gui_app.texture("icons_mici/buttons/toggle_dot_enabled.png", 66, 66)
- self._txt_toggle_disabled = gui_app.texture("icons_mici/buttons/toggle_dot_disabled.png", 70, 70) # TODO: why discrepancy?
+ self._txt_toggle_disabled = gui_app.texture("icons_mici/buttons/toggle_dot_disabled.png", 66, 66)
def set_checked(self, checked: bool):
self._checked = checked
@@ -104,11 +105,12 @@ class BigCircleToggle(BigCircleButton):
class BigButton(Widget):
"""A lightweight stand-in for the Qt BigButton, drawn & updated each frame."""
- def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = ""):
+ def __init__(self, text: str, value: str = "", icon: Union[str, rl.Texture] = "", icon_size: tuple[int, int] = (64, 64)):
super().__init__()
self.set_rect(rl.Rectangle(0, 0, 402, 180))
self.text = text
self.value = value
+ self._icon_size = icon_size
self.set_icon(icon)
self._scale_filter = BounceFilter(1.0, 0.1, 1 / gui_app.target_fps)
@@ -134,7 +136,7 @@ class BigButton(Widget):
self._scroll_state = ScrollState.PRE_SCROLL
def set_icon(self, icon: Union[str, rl.Texture]):
- self._txt_icon = gui_app.texture(icon, 64, 64) if isinstance(icon, str) and len(icon) else icon
+ self._txt_icon = gui_app.texture(icon, *self._icon_size) if isinstance(icon, str) and len(icon) else icon
def set_rotate_icon(self, rotate: bool):
if rotate and self._rotate_icon_t is not None:
@@ -361,8 +363,9 @@ class BigParamControl(BigToggle):
# TODO: param control base class
class BigCircleParamControl(BigCircleToggle):
- def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None):
- super().__init__(icon, toggle_callback)
+ def __init__(self, icon: str, param: str, toggle_callback: Callable | None = None, icon_size: tuple[int, int] = (64, 53),
+ icon_offset: tuple[int, int] = (0, 0)):
+ super().__init__(icon, toggle_callback, icon_size=icon_size, icon_offset=icon_offset)
self._param = param
self.params = Params()
self.set_checked(self.params.get_bool(self._param, False))
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py
index abd558aa8d..67123d33a7 100644
--- a/selfdrive/ui/mici/widgets/dialog.py
+++ b/selfdrive/ui/mici/widgets/dialog.py
@@ -147,10 +147,10 @@ class BigInputDialog(BigDialogBase):
self._backspace_held_time: float | None = None
- self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 44, 44)
+ self._backspace_img = gui_app.texture("icons_mici/settings/keyboard/backspace.png", 42, 36)
self._backspace_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
- self._enter_img = gui_app.texture("icons_mici/settings/keyboard/confirm.png", 44, 44)
+ self._enter_img = gui_app.texture("icons_mici/settings/keyboard/confirm.png", 42, 36)
self._enter_img_alpha = FirstOrderFilter(0, 0.05, 1 / gui_app.target_fps)
# rects for top buttons
diff --git a/selfdrive/ui/mici/widgets/pairing_dialog.py b/selfdrive/ui/mici/widgets/pairing_dialog.py
index e064205d59..88bab2d001 100644
--- a/selfdrive/ui/mici/widgets/pairing_dialog.py
+++ b/selfdrive/ui/mici/widgets/pairing_dialog.py
@@ -24,7 +24,7 @@ class PairingDialog(NavWidget):
self._qr_texture: rl.Texture | None = None
self._last_qr_generation = float("-inf")
- self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 84, 64)
+ self._txt_pair = gui_app.texture("icons_mici/settings/device/pair.png", 33, 60)
self._pair_label = MiciLabel("pair with comma connect", 48, font_weight=FontWeight.BOLD,
color=rl.Color(255, 255, 255, int(255 * 0.9)), line_height=40, wrap_text=True)
diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py
index 7459dc5731..a81cf85307 100644
--- a/system/ui/widgets/mici_keyboard.py
+++ b/system/ui/widgets/mici_keyboard.py
@@ -105,13 +105,15 @@ class SmallKey(Key):
class IconKey(Key):
- def __init__(self, icon: str, vertical_align: str = "center", char: str = ""):
+ def __init__(self, icon: str, vertical_align: str = "center", char: str = "", icon_size: tuple[int, int] = (38, 38)):
super().__init__(char)
- self._icon = gui_app.texture(icon, 38, 38)
+ self._icon_size = icon_size
+ self._icon = gui_app.texture(icon, *icon_size)
self._vertical_align = vertical_align
- def set_icon(self, icon: str):
- self._icon = gui_app.texture(icon, 38, 38)
+ def set_icon(self, icon: str, icon_size: tuple[int, int] | None = None):
+ size = icon_size if icon_size is not None else self._icon_size
+ self._icon = gui_app.texture(icon, *size)
def _render(self, _):
scale = np.interp(self._size_filter.x, [CHAR_FONT_SIZE, CHAR_NEAR_FONT_SIZE], [1, 1.5])
@@ -167,8 +169,8 @@ class MiciKeyboard(Widget):
self._super_special_keys = [[Key(char) for char in row] for row in super_special_chars]
# control keys
- self._space_key = IconKey("icons_mici/settings/keyboard/space.png", char=" ", vertical_align="bottom")
- self._caps_key = IconKey("icons_mici/settings/keyboard/caps_lower.png")
+ self._space_key = IconKey("icons_mici/settings/keyboard/space.png", char=" ", vertical_align="bottom", icon_size=(43, 14))
+ self._caps_key = IconKey("icons_mici/settings/keyboard/caps_lower.png", icon_size=(38, 33))
# these two are in different places on some layouts
self._123_key, self._123_key2 = SmallKey("123"), SmallKey("123")
self._abc_key = SmallKey("abc")
@@ -269,14 +271,14 @@ class MiciKeyboard(Widget):
self._set_keys(self._upper_keys if cycle else self._lower_keys)
if not cycle:
self._caps_state = CapsState.LOWER
- self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lower.png")
+ self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lower.png", icon_size=(38, 33))
else:
if self._caps_state == CapsState.LOWER:
self._caps_state = CapsState.UPPER
- self._caps_key.set_icon("icons_mici/settings/keyboard/caps_upper.png")
+ self._caps_key.set_icon("icons_mici/settings/keyboard/caps_upper.png", icon_size=(38, 33))
elif self._caps_state == CapsState.UPPER:
self._caps_state = CapsState.LOCK
- self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lock.png")
+ self._caps_key.set_icon("icons_mici/settings/keyboard/caps_lock.png", icon_size=(39, 38))
else:
self._set_uppercase(False)
From 2fc10e82998373a9bfe88f1de3d8179393f7567c Mon Sep 17 00:00:00 2001
From: felsager <76905857+felsager@users.noreply.github.com>
Date: Tue, 27 Jan 2026 17:15:39 -0800
Subject: [PATCH 018/150] Maneuver: log drel and use it in tuning report
(#37033)
---
.../test/longitudinal_maneuvers/maneuver.py | 3 ++-
.../mpc_longitudinal_tuning_report.py | 17 ++++++++++-------
2 files changed, 12 insertions(+), 8 deletions(-)
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index dfd5b3e109..ba0379f2d7 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -60,7 +60,8 @@ class Maneuver:
log['distance_lead'],
log['speed'],
speed_lead,
- log['acceleration']]))
+ log['acceleration'],
+ log['d_rel']]))
if d_rel < .4 and (self.only_radar or prob_lead > 0.5):
print("Crashed!!!!")
diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
index 583c6240e5..8c1a60f5b7 100644
--- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
+++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
@@ -7,16 +7,18 @@ from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance
TIME = 0
+LEAD_DISTANCE= 2
EGO_V = 3
EGO_A = 5
-LEAD_DISTANCE= 2
+D_REL = 6
axis_labels = ['Time (s)',
'Ego position (m)',
- 'Lead distance (m)',
+ 'Lead absolute position (m)',
'Ego Velocity (m/s)',
'Lead Velocity (m/s)',
'Ego acceleration (m/s^2)',
+ 'Lead distance (m)'
]
@@ -81,7 +83,7 @@ for speed in np.arange(0,45,5):
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_A))
-htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
+htmls.append(get_html_from_results(results, labels, D_REL))
results = {}
@@ -102,6 +104,7 @@ for oscil in np.arange(0, 10, 1):
labels.append(f'{oscil} m/s oscilliation size')
htmls.append(markdown.markdown('# ' + name))
+htmls.append(get_html_from_results(results, labels, D_REL))
htmls.append(get_html_from_results(results, labels, EGO_V))
htmls.append(get_html_from_results(results, labels, EGO_A))
@@ -126,7 +129,7 @@ for distance in np.arange(20, 140, 10):
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
+htmls.append(get_html_from_results(results, labels, D_REL))
results = {}
@@ -148,7 +151,7 @@ for distance in np.arange(20, 140, 10):
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
+htmls.append(get_html_from_results(results, labels, D_REL))
results = {}
@@ -170,7 +173,7 @@ for stop_time in np.arange(4, 14, 1):
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_A))
-htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
+htmls.append(get_html_from_results(results, labels, D_REL))
results = {}
@@ -193,7 +196,7 @@ for speed in np.arange(0, 40, 5):
htmls.append(markdown.markdown('# ' + name))
htmls.append(get_html_from_results(results, labels, EGO_A))
-htmls.append(get_html_from_results(results, labels, LEAD_DISTANCE))
+htmls.append(get_html_from_results(results, labels, D_REL))
results = {}
From 0b958f7c9ae682e0ab95d0dc9f45f605be0dfce0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Tue, 27 Jan 2026 19:59:25 -0800
Subject: [PATCH 019/150] onroad: fill bookmark icon when activated (#37034)
* bookmark fill
* and here's what i would have done
* add
---
selfdrive/ui/mici/onroad/augmented_road_view.py | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 71ca03cccf..4e00a3aafe 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -46,6 +46,8 @@ class BookmarkIcon(Widget):
super().__init__()
self._bookmark_callback = bookmark_callback
self._icon = gui_app.texture("icons_mici/onroad/bookmark.png", 180, 180)
+ self._icon_fill = gui_app.texture("icons_mici/onroad/bookmark_fill.png", 180, 180)
+ self._active_icon = self._icon
self._offset_filter = BounceFilter(0.0, 0.1, 1 / gui_app.target_fps)
# State
@@ -84,6 +86,7 @@ class BookmarkIcon(Widget):
if self._offset_filter.x < 1e-3:
self._interacting = False
+ self._active_icon = self._icon
def _handle_mouse_event(self, mouse_event: MouseEvent):
if not ui_state.started:
@@ -96,6 +99,7 @@ class BookmarkIcon(Widget):
self._is_swiping = True
self._is_swiping_left = False
self._state = BookmarkState.DRAGGING
+ self._active_icon = self._icon
elif mouse_event.left_down and self._is_swiping:
self._swipe_current_x = mouse_event.pos.x
@@ -112,6 +116,7 @@ class BookmarkIcon(Widget):
if swipe_distance > self.PEEK_THRESHOLD:
self._state = BookmarkState.TRIGGERED
self._triggered_time = rl.get_time()
+ self._active_icon = self._icon_fill
self._bookmark_callback()
else:
# Otherwise, transition back to hidden
@@ -125,8 +130,8 @@ class BookmarkIcon(Widget):
"""Render the bookmark icon."""
if self._offset_filter.x > 0:
icon_x = self.rect.x + self.rect.width - round(self._offset_filter.x)
- icon_y = self.rect.y + (self.rect.height - self._icon.height) / 2 # Vertically centered
- rl.draw_texture(self._icon, int(icon_x), int(icon_y), rl.WHITE)
+ icon_y = self.rect.y + (self.rect.height - self._active_icon.height) / 2 # Vertically centered
+ rl.draw_texture(self._active_icon, int(icon_x), int(icon_y), rl.WHITE)
class AugmentedRoadView(CameraView):
From d849d6f1d7a7c380038a9e7e72df70a125fb7b03 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Tue, 27 Jan 2026 21:28:50 -0800
Subject: [PATCH 020/150] mici keyboard: bold SmallKey (#37035)
bold SmallKey
---
system/ui/widgets/mici_keyboard.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py
index a81cf85307..7fc3847809 100644
--- a/system/ui/widgets/mici_keyboard.py
+++ b/system/ui/widgets/mici_keyboard.py
@@ -38,10 +38,10 @@ def fast_euclidean_distance(dx, dy):
class Key(Widget):
- def __init__(self, char: str):
+ def __init__(self, char: str, font_weight: FontWeight = FontWeight.SEMI_BOLD):
super().__init__()
self.char = char
- self._font = gui_app.font(FontWeight.SEMI_BOLD)
+ self._font = gui_app.font(font_weight)
self._x_filter = BounceFilter(0.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
self._y_filter = BounceFilter(0.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
self._size_filter = BounceFilter(CHAR_FONT_SIZE, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
@@ -97,7 +97,7 @@ class Key(Widget):
class SmallKey(Key):
def __init__(self, chars: str):
- super().__init__(chars)
+ super().__init__(chars, FontWeight.BOLD)
self._size_filter.x = NUMBER_LAYER_SWITCH_FONT_SIZE
def set_font_size(self, size: float):
From e89e4407c57f0616bcdc3bd3d48bd19e95274eb9 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Wed, 28 Jan 2026 19:50:53 -0800
Subject: [PATCH 021/150] Tweak stockLkas alert (#37040)
* stockLkas alert is orange, small, mid prio, ldw vis alert
* copy exactly from existing ldw alert with prompt sound, black alert
---
selfdrive/selfdrived/events.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 35d4bda42f..0e37a959c5 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -479,10 +479,10 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
EventName.stockLkas: {
ET.PERMANENT: Alert(
- "TAKE CONTROL",
"Stock LKAS: Lane Departure Detected",
- AlertStatus.critical, AlertSize.full,
- Priority.HIGH, VisualAlert.fcw, AudibleAlert.none, 2.),
+ "",
+ AlertStatus.userPrompt, AlertSize.small,
+ Priority.LOW, VisualAlert.ldw, AudibleAlert.prompt, 3.),
ET.NO_ENTRY: NoEntryAlert("Stock LKAS: Lane Departure Detected"),
},
From bddd20c4252303362f33241ac35ee7d51acec87b Mon Sep 17 00:00:00 2001
From: T3d
Date: Thu, 29 Jan 2026 19:36:51 +0100
Subject: [PATCH 022/150] Complete french translations in app_fr.po (#37023)
---
selfdrive/ui/translations/app_fr.po | 94 +++++++++++++++--------------
1 file changed, 50 insertions(+), 44 deletions(-)
diff --git a/selfdrive/ui/translations/app_fr.po b/selfdrive/ui/translations/app_fr.po
index f883d4d485..409761588e 100644
--- a/selfdrive/ui/translations/app_fr.po
+++ b/selfdrive/ui/translations/app_fr.po
@@ -5,10 +5,10 @@
#
msgid ""
msgstr ""
-"Project-Id-Version: PACKAGE VERSION\n"
+"Project-Id-Version: \n"
"Report-Msgid-Bugs-To: \n"
"POT-Creation-Date: 2025-10-23 00:50-0700\n"
-"PO-Revision-Date: 2025-10-20 18:19-0700\n"
+"PO-Revision-Date: 2026-01-24 12:37+0100\n"
"Last-Translator: Automatically generated\n"
"Language-Team: none\n"
"Language: fr\n"
@@ -16,21 +16,22 @@ msgstr ""
"Content-Type: text/plain; charset=UTF-8\n"
"Content-Transfer-Encoding: 8bit\n"
"Plural-Forms: nplurals=2; plural=(n > 1);\n"
+"X-Generator: Poedit 3.8\n"
#: selfdrive/ui/layouts/settings/device.py:160
#, python-format
msgid " Steering torque response calibration is complete."
-msgstr ""
+msgstr " L'étalonnage de la réponse du couple de direction est terminé."
#: selfdrive/ui/layouts/settings/device.py:158
#, python-format
msgid " Steering torque response calibration is {}% complete."
-msgstr ""
+msgstr " L'étalonnage de la réponse du couple de direction est terminé à {}%."
#: selfdrive/ui/layouts/settings/device.py:133
#, python-format
msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
-msgstr ""
+msgstr " Votre appareil est orienté {:.1f}° {} et {:.1f}° {}."
#: selfdrive/ui/layouts/sidebar.py:43
msgid "--"
@@ -79,12 +80,13 @@ msgstr ""
#: selfdrive/ui/layouts/settings/device.py:148
#, python-format
msgid "
Steering lag calibration is complete."
-msgstr ""
+msgstr "
L'étalonnage du délai de réponse de la direction est terminé."
#: selfdrive/ui/layouts/settings/device.py:146
#, python-format
msgid "
Steering lag calibration is {}% complete."
msgstr ""
+"
L'étalonnage du délai de réponse de la direction est terminé à {}%."
#: selfdrive/ui/layouts/settings/firehose.py:138
#, python-format
@@ -107,7 +109,7 @@ msgstr "AJOUTER"
#: system/ui/widgets/network.py:139
#, python-format
msgid "APN Setting"
-msgstr ""
+msgstr "Paramètres APN"
#: selfdrive/ui/widgets/offroad_alerts.py:109
#, python-format
@@ -117,7 +119,7 @@ msgstr "Accuser réception d'actionnement excessif"
#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
#, python-format
msgid "Advanced"
-msgstr ""
+msgstr "Avancé"
#: selfdrive/ui/layouts/settings/toggles.py:98
#, python-format
@@ -208,18 +210,18 @@ msgstr "CONNECTER"
#: system/ui/widgets/network.py:369
#, python-format
msgid "CONNECTING..."
-msgstr "CONNECTER"
+msgstr "CONNECTER..."
#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
#, python-format
msgid "Cancel"
-msgstr ""
+msgstr "Annuler"
#: system/ui/widgets/network.py:134
#, python-format
msgid "Cellular Metered"
-msgstr ""
+msgstr "Données cellulaire limitées"
#: selfdrive/ui/layouts/settings/device.py:68
#, python-format
@@ -230,7 +232,7 @@ msgstr "Changer la langue"
#, python-format
msgid "Changing this setting will restart openpilot if the car is powered on."
msgstr ""
-" La modification de ce réglage redémarrera openpilot si la voiture est sous "
+"La modification de ce réglage redémarrera openpilot si la voiture est sous "
"tension."
#: selfdrive/ui/widgets/pairing_dialog.py:129
@@ -318,7 +320,7 @@ msgstr "Personnalité de conduite"
#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
#, python-format
msgid "EDIT"
-msgstr ""
+msgstr "EDITER"
#: selfdrive/ui/layouts/sidebar.py:138
msgid "ERROR"
@@ -387,22 +389,22 @@ msgstr ""
#: system/ui/widgets/network.py:204
#, python-format
msgid "Enter APN"
-msgstr ""
+msgstr "Saisir l'APN"
#: system/ui/widgets/network.py:241
#, python-format
msgid "Enter SSID"
-msgstr ""
+msgstr "Entrer le SSID"
#: system/ui/widgets/network.py:254
#, python-format
msgid "Enter new tethering password"
-msgstr ""
+msgstr "Saisir le mot de passe du partage de connexion"
#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
#, python-format
msgid "Enter password"
-msgstr ""
+msgstr "Saisir le mot de passe"
#: selfdrive/ui/widgets/ssh_key.py:89
#, python-format
@@ -412,7 +414,7 @@ msgstr "Entrez votre nom d'utilisateur GitHub"
#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
#, python-format
msgid "Error"
-msgstr ""
+msgstr "Erreur"
#: selfdrive/ui/layouts/settings/toggles.py:52
#, python-format
@@ -431,7 +433,7 @@ msgstr ""
#: system/ui/widgets/network.py:373
#, python-format
msgid "FORGETTING..."
-msgstr ""
+msgstr "OUBLIER..."
#: selfdrive/ui/widgets/setup.py:44
#, python-format
@@ -493,12 +495,12 @@ msgstr ""
#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
#, python-format
msgid "Forget"
-msgstr ""
+msgstr "Oublier"
#: system/ui/widgets/network.py:319
#, python-format
msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr ""
+msgstr "Oublier le réseau Wi-Fi \"{}\" ?"
#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
msgid "GOOD"
@@ -532,7 +534,7 @@ msgstr "INSTALLER"
#: system/ui/widgets/network.py:150
#, python-format
msgid "IP Address"
-msgstr ""
+msgstr "Adresse IP"
#: selfdrive/ui/layouts/settings/software.py:53
#, python-format
@@ -574,7 +576,7 @@ msgstr ""
#: selfdrive/ui/layouts/settings/device.py:60
#, python-format
msgid "N/A"
-msgstr ""
+msgstr "NC"
#: selfdrive/ui/layouts/sidebar.py:142
msgid "NO"
@@ -592,7 +594,7 @@ msgstr "Aucune clé SSH trouvée"
#: selfdrive/ui/widgets/ssh_key.py:126
#, python-format
msgid "No SSH keys found for user '{}'"
-msgstr "Aucune clé SSH trouvée pour l'utilisateur '{username}'"
+msgstr "Aucune clé SSH trouvée pour l'utilisateur '{}'"
#: selfdrive/ui/widgets/offroad_alerts.py:320
#, python-format
@@ -677,11 +679,15 @@ msgstr "Éteindre"
#, python-format
msgid "Prevent large data uploads when on a metered Wi-Fi connection"
msgstr ""
+"Eviter les transferts de données volumineux lorsque vous êtes connecté à un "
+"réseau Wi-Fi limité"
#: system/ui/widgets/network.py:135
#, python-format
msgid "Prevent large data uploads when on a metered cellular connection"
msgstr ""
+"Eviter les transferts de données volumineux lors d'une connexion à un réseau "
+"cellulaire limité"
#: selfdrive/ui/layouts/settings/device.py:25
msgid ""
@@ -802,32 +808,32 @@ msgstr "Consultez les règles, fonctionnalités et limitations d'openpilot"
#: selfdrive/ui/layouts/settings/software.py:61
#, python-format
msgid "SELECT"
-msgstr ""
+msgstr "SELECTIONNER"
#: selfdrive/ui/layouts/settings/developer.py:53
#, python-format
msgid "SSH Keys"
-msgstr ""
+msgstr "Clefs SSH"
#: system/ui/widgets/network.py:310
#, python-format
msgid "Scanning Wi-Fi networks..."
-msgstr ""
+msgstr "Analyse des réseaux Wi-Fi..."
#: system/ui/widgets/option_dialog.py:36
#, python-format
msgid "Select"
-msgstr ""
+msgstr "Sélectionner"
#: selfdrive/ui/layouts/settings/software.py:183
#, python-format
msgid "Select a branch"
-msgstr ""
+msgstr "Sélectionner une branche"
#: selfdrive/ui/layouts/settings/device.py:91
#, python-format
msgid "Select a language"
-msgstr ""
+msgstr "Sélectionner un langage"
#: selfdrive/ui/layouts/settings/device.py:60
#, python-format
@@ -880,12 +886,12 @@ msgstr "TEMPÉRATURE"
#: selfdrive/ui/layouts/settings/software.py:61
#, python-format
msgid "Target Branch"
-msgstr ""
+msgstr "Branche cible"
#: system/ui/widgets/network.py:124
#, python-format
msgid "Tethering Password"
-msgstr ""
+msgstr "Mot de passe du partage de connexion"
#: selfdrive/ui/layouts/settings/settings.py:64
msgid "Toggles"
@@ -986,12 +992,12 @@ msgstr "Wi‑Fi"
#: system/ui/widgets/network.py:144
#, python-format
msgid "Wi-Fi Network Metered"
-msgstr ""
+msgstr "Réseau Wi-Fi limité"
#: system/ui/widgets/network.py:314
#, python-format
msgid "Wrong password"
-msgstr ""
+msgstr "Mauvais mot de passe"
#: selfdrive/ui/layouts/onboarding.py:145
#, python-format
@@ -1020,12 +1026,12 @@ msgstr "comma prime"
#: system/ui/widgets/network.py:142
#, python-format
msgid "default"
-msgstr ""
+msgstr "défaut"
#: selfdrive/ui/layouts/settings/device.py:133
#, python-format
msgid "down"
-msgstr ""
+msgstr "bas"
#: selfdrive/ui/layouts/settings/software.py:106
#, python-format
@@ -1035,7 +1041,7 @@ msgstr "échec de la vérification de mise à jour"
#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
#, python-format
msgid "for \"{}\""
-msgstr ""
+msgstr "pour \"{}\""
#: selfdrive/ui/onroad/hud_renderer.py:177
#, python-format
@@ -1045,17 +1051,17 @@ msgstr "km/h"
#: system/ui/widgets/network.py:204
#, python-format
msgid "leave blank for automatic configuration"
-msgstr ""
+msgstr "ne pas remplir pour une configuration automatique"
#: selfdrive/ui/layouts/settings/device.py:134
#, python-format
msgid "left"
-msgstr ""
+msgstr "gauche"
#: system/ui/widgets/network.py:142
#, python-format
msgid "metered"
-msgstr ""
+msgstr "limité"
#: selfdrive/ui/onroad/hud_renderer.py:177
#, python-format
@@ -1116,7 +1122,7 @@ msgid ""
"openpilot is continuously calibrating, resetting is rarely required. "
"Resetting calibration will restart openpilot if the car is powered on."
msgstr ""
-" La modification de ce réglage redémarrera openpilot si la voiture est sous "
+"La modification de ce réglage redémarrera openpilot si la voiture est sous "
"tension."
#: selfdrive/ui/layouts/settings/firehose.py:20
@@ -1153,17 +1159,17 @@ msgstr ""
#: selfdrive/ui/layouts/settings/device.py:134
#, python-format
msgid "right"
-msgstr ""
+msgstr "droite"
#: system/ui/widgets/network.py:142
#, python-format
msgid "unmetered"
-msgstr ""
+msgstr "non limité"
#: selfdrive/ui/layouts/settings/device.py:133
#, python-format
msgid "up"
-msgstr ""
+msgstr "haut"
#: selfdrive/ui/layouts/settings/software.py:117
#, python-format
From df7f426405de7ea4885cc54cd44c8ee9c9152f8c Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Fri, 30 Jan 2026 00:09:19 -0800
Subject: [PATCH 023/150] bump opendbc (#37043)
* bump opendbc
* update refs
---
opendbc_repo | 2 +-
selfdrive/test/process_replay/ref_commit | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/opendbc_repo b/opendbc_repo
index d424d1f247..c8e92d0463 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d424d1f247384b68923b8093875e1a370ef8221d
+Subproject commit c8e92d046324be54cfedccd2a27101060861e82b
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index 7b9039180c..85b79391c3 100644
--- a/selfdrive/test/process_replay/ref_commit
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From 569099eb70eef3c379bb61c84e4dd0504c63bd99 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Fri, 30 Jan 2026 00:09:44 -0800
Subject: [PATCH 024/150] update docs
---
docs/CARS.md | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/docs/CARS.md b/docs/CARS.md
index b349679395..65f79cdba4 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
-# 327 Supported Cars
+# 328 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|![]()
Hardware Needed
|Video|Setup Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -103,6 +103,7 @@ A supported vehicle is one that just works when you install a comma device. All
|Honda|N-Box 2018|All|openpilot available[1](#footnotes)|0 mph|11 mph|[](##)|[](##)|Parts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch A connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Bosch C connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 Honda Nidec connector
- 1 OBD-C cable (2 ft)
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy HereParts
- 1 OBD-C cable (2 ft)
- 1 Toyota A connector
- 1 comma four
- 1 comma power v3
- 1 harness box
- 1 mount
Buy Here
On this car, openpilot "
-"defaults to the car's built-in ACC instead of openpilot's longitudinal "
-"control. Enable this to switch to openpilot longitudinal control. Enabling "
-"Experimental mode is recommended when enabling openpilot longitudinal "
-"control alpha. Changing this setting will restart openpilot if the car is "
-"powered on."
-msgstr ""
-"تحذير: التحكم الطولي لـ openpilot في مرحلة ألفا لهذه السيارة وسيُعطّل نظام "
-"الكبح التلقائي في حالات الطوارئ (AEB).
في هذه السيارة، يعتمد "
-"openpilot افتراضياً على نظام ACC المدمج بدلاً من التحكم الطولي لـ openpilot. "
-"فعّل هذا الخيار للتبديل إلى التحكم الطولي لـ openpilot. يُنصح بتمكين وضع "
-"التجربة عند تفعيل نسخة ألفا من التحكم الطولي. تغيير هذا الإعداد سيعيد تشغيل "
-"openpilot إذا كانت السيارة قيد التشغيل."
-
-#: selfdrive/ui/layouts/settings/device.py:148
-#, python-format
-msgid "
Steering lag calibration is complete."
-msgstr "
اكتملت معايرة تأخر التوجيه."
-
-#: selfdrive/ui/layouts/settings/device.py:146
-#, python-format
-msgid "
Steering lag calibration is {}% complete."
-msgstr "
اكتملت معايرة تأخر التوجيه بنسبة {}٪."
-
-#: selfdrive/ui/layouts/settings/firehose.py:138
-#, python-format
-msgid "ACTIVE"
-msgstr "نشط"
-
-#: selfdrive/ui/layouts/settings/developer.py:15
-msgid ""
-"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
-"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
-msgstr ""
-"يتيح ADB (Android Debug Bridge) الاتصال بجهازك عبر USB أو عبر الشبكة. راجع "
-"https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات."
-
-#: selfdrive/ui/widgets/ssh_key.py:30
-msgid "ADD"
-msgstr "إضافة"
-
-#: system/ui/widgets/network.py:139
-#, python-format
-msgid "APN Setting"
-msgstr "إعداد APN"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:109
-#, python-format
-msgid "Acknowledge Excessive Actuation"
-msgstr "تأكيد التشغيل المفرط"
-
-#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
-#, python-format
-msgid "Advanced"
-msgstr "متقدم"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Aggressive"
-msgstr "عدواني"
-
-#: selfdrive/ui/layouts/onboarding.py:116
-#, python-format
-msgid "Agree"
-msgstr "موافقة"
-
-#: selfdrive/ui/layouts/settings/toggles.py:70
-#, python-format
-msgid "Always-On Driver Monitoring"
-msgstr "مراقبة السائق دائماً"
-
-#: selfdrive/ui/layouts/settings/toggles.py:186
-#, python-format
-msgid ""
-"An alpha version of openpilot longitudinal control can be tested, along with "
-"Experimental mode, on non-release branches."
-msgstr ""
-"يمكن اختبار نسخة ألفا من التحكم الطولي لـ openpilot، مع وضع التجربة، على "
-"الفروع غير الإصدارية."
-
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Are you sure you want to power off?"
-msgstr "هل أنت متأكد أنك تريد إيقاف التشغيل؟"
-
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Are you sure you want to reboot?"
-msgstr "هل أنت متأكد أنك تريد إعادة التشغيل؟"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Are you sure you want to reset calibration?"
-msgstr "هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟"
-
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Are you sure you want to uninstall?"
-msgstr "هل أنت متأكد أنك تريد إلغاء التثبيت؟"
-
-#: system/ui/widgets/network.py:99 selfdrive/ui/layouts/onboarding.py:147
-#, python-format
-msgid "Back"
-msgstr "رجوع"
-
-#: selfdrive/ui/widgets/prime.py:38
-#, python-format
-msgid "Become a comma prime member at connect.comma.ai"
-msgstr "انضم إلى comma prime عبر connect.comma.ai"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:130
-#, python-format
-msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
-msgstr "ثبّت connect.comma.ai على شاشتك الرئيسية لاستخدامه كتطبيق"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "CHANGE"
-msgstr "تغيير"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#: selfdrive/ui/layouts/settings/software.py:107
-#: selfdrive/ui/layouts/settings/software.py:118
-#: selfdrive/ui/layouts/settings/software.py:147
-#, python-format
-msgid "CHECK"
-msgstr "تحقق"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "CHILL MODE ON"
-msgstr "وضع الهدوء مُفعل"
-
-#: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
-#: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:138
-#, python-format
-msgid "CONNECT"
-msgstr "CONNECT"
-
-#: system/ui/widgets/network.py:369
-#, python-format
-msgid "CONNECTING..."
-msgstr "CONNECTING..."
-
-#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
-#: system/ui/widgets/keyboard.py:81 system/ui/widgets/network.py:318
-#, python-format
-msgid "Cancel"
-msgstr "إلغاء"
-
-#: system/ui/widgets/network.py:134
-#, python-format
-msgid "Cellular Metered"
-msgstr "خلوي بتعرفة محدودة"
-
-#: selfdrive/ui/layouts/settings/device.py:68
-#, python-format
-msgid "Change Language"
-msgstr "تغيير اللغة"
-
-#: selfdrive/ui/layouts/settings/toggles.py:125
-#, python-format
-msgid "Changing this setting will restart openpilot if the car is powered on."
-msgstr ""
-"سيؤدي تغيير هذا الإعداد إلى إعادة تشغيل openpilot إذا كانت السيارة قيد "
-"التشغيل."
-
-#: selfdrive/ui/widgets/pairing_dialog.py:129
-#, python-format
-msgid "Click \"add new device\" and scan the QR code on the right"
-msgstr "اضغط \"إضافة جهاز جديد\" ثم امسح رمز QR على اليمين"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:104
-#, python-format
-msgid "Close"
-msgstr "إغلاق"
-
-#: selfdrive/ui/layouts/settings/software.py:49
-#, python-format
-msgid "Current Version"
-msgstr "الإصدار الحالي"
-
-#: selfdrive/ui/layouts/settings/software.py:110
-#, python-format
-msgid "DOWNLOAD"
-msgstr "تنزيل"
-
-#: selfdrive/ui/layouts/onboarding.py:115
-#, python-format
-msgid "Decline"
-msgstr "رفض"
-
-#: selfdrive/ui/layouts/onboarding.py:148
-#, python-format
-msgid "Decline, uninstall openpilot"
-msgstr "رفض، وإلغاء تثبيت openpilot"
-
-#: selfdrive/ui/layouts/settings/settings.py:67
-msgid "Developer"
-msgstr "المطور"
-
-#: selfdrive/ui/layouts/settings/settings.py:62
-msgid "Device"
-msgstr "الجهاز"
-
-#: selfdrive/ui/layouts/settings/toggles.py:58
-#, python-format
-msgid "Disengage on Accelerator Pedal"
-msgstr "فصل عند الضغط على دواسة الوقود"
-
-#: selfdrive/ui/layouts/settings/device.py:184
-#, python-format
-msgid "Disengage to Power Off"
-msgstr "افصل لإيقاف التشغيل"
-
-#: selfdrive/ui/layouts/settings/device.py:172
-#, python-format
-msgid "Disengage to Reboot"
-msgstr "افصل لإعادة التشغيل"
-
-#: selfdrive/ui/layouts/settings/device.py:103
-#, python-format
-msgid "Disengage to Reset Calibration"
-msgstr "افصل لإعادة ضبط المعايرة"
-
-#: selfdrive/ui/layouts/settings/toggles.py:32
-msgid "Display speed in km/h instead of mph."
-msgstr "عرض السرعة بالكيلومتر/ساعة بدلاً من الميل/ساعة."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#, python-format
-msgid "Dongle ID"
-msgstr "معرّف الدونجل"
-
-#: selfdrive/ui/layouts/settings/software.py:50
-#, python-format
-msgid "Download"
-msgstr "تنزيل"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "Driver Camera"
-msgstr "كاميرا السائق"
-
-#: selfdrive/ui/layouts/settings/toggles.py:96
-#, python-format
-msgid "Driving Personality"
-msgstr "شخصية القيادة"
-
-#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
-#, python-format
-msgid "EDIT"
-msgstr "تعديل"
-
-#: selfdrive/ui/layouts/sidebar.py:138
-msgid "ERROR"
-msgstr "خطأ"
-
-#: selfdrive/ui/layouts/sidebar.py:45
-msgid "ETH"
-msgstr "ETH"
-
-#: selfdrive/ui/widgets/exp_mode_button.py:50
-#, python-format
-msgid "EXPERIMENTAL MODE ON"
-msgstr "وضع التجربة مُفعل"
-
-#: selfdrive/ui/layouts/settings/developer.py:166
-#: selfdrive/ui/layouts/settings/toggles.py:228
-#, python-format
-msgid "Enable"
-msgstr "تمكين"
-
-#: selfdrive/ui/layouts/settings/developer.py:39
-#, python-format
-msgid "Enable ADB"
-msgstr "تمكين ADB"
-
-#: selfdrive/ui/layouts/settings/toggles.py:64
-#, python-format
-msgid "Enable Lane Departure Warnings"
-msgstr "تمكين تحذيرات مغادرة المسار"
-
-#: system/ui/widgets/network.py:129
-#, python-format
-msgid "Enable Roaming"
-msgstr "تمكين التجوال"
-
-#: selfdrive/ui/layouts/settings/developer.py:48
-#, python-format
-msgid "Enable SSH"
-msgstr "تمكين SSH"
-
-#: system/ui/widgets/network.py:120
-#, python-format
-msgid "Enable Tethering"
-msgstr "تمكين الربط"
-
-#: selfdrive/ui/layouts/settings/toggles.py:30
-msgid "Enable driver monitoring even when openpilot is not engaged."
-msgstr "تمكين مراقبة السائق حتى عندما لا يكون openpilot مُشغلاً."
-
-#: selfdrive/ui/layouts/settings/toggles.py:46
-#, python-format
-msgid "Enable openpilot"
-msgstr "تمكين openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:189
-#, python-format
-msgid ""
-"Enable the openpilot longitudinal control (alpha) toggle to allow "
-"Experimental mode."
-msgstr "فعّل تبديل التحكم الطولي (ألفا) لـ openpilot للسماح بوضع التجربة."
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "Enter APN"
-msgstr "أدخل APN"
-
-#: system/ui/widgets/network.py:241
-#, python-format
-msgid "Enter SSID"
-msgstr "أدخل SSID"
-
-#: system/ui/widgets/network.py:254
-#, python-format
-msgid "Enter new tethering password"
-msgstr "أدخل كلمة مرور الربط الجديدة"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "Enter password"
-msgstr "أدخل كلمة المرور"
-
-#: selfdrive/ui/widgets/ssh_key.py:89
-#, python-format
-msgid "Enter your GitHub username"
-msgstr "أدخل اسم مستخدم GitHub الخاص بك"
-
-#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
-#, python-format
-msgid "Error"
-msgstr "خطأ"
-
-#: selfdrive/ui/layouts/settings/toggles.py:52
-#, python-format
-msgid "Experimental Mode"
-msgstr "وضع التجربة"
-
-#: selfdrive/ui/layouts/settings/toggles.py:181
-#, python-format
-msgid ""
-"Experimental mode is currently unavailable on this car since the car's stock "
-"ACC is used for longitudinal control."
-msgstr ""
-"وضع التجربة غير متاح حالياً في هذه السيارة لأن نظام ACC الأصلي يُستخدم للتحكم "
-"الطولي."
-
-#: system/ui/widgets/network.py:373
-#, python-format
-msgid "FORGETTING..."
-msgstr "جارٍ النسيان..."
-
-#: selfdrive/ui/widgets/setup.py:44
-#, python-format
-msgid "Finish Setup"
-msgstr "إنهاء الإعداد"
-
-#: selfdrive/ui/layouts/settings/settings.py:66
-msgid "Firehose"
-msgstr "Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:18
-msgid "Firehose Mode"
-msgstr "وضع Firehose"
-
-#: selfdrive/ui/layouts/settings/firehose.py:25
-msgid ""
-"For maximum effectiveness, bring your device inside and connect to a good "
-"USB-C adapter and Wi-Fi weekly.\n"
-"\n"
-"Firehose Mode can also work while you're driving if connected to a hotspot "
-"or unlimited SIM card.\n"
-"\n"
-"\n"
-"Frequently Asked Questions\n"
-"\n"
-"Does it matter how or where I drive? Nope, just drive as you normally "
-"would.\n"
-"\n"
-"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
-"subset of your segments.\n"
-"\n"
-"What's a good USB-C adapter? Any fast phone or laptop charger should be "
-"fine.\n"
-"\n"
-"Does it matter which software I run? Yes, only upstream openpilot (and "
-"particular forks) are able to be used for training."
-msgstr ""
-"لأقصى فعالية، أحضر جهازك إلى الداخل واتصل بمحوّل USB‑C جيد وبشبكة Wi‑Fi "
-"أسبوعياً.\n"
-"\n"
-"يمكن أن يعمل وضع Firehose أيضاً أثناء القيادة إذا كنت متصلاً بنقطة اتصال أو "
-"بشريحة غير محدودة.\n"
-"\n"
-"\n"
-"الأسئلة الشائعة\n"
-"\n"
-"هل يهم كيف أو أين أقود؟ لا، قد بقدر المعتاد.\n"
-"\n"
-"هل يتم سحب كل مقاطعي في وضع Firehose؟ لا، نقوم بسحب مجموعة فرعية من "
-"المقاطع.\n"
-"\n"
-"ما هو محول USB‑C الجيد؟ أي شاحن هاتف أو حاسب محمول سريع سيكون مناسباً.\n"
-"\n"
-"هل يهم أي برنامج أشغّل؟ نعم، فقط openpilot الأصلي (وبعض التفرعات المحددة) "
-"يمكن استخدامه للتدريب."
-
-#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
-#, python-format
-msgid "Forget"
-msgstr "نسيان"
-
-#: system/ui/widgets/network.py:319
-#, python-format
-msgid "Forget Wi-Fi Network \"{}\"?"
-msgstr "هل تريد نسيان شبكة Wi‑Fi \"{}\"؟"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-msgid "GOOD"
-msgstr "جيد"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:128
-#, python-format
-msgid "Go to https://connect.comma.ai on your phone"
-msgstr "اذهب إلى https://connect.comma.ai على هاتفك"
-
-#: selfdrive/ui/layouts/sidebar.py:129
-msgid "HIGH"
-msgstr "مرتفع"
-
-#: system/ui/widgets/network.py:155
-#, python-format
-msgid "Hidden Network"
-msgstr "شبكة مخفية"
-
-#: selfdrive/ui/layouts/settings/firehose.py:140
-#, python-format
-msgid "INACTIVE: connect to an unmetered network"
-msgstr "غير نشط: اتصل بشبكة غير محدودة التعرفة"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#: selfdrive/ui/layouts/settings/software.py:136
-#, python-format
-msgid "INSTALL"
-msgstr "تثبيت"
-
-#: system/ui/widgets/network.py:150
-#, python-format
-msgid "IP Address"
-msgstr "عنوان IP"
-
-#: selfdrive/ui/layouts/settings/software.py:53
-#, python-format
-msgid "Install Update"
-msgstr "تثبيت التحديث"
-
-#: selfdrive/ui/layouts/settings/developer.py:56
-#, python-format
-msgid "Joystick Debug Mode"
-msgstr "وضع تصحيح عصا التحكم"
-
-#: selfdrive/ui/widgets/ssh_key.py:29
-msgid "LOADING"
-msgstr "جارٍ التحميل"
-
-#: selfdrive/ui/layouts/sidebar.py:48
-msgid "LTE"
-msgstr "LTE"
-
-#: selfdrive/ui/layouts/settings/developer.py:64
-#, python-format
-msgid "Longitudinal Maneuver Mode"
-msgstr "وضع المناورة الطولية"
-
-#: selfdrive/ui/onroad/hud_renderer.py:148
-#, python-format
-msgid "MAX"
-msgstr "أقصى"
-
-#: selfdrive/ui/widgets/setup.py:75
-#, python-format
-msgid ""
-"Maximize your training data uploads to improve openpilot's driving models."
-msgstr "زد من تحميل بيانات التدريب لتحسين نماذج قيادة openpilot."
-
-#: selfdrive/ui/layouts/settings/device.py:59
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "N/A"
-msgstr "غير متوفر"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "NO"
-msgstr "لا"
-
-#: selfdrive/ui/layouts/settings/settings.py:63
-msgid "Network"
-msgstr "الشبكة"
-
-#: selfdrive/ui/widgets/ssh_key.py:114
-#, python-format
-msgid "No SSH keys found"
-msgstr "لم يتم العثور على مفاتيح SSH"
-
-#: selfdrive/ui/widgets/ssh_key.py:126
-#, python-format
-msgid "No SSH keys found for user '{}'"
-msgstr "لم يتم العثور على مفاتيح SSH للمستخدم '{}'"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:320
-#, python-format
-msgid "No release notes available."
-msgstr "لا توجد ملاحظات إصدار متاحة."
-
-#: selfdrive/ui/layouts/sidebar.py:73 selfdrive/ui/layouts/sidebar.py:134
-msgid "OFFLINE"
-msgstr "غير متصل"
-
-#: system/ui/widgets/html_render.py:263 system/ui/widgets/confirm_dialog.py:93
-#: selfdrive/ui/layouts/sidebar.py:127
-#, python-format
-msgid "OK"
-msgstr "موافق"
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:136
-#: selfdrive/ui/layouts/sidebar.py:144
-msgid "ONLINE"
-msgstr "متصل"
-
-#: selfdrive/ui/widgets/setup.py:20
-#, python-format
-msgid "Open"
-msgstr "فتح"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "PAIR"
-msgstr "إقران"
-
-#: selfdrive/ui/layouts/sidebar.py:142
-msgid "PANDA"
-msgstr "PANDA"
-
-#: selfdrive/ui/layouts/settings/device.py:62
-#, python-format
-msgid "PREVIEW"
-msgstr "معاينة"
-
-#: selfdrive/ui/widgets/prime.py:44
-#, python-format
-msgid "PRIME FEATURES:"
-msgstr "ميزات PRIME:"
-
-#: selfdrive/ui/layouts/settings/device.py:48
-#, python-format
-msgid "Pair Device"
-msgstr "إقران الجهاز"
-
-#: selfdrive/ui/widgets/setup.py:19
-#, python-format
-msgid "Pair device"
-msgstr "إقران الجهاز"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:103
-#, python-format
-msgid "Pair your device to your comma account"
-msgstr "قم بإقران جهازك بحساب comma"
-
-#: selfdrive/ui/widgets/setup.py:48 selfdrive/ui/layouts/settings/device.py:24
-#, python-format
-msgid ""
-"Pair your device with comma connect (connect.comma.ai) and claim your comma "
-"prime offer."
-msgstr ""
-"أقرِن جهازك مع comma connect (connect.comma.ai) واحصل على عرض comma prime."
-
-#: selfdrive/ui/widgets/setup.py:91
-#, python-format
-msgid "Please connect to Wi-Fi to complete initial pairing"
-msgstr "يرجى الاتصال بشبكة Wi‑Fi لإكمال الاقتران الأولي"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:187
-#, python-format
-msgid "Power Off"
-msgstr "إيقاف التشغيل"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Prevent large data uploads when on a metered Wi-Fi connection"
-msgstr "منع رفع البيانات الكبيرة عند الاتصال بشبكة Wi‑Fi محدودة التعرفة"
-
-#: system/ui/widgets/network.py:135
-#, python-format
-msgid "Prevent large data uploads when on a metered cellular connection"
-msgstr "منع رفع البيانات الكبيرة عند الاتصال الخلوي محدود التعرفة"
-
-#: selfdrive/ui/layouts/settings/device.py:25
-msgid ""
-"Preview the driver facing camera to ensure that driver monitoring has good "
-"visibility. (vehicle must be off)"
-msgstr ""
-"عاين كاميرا مواجهة السائق للتأكد من أن مراقبة السائق تتم برؤية جيدة. (يجب أن "
-"تكون المركبة متوقفة)"
-
-#: selfdrive/ui/widgets/pairing_dialog.py:161
-#, python-format
-msgid "QR Code Error"
-msgstr "خطأ في رمز QR"
-
-#: selfdrive/ui/widgets/ssh_key.py:31
-msgid "REMOVE"
-msgstr "إزالة"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "RESET"
-msgstr "إعادة ضبط"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "REVIEW"
-msgstr "مراجعة"
-
-#: selfdrive/ui/layouts/settings/device.py:55
-#: selfdrive/ui/layouts/settings/device.py:175
-#, python-format
-msgid "Reboot"
-msgstr "إعادة التشغيل"
-
-#: selfdrive/ui/onroad/alert_renderer.py:66
-#, python-format
-msgid "Reboot Device"
-msgstr "إعادة تشغيل الجهاز"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:112
-#, python-format
-msgid "Reboot and Update"
-msgstr "إعادة التشغيل والتحديث"
-
-#: selfdrive/ui/layouts/settings/toggles.py:27
-msgid ""
-"Receive alerts to steer back into the lane when your vehicle drifts over a "
-"detected lane line without a turn signal activated while driving over 31 mph "
-"(50 km/h)."
-msgstr ""
-"استقبال تنبيهات للتوجيه للعودة إلى المسار عند انحراف المركبة فوق خط المسار "
-"المُكتشف بدون إشارة انعطاف مفعّلة أثناء القيادة فوق 31 ميل/س (50 كم/س)."
-
-#: selfdrive/ui/layouts/settings/toggles.py:76
-#, python-format
-msgid "Record and Upload Driver Camera"
-msgstr "تسجيل ورفع فيديو كاميرا السائق"
-
-#: selfdrive/ui/layouts/settings/toggles.py:82
-#, python-format
-msgid "Record and Upload Microphone Audio"
-msgstr "تسجيل ورفع صوت الميكروفون"
-
-#: selfdrive/ui/layouts/settings/toggles.py:33
-msgid ""
-"Record and store microphone audio while driving. The audio will be included "
-"in the dashcam video in comma connect."
-msgstr ""
-"تسجيل وتخزين صوت الميكروفون أثناء القيادة. سيُدرج الصوت في فيديو الكاميرا "
-"الأمامية في comma connect."
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "Regulatory"
-msgstr "لوائح"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Relaxed"
-msgstr "مسترخٍ"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote access"
-msgstr "وصول عن بُعد"
-
-#: selfdrive/ui/widgets/prime.py:47
-#, python-format
-msgid "Remote snapshots"
-msgstr "لقطات عن بُعد"
-
-#: selfdrive/ui/widgets/ssh_key.py:123
-#, python-format
-msgid "Request timed out"
-msgstr "انتهت مهلة الطلب"
-
-#: selfdrive/ui/layouts/settings/device.py:119
-#, python-format
-msgid "Reset"
-msgstr "إعادة ضبط"
-
-#: selfdrive/ui/layouts/settings/device.py:51
-#, python-format
-msgid "Reset Calibration"
-msgstr "إعادة ضبط المعايرة"
-
-#: selfdrive/ui/layouts/settings/device.py:65
-#, python-format
-msgid "Review Training Guide"
-msgstr "مراجعة دليل التدريب"
-
-#: selfdrive/ui/layouts/settings/device.py:27
-msgid "Review the rules, features, and limitations of openpilot"
-msgstr "مراجعة قواعد وميزات وحدود openpilot"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "SELECT"
-msgstr "اختيار"
-
-#: selfdrive/ui/layouts/settings/developer.py:53
-#, python-format
-msgid "SSH Keys"
-msgstr "مفاتيح SSH"
-
-#: system/ui/widgets/network.py:310
-#, python-format
-msgid "Scanning Wi-Fi networks..."
-msgstr "جارٍ مسح شبكات Wi‑Fi..."
-
-#: system/ui/widgets/option_dialog.py:36
-#, python-format
-msgid "Select"
-msgstr "اختيار"
-
-#: selfdrive/ui/layouts/settings/software.py:183
-#, python-format
-msgid "Select a branch"
-msgstr "اختر فرعاً"
-
-#: selfdrive/ui/layouts/settings/device.py:91
-#, python-format
-msgid "Select a language"
-msgstr "اختر لغة"
-
-#: selfdrive/ui/layouts/settings/device.py:60
-#, python-format
-msgid "Serial"
-msgstr "الرقم التسلسلي"
-
-#: selfdrive/ui/widgets/offroad_alerts.py:106
-#, python-format
-msgid "Snooze Update"
-msgstr "تأجيل التحديث"
-
-#: selfdrive/ui/layouts/settings/settings.py:65
-msgid "Software"
-msgstr "البرمجيات"
-
-#: selfdrive/ui/layouts/settings/toggles.py:98
-#, python-format
-msgid "Standard"
-msgstr "قياسي"
-
-#: selfdrive/ui/layouts/settings/toggles.py:22
-msgid ""
-"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
-"closer and be more aggressive with the gas and brake. In relaxed mode "
-"openpilot will stay further away from lead cars. On supported cars, you can "
-"cycle through these personalities with your steering wheel distance button."
-msgstr ""
-"يوصى بالوضع القياسي. في الوضع العدواني، سيتبع openpilot السيارات الأمامية عن "
-"قرب وسيكون أكثر شدة في الوقود والفرامل. في الوضع المسترخي سيبقى بعيداً أكثر "
-"عن السيارات الأمامية. في السيارات المدعومة، يمكنك التنقل بين هذه الشخصيات "
-"بزر مسافة المقود."
-
-#: selfdrive/ui/onroad/alert_renderer.py:59
-#: selfdrive/ui/onroad/alert_renderer.py:65
-#, python-format
-msgid "System Unresponsive"
-msgstr "النظام لا يستجيب"
-
-#: selfdrive/ui/onroad/alert_renderer.py:58
-#, python-format
-msgid "TAKE CONTROL IMMEDIATELY"
-msgstr "تولَّ السيطرة فوراً"
-
-#: selfdrive/ui/layouts/sidebar.py:71 selfdrive/ui/layouts/sidebar.py:125
-#: selfdrive/ui/layouts/sidebar.py:127 selfdrive/ui/layouts/sidebar.py:129
-msgid "TEMP"
-msgstr "الحرارة"
-
-#: selfdrive/ui/layouts/settings/software.py:61
-#, python-format
-msgid "Target Branch"
-msgstr "الفرع المستهدف"
-
-#: system/ui/widgets/network.py:124
-#, python-format
-msgid "Tethering Password"
-msgstr "كلمة مرور الربط"
-
-#: selfdrive/ui/layouts/settings/settings.py:64
-msgid "Toggles"
-msgstr "مفاتيح التبديل"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#, python-format
-msgid "UNINSTALL"
-msgstr "إلغاء التثبيت"
-
-#: selfdrive/ui/layouts/home.py:155
-#, python-format
-msgid "UPDATE"
-msgstr "تحديث"
-
-#: selfdrive/ui/layouts/settings/software.py:72
-#: selfdrive/ui/layouts/settings/software.py:163
-#, python-format
-msgid "Uninstall"
-msgstr "إلغاء التثبيت"
-
-#: selfdrive/ui/layouts/sidebar.py:117
-msgid "Unknown"
-msgstr "غير معروف"
-
-#: selfdrive/ui/layouts/settings/software.py:48
-#, python-format
-msgid "Updates are only downloaded while the car is off."
-msgstr "يتم تنزيل التحديثات فقط عندما تكون السيارة متوقفة."
-
-#: selfdrive/ui/widgets/prime.py:33
-#, python-format
-msgid "Upgrade Now"
-msgstr "الترقية الآن"
-
-#: selfdrive/ui/layouts/settings/toggles.py:31
-msgid ""
-"Upload data from the driver facing camera and help improve the driver "
-"monitoring algorithm."
-msgstr ""
-"ارفع بيانات من كاميرا مواجهة السائق وساعد في تحسين خوارزمية مراقبة السائق."
-
-#: selfdrive/ui/layouts/settings/toggles.py:88
-#, python-format
-msgid "Use Metric System"
-msgstr "استخدام النظام المتري"
-
-#: selfdrive/ui/layouts/settings/toggles.py:17
-msgid ""
-"Use the openpilot system for adaptive cruise control and lane keep driver "
-"assistance. Your attention is required at all times to use this feature."
-msgstr ""
-"استخدم نظام openpilot للتحكم الذكي بالسرعة والمساعدة على البقاء داخل المسار. "
-"يتطلب استخدام هذه الميزة انتباهك الكامل في جميع الأوقات."
-
-#: selfdrive/ui/layouts/sidebar.py:72 selfdrive/ui/layouts/sidebar.py:144
-msgid "VEHICLE"
-msgstr "المركبة"
-
-#: selfdrive/ui/layouts/settings/device.py:67
-#, python-format
-msgid "VIEW"
-msgstr "عرض"
-
-#: selfdrive/ui/onroad/alert_renderer.py:52
-#, python-format
-msgid "Waiting to start"
-msgstr "بانتظار البدء"
-
-#: selfdrive/ui/layouts/settings/developer.py:19
-msgid ""
-"Warning: This grants SSH access to all public keys in your GitHub settings. "
-"Never enter a GitHub username other than your own. A comma employee will "
-"NEVER ask you to add their GitHub username."
-msgstr ""
-"تحذير: يمنح هذا وصول SSH إلى جميع المفاتيح العامة في إعدادات GitHub الخاصة "
-"بك. لا تُدخل مطلقاً اسم مستخدم GitHub غير اسمك. لن يطلب منك موظف في comma أبداً "
-"إضافة اسم مستخدمهم."
-
-#: selfdrive/ui/layouts/onboarding.py:111
-#, python-format
-msgid "Welcome to openpilot"
-msgstr "مرحباً بك في openpilot"
-
-#: selfdrive/ui/layouts/settings/toggles.py:20
-msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
-msgstr "عند التمكين، سيؤدي الضغط على دواسة الوقود إلى فصل openpilot."
-
-#: selfdrive/ui/layouts/sidebar.py:44
-msgid "Wi-Fi"
-msgstr "Wi‑Fi"
-
-#: system/ui/widgets/network.py:144
-#, python-format
-msgid "Wi-Fi Network Metered"
-msgstr "شبكة Wi‑Fi محدودة التعرفة"
-
-#: system/ui/widgets/network.py:314
-#, python-format
-msgid "Wrong password"
-msgstr "كلمة مرور خاطئة"
-
-#: selfdrive/ui/layouts/onboarding.py:145
-#, python-format
-msgid "You must accept the Terms and Conditions in order to use openpilot."
-msgstr "يجب عليك قبول الشروط والأحكام لاستخدام openpilot."
-
-#: selfdrive/ui/layouts/onboarding.py:112
-#, python-format
-msgid ""
-"You must accept the Terms and Conditions to use openpilot. Read the latest "
-"terms at https://comma.ai/terms before continuing."
-msgstr ""
-"يجب عليك قبول الشروط والأحكام لاستخدام openpilot. اقرأ أحدث الشروط على "
-"https://comma.ai/terms قبل المتابعة."
-
-#: selfdrive/ui/onroad/driver_camera_dialog.py:34
-#, python-format
-msgid "camera starting"
-msgstr "بدء تشغيل الكاميرا"
-
-#: selfdrive/ui/widgets/prime.py:63
-#, python-format
-msgid "comma prime"
-msgstr "comma prime"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "default"
-msgstr "افتراضي"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "down"
-msgstr "أسفل"
-
-#: selfdrive/ui/layouts/settings/software.py:106
-#, python-format
-msgid "failed to check for update"
-msgstr "فشل التحقق من وجود تحديث"
-
-#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
-#, python-format
-msgid "for \"{}\""
-msgstr "لـ \"{}\""
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "km/h"
-msgstr "كم/س"
-
-#: system/ui/widgets/network.py:204
-#, python-format
-msgid "leave blank for automatic configuration"
-msgstr "اتركه فارغاً للإعداد التلقائي"
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "left"
-msgstr "يسار"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "metered"
-msgstr "محدود التعرفة"
-
-#: selfdrive/ui/onroad/hud_renderer.py:177
-#, python-format
-msgid "mph"
-msgstr "ميل/س"
-
-#: selfdrive/ui/layouts/settings/software.py:20
-#, python-format
-msgid "never"
-msgstr "أبداً"
-
-#: selfdrive/ui/layouts/settings/software.py:31
-#, python-format
-msgid "now"
-msgstr "الآن"
-
-#: selfdrive/ui/layouts/settings/developer.py:71
-#, python-format
-msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "التحكم الطولي لـ openpilot (ألفا)"
-
-#: selfdrive/ui/onroad/alert_renderer.py:51
-#, python-format
-msgid "openpilot Unavailable"
-msgstr "openpilot غير متاح"
-
-#: selfdrive/ui/layouts/settings/toggles.py:158
-#, python-format
-msgid ""
-"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
-"level features that aren't ready for chill mode. Experimental features are "
-"listed below:
End-to-End Longitudinal Control
Let the driving "
-"model control the gas and brakes. openpilot will drive as it thinks a human "
-"would, including stopping for red lights and stop signs. Since the driving "
-"model decides the speed to drive, the set speed will only act as an upper "
-"bound. This is an alpha quality feature; mistakes should be expected."
-"
New Driving Visualization
The driving visualization will "
-"transition to the road-facing wide-angle camera at low speeds to better show "
-"some turns. The Experimental mode logo will also be shown in the top right "
-"corner."
-msgstr ""
-"يعمل openpilot افتراضياً في وضع الهدوء. يفعّل وضع التجربة ميزات بمستوى ألفا "
-"غير الجاهزة لوضع الهدوء. الميزات التجريبية مدرجة أدناه:
التحكم الطولي "
-"من طرف لطرف
دع نموذج القيادة يتحكم في الوقود والفرامل. سيقود "
-"openpilot كما يظن أن الإنسان سيقود، بما في ذلك التوقف عند الإشارات الحمراء "
-"وعلامات التوقف. بما أن نموذج القيادة يقرر السرعة، فإن السرعة المضبوطة تعمل "
-"كحد أعلى فقط. هذه ميزة بجودة ألفا؛ يُتوقع حدوث أخطاء.
تصوير قيادة "
-"جديد
سينتقل عرض القيادة إلى الكاميرا الواسعة المواجهة للطريق عند "
-"السرعات المنخفضة لإظهار بعض المنعطفات بشكل أفضل. كما سيظهر شعار وضع التجربة "
-"في الزاوية العلوية اليمنى."
-
-#: selfdrive/ui/layouts/settings/device.py:165
-#, python-format
-msgid ""
-"openpilot is continuously calibrating, resetting is rarely required. "
-"Resetting calibration will restart openpilot if the car is powered on."
-msgstr ""
-"يقوم openpilot بالمعايرة بشكل مستمر، ونادراً ما تتطلب إعادة الضبط. ستؤدي "
-"إعادة ضبط المعايرة إلى إعادة تشغيل openpilot إذا كانت السيارة قيد التشغيل."
-
-#: selfdrive/ui/layouts/settings/firehose.py:20
-msgid ""
-"openpilot learns to drive by watching humans, like you, drive.\n"
-"\n"
-"Firehose Mode allows you to maximize your training data uploads to improve "
-"openpilot's driving models. More data means bigger models, which means "
-"better Experimental Mode."
-msgstr ""
-"يتعلم openpilot القيادة بمشاهدة البشر، مثلك، يقودون.\n"
-"\n"
-"يتيح وضع Firehose زيادة تحميل بيانات التدريب لتحسين نماذج قيادة openpilot. "
-"المزيد من البيانات يعني نماذج أكبر، مما يعني وضع تجربة أفضل."
-
-#: selfdrive/ui/layouts/settings/toggles.py:183
-#, python-format
-msgid "openpilot longitudinal control may come in a future update."
-msgstr "قد يأتي التحكم الطولي لـ openpilot في تحديث مستقبلي."
-
-#: selfdrive/ui/layouts/settings/device.py:26
-msgid ""
-"openpilot requires the device to be mounted within 4° left or right and "
-"within 5° up or 9° down."
-msgstr ""
-"يتطلب openpilot تركيب الجهاز ضمن 4° يساراً أو يميناً وضمن 5° للأعلى أو 9° "
-"للأسفل."
-
-#: selfdrive/ui/layouts/settings/device.py:134
-#, python-format
-msgid "right"
-msgstr "يمين"
-
-#: system/ui/widgets/network.py:142
-#, python-format
-msgid "unmetered"
-msgstr "غير محدود"
-
-#: selfdrive/ui/layouts/settings/device.py:133
-#, python-format
-msgid "up"
-msgstr "أعلى"
-
-#: selfdrive/ui/layouts/settings/software.py:117
-#, python-format
-msgid "up to date, last checked never"
-msgstr "محدّث، آخر تحقق: أبداً"
-
-#: selfdrive/ui/layouts/settings/software.py:115
-#, python-format
-msgid "up to date, last checked {}"
-msgstr "محدّث، آخر تحقق {}"
-
-#: selfdrive/ui/layouts/settings/software.py:109
-#, python-format
-msgid "update available"
-msgstr "تحديث متاح"
-
-#: selfdrive/ui/layouts/home.py:169
-#, python-format
-msgid "{} ALERT"
-msgid_plural "{} ALERTS"
-msgstr[0] "{} تنبيه"
-msgstr[1] "{} تنبيه"
-msgstr[2] "{} تنبيهان"
-msgstr[3] "{} تنبيهات"
-msgstr[4] "{} تنبيهات"
-msgstr[5] "{} تنبيه"
-
-#: selfdrive/ui/layouts/settings/software.py:40
-#, python-format
-msgid "{} day ago"
-msgid_plural "{} days ago"
-msgstr[0] "قبل {} يوم"
-msgstr[1] "قبل {} يوم"
-msgstr[2] "قبل {} يومين"
-msgstr[3] "قبل {} أيام"
-msgstr[4] "قبل {} أيام"
-msgstr[5] "قبل {} يوم"
-
-#: selfdrive/ui/layouts/settings/software.py:37
-#, python-format
-msgid "{} hour ago"
-msgid_plural "{} hours ago"
-msgstr[0] "قبل {} ساعة"
-msgstr[1] "قبل {} ساعة"
-msgstr[2] "قبل {} ساعتين"
-msgstr[3] "قبل {} ساعات"
-msgstr[4] "قبل {} ساعات"
-msgstr[5] "قبل {} ساعة"
-
-#: selfdrive/ui/layouts/settings/software.py:34
-#, python-format
-msgid "{} minute ago"
-msgid_plural "{} minutes ago"
-msgstr[0] "قبل {} دقيقة"
-msgstr[1] "قبل {} دقيقة"
-msgstr[2] "قبل {} دقيقتين"
-msgstr[3] "قبل {} دقائق"
-msgstr[4] "قبل {} دقائق"
-msgstr[5] "قبل {} دقيقة"
-
-#: selfdrive/ui/layouts/settings/firehose.py:111
-#, python-format
-msgid "{} segment of your driving is in the training dataset so far."
-msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-msgstr[1] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-msgstr[2] "{} مقطعان من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-msgstr[3] "{} مقاطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-msgstr[4] "{} مقاطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-msgstr[5] "{} مقطع من قيادتك ضمن مجموعة بيانات التدريب حتى الآن."
-
-#: selfdrive/ui/widgets/prime.py:62
-#, python-format
-msgid "✓ SUBSCRIBED"
-msgstr "✓ مشترك"
-
-#: selfdrive/ui/widgets/setup.py:22
-#, python-format
-msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 وضع Firehose 🔥"
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index 47e673ce89..99d3aafe3a 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -6,7 +6,6 @@
"Español": "es",
"Türkçe": "tr",
"Українська": "uk",
- "العربية": "ar",
"ไทย": "th",
"中文（繁體）": "zh-CHT",
"中文（简体）": "zh-CHS",
diff --git a/system/ui/lib/multilang.py b/system/ui/lib/multilang.py
index 70de1e3d5c..ad2a5f9399 100644
--- a/system/ui/lib/multilang.py
+++ b/system/ui/lib/multilang.py
@@ -16,7 +16,6 @@ TRANSLATIONS_DIR = UI_DIR.joinpath("translations")
LANGUAGES_FILE = TRANSLATIONS_DIR.joinpath("languages.json")
UNIFONT_LANGUAGES = [
- "ar",
"th",
"zh-CHT",
"zh-CHS",
From 28795d3065a291d68b218739cb0508625beacc45 Mon Sep 17 00:00:00 2001
From: Jason Young <46612682+jyoung8607@users.noreply.github.com>
Date: Thu, 5 Feb 2026 16:30:03 -0500
Subject: [PATCH 061/150] bump opendbc (#37091)
---
opendbc_repo | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/opendbc_repo b/opendbc_repo
index 7c78ee87b7..39ee861197 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 7c78ee87b7b54bb2179d86d5e28c1f65bbf96669
+Subproject commit 39ee861197edca894fc1b2e28d6fd1a38aea9ca1
From 7e959c5a3e7611a19b24c46729461805a5bb9f84 Mon Sep 17 00:00:00 2001
From: felsager <76905857+felsager@users.noreply.github.com>
Date: Thu, 5 Feb 2026 15:55:03 -0800
Subject: [PATCH 062/150] long_mpc: use log.capnp source enum instead of list
(#37093)
---
.../controls/lib/longitudinal_mpc_lib/long_mpc.py | 11 +++++++++--
selfdrive/controls/lib/longitudinal_planner.py | 5 +++--
2 files changed, 12 insertions(+), 4 deletions(-)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 9408132c5b..f6d2eba91f 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -217,7 +217,7 @@ class LongitudinalMpc:
self.dt = dt
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.reset()
- self.source = SOURCES[2]
+ self.source = log.LongitudinalPlan.LongitudinalPlanSource.cruise
def reset(self):
self.solver.reset()
@@ -335,7 +335,14 @@ class LongitudinalMpc:
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
- self.source = SOURCES[np.argmin(x_obstacles[0])]
+ lead_idx = np.argmin(x_obstacles[0])
+ match lead_idx:
+ case 0:
+ self.source = log.LongitudinalPlan.LongitudinalPlanSource.lead0
+ case 1:
+ self.source = log.LongitudinalPlan.LongitudinalPlanSource.lead1
+ case 2:
+ self.source = log.LongitudinalPlan.LongitudinalPlanSource.cruise
self.yref[:,:] = 0.0
for i in range(N):
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c5c03eba18..47228ada40 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -3,13 +3,14 @@ import math
import numpy as np
import cereal.messaging as messaging
+from cereal import log
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
from openpilot.common.constants import CV
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
@@ -156,7 +157,7 @@ class LongitudinalPlanner:
output_a_target = min(output_a_target_e2e, output_a_target_mpc)
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
if output_a_target < output_a_target_mpc:
- self.mpc.source = SOURCES[3]
+ self.mpc.source = log.LongitudinalPlan.LongitudinalPlanSource.e2e
else:
output_a_target = output_a_target_mpc
self.output_should_stop = output_should_stop_mpc
From 64f74dad2702a11b6ad2c38e3c3ffc228514adbc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?=
Date: Thu, 5 Feb 2026 16:23:28 -0800
Subject: [PATCH 063/150] Revert "long_mpc: use log.capnp source enum instead
of list" (#37095)
Revert "long_mpc: use log.capnp source enum instead of list (#37093)"
This reverts commit 7e959c5a3e7611a19b24c46729461805a5bb9f84.
---
.../controls/lib/longitudinal_mpc_lib/long_mpc.py | 11 ++---------
selfdrive/controls/lib/longitudinal_planner.py | 5 ++---
2 files changed, 4 insertions(+), 12 deletions(-)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index f6d2eba91f..9408132c5b 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -217,7 +217,7 @@ class LongitudinalMpc:
self.dt = dt
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.reset()
- self.source = log.LongitudinalPlan.LongitudinalPlanSource.cruise
+ self.source = SOURCES[2]
def reset(self):
self.solver.reset()
@@ -335,14 +335,7 @@ class LongitudinalMpc:
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
- lead_idx = np.argmin(x_obstacles[0])
- match lead_idx:
- case 0:
- self.source = log.LongitudinalPlan.LongitudinalPlanSource.lead0
- case 1:
- self.source = log.LongitudinalPlan.LongitudinalPlanSource.lead1
- case 2:
- self.source = log.LongitudinalPlan.LongitudinalPlanSource.cruise
+ self.source = SOURCES[np.argmin(x_obstacles[0])]
self.yref[:,:] = 0.0
for i in range(N):
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 47228ada40..c5c03eba18 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -3,14 +3,13 @@ import math
import numpy as np
import cereal.messaging as messaging
-from cereal import log
from opendbc.car.interfaces import ACCEL_MIN, ACCEL_MAX
from openpilot.common.constants import CV
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
@@ -157,7 +156,7 @@ class LongitudinalPlanner:
output_a_target = min(output_a_target_e2e, output_a_target_mpc)
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
if output_a_target < output_a_target_mpc:
- self.mpc.source = log.LongitudinalPlan.LongitudinalPlanSource.e2e
+ self.mpc.source = SOURCES[3]
else:
output_a_target = output_a_target_mpc
self.output_should_stop = output_should_stop_mpc
From 2b8e887e442df39df3bb5b00aab07a9700ce50dd Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Thu, 5 Feb 2026 23:39:22 -0800
Subject: [PATCH 064/150] mici setup: remove unused functions
---
system/ui/mici_setup.py | 6 ------
1 file changed, 6 deletions(-)
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index fac26f06ea..91e5f0fb9c 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -590,15 +590,9 @@ class Setup(Widget):
def _custom_software_warning_back_button_callback(self):
self._set_state(SetupState.SOFTWARE_SELECTION)
- def _custom_software_warning_continue_button_callback(self):
- self._set_state(SetupState.CUSTOM_SOFTWARE)
-
def _getting_started_button_callback(self):
self._set_state(SetupState.SOFTWARE_SELECTION)
- def _software_selection_back_button_callback(self):
- self._set_state(SetupState.GETTING_STARTED)
-
def _software_selection_continue_button_callback(self):
self.use_openpilot()
From f5b84e74f4ddd9814e80630ecb718fca5392b6c0 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Thu, 5 Feb 2026 23:42:16 -0800
Subject: [PATCH 065/150] fix mici setup int enum
---
system/ui/mici_setup.py | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index 91e5f0fb9c..78b6b5cecb 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -94,12 +94,12 @@ class NetworkConnectivityMonitor:
class SetupState(IntEnum):
GETTING_STARTED = 0
NETWORK_SETUP = 1
- NETWORK_SETUP_CUSTOM_SOFTWARE = 8
- SOFTWARE_SELECTION = 2
- CUSTOM_SOFTWARE = 3
- DOWNLOADING = 4
- DOWNLOAD_FAILED = 5
- CUSTOM_SOFTWARE_WARNING = 6
+ NETWORK_SETUP_CUSTOM_SOFTWARE = 2
+ SOFTWARE_SELECTION = 3
+ CUSTOM_SOFTWARE = 4
+ DOWNLOADING = 5
+ DOWNLOAD_FAILED = 6
+ CUSTOM_SOFTWARE_WARNING = 7
class StartPage(Widget):
From cb670c2c3dd1564e9dd5d0fc9a1b1e005dc8183c Mon Sep 17 00:00:00 2001
From: David <49467229+TheSecurityDev@users.noreply.github.com>
Date: Fri, 6 Feb 2026 11:58:30 -0600
Subject: [PATCH 066/150] clips: improve overlays for mici (#37088)
* adjust overlay sizes and wrap metadata text for mici
* comment
* adjust overlay rendering to dynamically calculate line height for wrapped metadata text
* render time first so we can use width in margin calculation
* update comment (to retry failed CI actually)
* increase metadata size on mici
---
tools/clip/run.py | 63 ++++++++++++++++++++++++++++++++++++-----------
1 file changed, 49 insertions(+), 14 deletions(-)
diff --git a/tools/clip/run.py b/tools/clip/run.py
index f2b871be69..679bb241c1 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -238,25 +238,60 @@ def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, c
rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color)
-def render_overlays(rl, gui_app, font, font_scale, metadata, title, start_time, frame_idx, show_metadata, show_time):
+def _wrap_text_by_delimiter(text: str, rl, font, font_size: int, font_scale: float, max_width: int, delimiter: str = ", ") -> list[str]:
+ """Wrap text by splitting on delimiter when it exceeds max_width."""
+ words = text.split(delimiter)
+ lines: list[str] = []
+ current_line: list[str] = []
+ # Build lines word by word
+ for word in words:
+ current_line.append(word)
+ check_line = delimiter.join(current_line)
+ # Check if line exceeds max width
+ if rl.measure_text_ex(font, check_line, font_size * font_scale, 0).x > max_width:
+ current_line.pop() # Line is too long, move word to next line
+ if current_line:
+ lines.append(delimiter.join(current_line))
+ current_line = [word]
+ # Add leftover words as last line
+ if current_line:
+ lines.append(delimiter.join(current_line))
+ return lines
+
+
+def render_overlays(rl, gui_app, font, font_scale, big, metadata, title, start_time, frame_idx, show_metadata, show_time):
+ metadata_size = 16 if big else 12
+ title_size = 32 if big else 24
+ time_size = 24 if big else 16
+
+ # Time overlay
+ time_width = 0
+ if show_time:
+ t = start_time + frame_idx / FRAMERATE
+ time_text = f"{int(t) // 60:02d}:{int(t) % 60:02d}"
+ time_width = int(rl.measure_text_ex(font, time_text, time_size * font_scale, 0).x)
+ draw_text_box(rl, time_text, gui_app.width - time_width - 5, 0, time_size, gui_app, font, font_scale)
+
+ # Metadata overlay (first 5 seconds)
if show_metadata and metadata and frame_idx < FRAMERATE * 5:
m = metadata
text = ", ".join([f"openpilot v{m['version']}", f"route: {m['route']}", f"car: {m['car']}", f"origin: {m['origin']}",
f"branch: {m['branch']}", f"commit: {m['commit']}", f"modified: {m['modified']}"])
- # Truncate if too wide (leave 20px margin on each side)
- max_width = gui_app.width - 40
- while rl.measure_text_ex(font, text, 15 * font_scale, 0).x > max_width and len(text) > 20:
- text = text[:-4] + "..."
- draw_text_box(rl, text, 0, 8, 15, gui_app, font, font_scale, center=True)
+ # Wrap text if too wide (leave margin on each side)
+ margin = 2 * (time_width + 10 if show_time else 20) # leave enough margin for time overlay
+ max_width = gui_app.width - margin
+ lines = _wrap_text_by_delimiter(text, rl, font, metadata_size, font_scale, max_width)
+ # Draw wrapped metadata text
+ y_offset = 6
+ for line in lines:
+ draw_text_box(rl, line, 0, y_offset, metadata_size, gui_app, font, font_scale, center=True)
+ line_height = int(rl.measure_text_ex(font, line, metadata_size * font_scale, 0).y) + 4
+ y_offset += line_height
+
+ # Title overlay
if title:
- draw_text_box(rl, title, 0, 60, 32, gui_app, font, font_scale, center=True)
-
- if show_time:
- t = start_time + frame_idx / FRAMERATE
- time_text = f"{int(t)//60:02d}:{int(t)%60:02d}"
- time_width = int(rl.measure_text_ex(font, time_text, 24 * font_scale, 0).x)
- draw_text_box(rl, time_text, gui_app.width - time_width - 45, 45, 24, gui_app, font, font_scale)
+ draw_text_box(rl, title, 0, 60, title_size, gui_app, font, font_scale, center=True)
def clip(route: Route, output: str, start: int, end: int, headless: bool = True, big: bool = False,
@@ -313,7 +348,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
ui_state.update()
if should_render:
road_view.render()
- render_overlays(rl, gui_app, font, FONT_SCALE, metadata, title, start, frame_idx, show_metadata, show_time)
+ render_overlays(rl, gui_app, font, FONT_SCALE, big, metadata, title, start, frame_idx, show_metadata, show_time)
frame_idx += 1
pbar.update(1)
timer.lap("render")
From 7099bd18e3ca5936cdd3c8de8a8c679cc7edb053 Mon Sep 17 00:00:00 2001
From: felsager <76905857+felsager@users.noreply.github.com>
Date: Fri, 6 Feb 2026 10:35:54 -0800
Subject: [PATCH 067/150] longitudinal mpc tuning: behind if main (#37099)
---
.../mpc_longitudinal_tuning_report.py | 419 +++++++++---------
1 file changed, 210 insertions(+), 209 deletions(-)
diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
index 8c1a60f5b7..51e38112f7 100644
--- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
+++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
@@ -3,8 +3,8 @@ import sys
import markdown
import numpy as np
import matplotlib.pyplot as plt
-from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
TIME = 0
LEAD_DISTANCE= 2
@@ -21,7 +21,6 @@ axis_labels = ['Time (s)',
'Lead distance (m)'
]
-
def get_html_from_results(results, labels, AXIS):
fig, ax = plt.subplots(figsize=(16, 8))
for idx, speed in enumerate(list(results.keys())):
@@ -38,242 +37,244 @@ def get_html_from_results(results, labels, AXIS):
plt.close(fig)
return fig_buffer.getvalue() + '
'
+def generate_mpc_tuning_report():
+ htmls = []
-htmls = []
+ results = {}
+ name = 'Resuming behind lead'
+ labels = []
+ for lead_accel in np.linspace(1.0, 4.0, 4):
+ man = Maneuver(
+ '',
+ duration=11,
+ initial_speed=0.0,
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(0.0, 0.0),
+ speed_lead_values=[0.0, 10 * lead_accel],
+ cruise_values=[100, 100],
+ prob_lead_values=[1.0, 1.0],
+ breakpoints=[1., 11],
+ )
+ valid, results[lead_accel] = man.evaluate()
+ labels.append(f'{lead_accel} m/s^2 lead acceleration')
-results = {}
-name = 'Resuming behind lead'
-labels = []
-for lead_accel in np.linspace(1.0, 4.0, 4):
- man = Maneuver(
- '',
- duration=11,
- initial_speed=0.0,
- lead_relevancy=True,
- initial_distance_lead=desired_follow_distance(0.0, 0.0),
- speed_lead_values=[0.0, 10 * lead_accel],
- cruise_values=[100, 100],
- prob_lead_values=[1.0, 1.0],
- breakpoints=[1., 11],
- )
- valid, results[lead_accel] = man.evaluate()
- labels.append(f'{lead_accel} m/s^2 lead acceleration')
-
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, EGO_A))
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, EGO_V))
+ htmls.append(get_html_from_results(results, labels, EGO_A))
-results = {}
-name = 'Approaching stopped car from 140m'
-labels = []
-for speed in np.arange(0,45,5):
- man = Maneuver(
- name,
- duration=30.,
- initial_speed=float(speed),
- lead_relevancy=True,
- initial_distance_lead=140.,
- speed_lead_values=[0.0, 0.],
- breakpoints=[0., 30.],
- )
- valid, results[speed] = man.evaluate()
- results[speed][:,2] = results[speed][:,2] - results[speed][:,1]
- labels.append(f'{speed} m/s approach speed')
+ results = {}
+ name = 'Approaching stopped car from 140m'
+ labels = []
+ for speed in np.arange(0,45,5):
+ man = Maneuver(
+ name,
+ duration=30.,
+ initial_speed=float(speed),
+ lead_relevancy=True,
+ initial_distance_lead=140.,
+ speed_lead_values=[0.0, 0.],
+ breakpoints=[0., 30.],
+ )
+ valid, results[speed] = man.evaluate()
+ results[speed][:,2] = results[speed][:,2] - results[speed][:,1]
+ labels.append(f'{speed} m/s approach speed')
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_A))
-htmls.append(get_html_from_results(results, labels, D_REL))
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, EGO_A))
+ htmls.append(get_html_from_results(results, labels, D_REL))
-results = {}
-name = 'Following 5s oscillating lead'
-labels = []
-speed = np.int64(10)
-for oscil in np.arange(0, 10, 1):
- man = Maneuver(
- '',
- duration=30.,
- initial_speed=float(speed),
- lead_relevancy=True,
- initial_distance_lead=desired_follow_distance(speed, speed),
- speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil],
- breakpoints=[0.,2., 5, 8, 15, 18, 25.],
- )
- valid, results[oscil] = man.evaluate()
- labels.append(f'{oscil} m/s oscilliation size')
+ results = {}
+ name = 'Following 5s (triangular) oscillating lead'
+ labels = []
+ speed = np.int64(10)
+ for oscil in np.arange(0, 10, 1):
+ man = Maneuver(
+ '',
+ duration=30.,
+ initial_speed=float(speed),
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(speed, speed),
+ speed_lead_values=[speed, speed, speed - oscil, speed + oscil, speed - oscil, speed + oscil, speed - oscil],
+ breakpoints=[0.,2., 5, 8, 15, 18, 25.],
+ )
+ valid, results[oscil] = man.evaluate()
+ labels.append(f'{oscil} m/s oscillation size')
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, D_REL))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, EGO_A))
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, D_REL))
+ htmls.append(get_html_from_results(results, labels, EGO_V))
+ htmls.append(get_html_from_results(results, labels, EGO_A))
+ results = {}
+ name = 'Speed profile when converging to steady state lead at 30m/s'
+ labels = []
+ for distance in np.arange(20, 140, 10):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=30.0,
+ lead_relevancy=True,
+ initial_distance_lead=distance,
+ speed_lead_values=[30.0],
+ breakpoints=[0.],
+ )
+ valid, results[distance] = man.evaluate()
+ results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
+ labels.append(f'{distance} m initial distance')
-results = {}
-name = 'Speed profile when converging to steady state lead at 30m/s'
-labels = []
-for distance in np.arange(20, 140, 10):
- man = Maneuver(
- '',
- duration=50,
- initial_speed=30.0,
- lead_relevancy=True,
- initial_distance_lead=distance,
- speed_lead_values=[30.0],
- breakpoints=[0.],
- )
- valid, results[distance] = man.evaluate()
- results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
- labels.append(f'{distance} m initial distance')
-
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, D_REL))
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, EGO_V))
+ htmls.append(get_html_from_results(results, labels, D_REL))
-results = {}
-name = 'Speed profile when converging to steady state lead at 20m/s'
-labels = []
-for distance in np.arange(20, 140, 10):
- man = Maneuver(
- '',
- duration=50,
- initial_speed=20.0,
- lead_relevancy=True,
- initial_distance_lead=distance,
- speed_lead_values=[20.0],
- breakpoints=[0.],
- )
- valid, results[distance] = man.evaluate()
- results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
- labels.append(f'{distance} m initial distance')
+ results = {}
+ name = 'Speed profile when converging to steady state lead at 20m/s'
+ labels = []
+ for distance in np.arange(20, 140, 10):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=20.0,
+ lead_relevancy=True,
+ initial_distance_lead=distance,
+ speed_lead_values=[20.0],
+ breakpoints=[0.],
+ )
+ valid, results[distance] = man.evaluate()
+ results[distance][:,2] = results[distance][:,2] - results[distance][:,1]
+ labels.append(f'{distance} m initial distance')
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, D_REL))
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, EGO_V))
+ htmls.append(get_html_from_results(results, labels, D_REL))
-results = {}
-name = 'Following car at 30m/s that comes to a stop'
-labels = []
-for stop_time in np.arange(4, 14, 1):
- man = Maneuver(
- '',
- duration=50,
- initial_speed=30.0,
- lead_relevancy=True,
- initial_distance_lead=60.0,
- speed_lead_values=[30.0, 30.0, 0.0, 0.0],
- breakpoints=[0., 20., 20 + stop_time, 30 + stop_time],
- )
- valid, results[stop_time] = man.evaluate()
- results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1]
- labels.append(f'{stop_time} seconds stop time')
+ results = {}
+ name = 'Following car at 30m/s that comes to a stop'
+ labels = []
+ for stop_time in np.arange(4, 14, 1):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=30.0,
+ lead_relevancy=True,
+ initial_distance_lead=60.0,
+ speed_lead_values=[30.0, 30.0, 0.0, 0.0],
+ breakpoints=[0., 20., 20 + stop_time, 30 + stop_time],
+ )
+ valid, results[stop_time] = man.evaluate()
+ results[stop_time][:,2] = results[stop_time][:,2] - results[stop_time][:,1]
+ labels.append(f'{stop_time} seconds stop time')
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_A))
-htmls.append(get_html_from_results(results, labels, D_REL))
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, EGO_A))
+ htmls.append(get_html_from_results(results, labels, D_REL))
-results = {}
-name = 'Response to cut-in at half follow distance'
-labels = []
-for speed in np.arange(0, 40, 5):
- man = Maneuver(
- '',
- duration=10,
- initial_speed=float(speed),
- lead_relevancy=True,
- initial_distance_lead=desired_follow_distance(speed, speed)/2,
- speed_lead_values=[speed, speed, speed],
- cruise_values=[speed, speed, speed],
- prob_lead_values=[0.0, 0.0, 1.0],
- breakpoints=[0., 5.0, 5.01],
- )
- valid, results[speed] = man.evaluate()
- labels.append(f'{speed} m/s speed')
+ results = {}
+ name = 'Response to cut-in at half follow distance'
+ labels = []
+ for speed in np.arange(0, 40, 5):
+ man = Maneuver(
+ '',
+ duration=10,
+ initial_speed=float(speed),
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(speed, speed)/2,
+ speed_lead_values=[speed, speed, speed],
+ cruise_values=[speed, speed, speed],
+ prob_lead_values=[0.0, 0.0, 1.0],
+ breakpoints=[0., 5.0, 5.01],
+ )
+ valid, results[speed] = man.evaluate()
+ labels.append(f'{speed} m/s speed')
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_A))
-htmls.append(get_html_from_results(results, labels, D_REL))
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, EGO_A))
+ htmls.append(get_html_from_results(results, labels, D_REL))
-results = {}
-name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed'
-labels = []
-for speed in np.arange(0, 40, 5):
- man = Maneuver(
- '',
- duration=50,
- initial_speed=0.0,
- lead_relevancy=True,
- initial_distance_lead=desired_follow_distance(0.0, 0.0),
- speed_lead_values=[0.0, 0.0, speed],
- prob_lead_values=[1.0, 1.0, 1.0],
- breakpoints=[0., 1.0, speed/2],
- )
- valid, results[speed] = man.evaluate()
- labels.append(f'{speed} m/s speed')
+ results = {}
+ name = 'Follow a lead that accelerates at 2m/s^2 until steady state speed'
+ labels = []
+ for speed in np.arange(0, 40, 5):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=0.0,
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(0.0, 0.0),
+ speed_lead_values=[0.0, 0.0, speed],
+ prob_lead_values=[1.0, 1.0, 1.0],
+ breakpoints=[0., 1.0, speed/2],
+ )
+ valid, results[speed] = man.evaluate()
+ labels.append(f'{speed} m/s speed')
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, EGO_A))
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, EGO_V))
+ htmls.append(get_html_from_results(results, labels, EGO_A))
-results = {}
-name = 'From stop to cruise'
-labels = []
-for speed in np.arange(0, 40, 5):
- man = Maneuver(
- '',
- duration=50,
- initial_speed=0.0,
- lead_relevancy=True,
- initial_distance_lead=desired_follow_distance(0.0, 0.0),
- speed_lead_values=[0.0, 0.0],
- cruise_values=[0.0, speed],
- prob_lead_values=[0.0, 0.0],
- breakpoints=[1., 1.01],
- )
- valid, results[speed] = man.evaluate()
- labels.append(f'{speed} m/s speed')
+ results = {}
+ name = 'From stop to cruise'
+ labels = []
+ for speed in np.arange(0, 40, 5):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=0.0,
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(0.0, 0.0),
+ speed_lead_values=[0.0, 0.0],
+ cruise_values=[0.0, speed],
+ prob_lead_values=[0.0, 0.0],
+ breakpoints=[1., 1.01],
+ )
+ valid, results[speed] = man.evaluate()
+ labels.append(f'{speed} m/s speed')
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, EGO_A))
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, EGO_V))
+ htmls.append(get_html_from_results(results, labels, EGO_A))
-results = {}
-name = 'From cruise to min'
-labels = []
-for speed in np.arange(10, 40, 5):
- man = Maneuver(
- '',
- duration=50,
- initial_speed=float(speed),
- lead_relevancy=True,
- initial_distance_lead=desired_follow_distance(0.0, 0.0),
- speed_lead_values=[0.0, 0.0],
- cruise_values=[speed, 10.0],
- prob_lead_values=[0.0, 0.0],
- breakpoints=[1., 1.01],
- )
- valid, results[speed] = man.evaluate()
- labels.append(f'{speed} m/s speed')
+ results = {}
+ name = 'From cruise to min'
+ labels = []
+ for speed in np.arange(10, 40, 5):
+ man = Maneuver(
+ '',
+ duration=50,
+ initial_speed=float(speed),
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(0.0, 0.0),
+ speed_lead_values=[0.0, 0.0],
+ cruise_values=[speed, 10.0],
+ prob_lead_values=[0.0, 0.0],
+ breakpoints=[1., 1.01],
+ )
+ valid, results[speed] = man.evaluate()
+ labels.append(f'{speed} m/s speed')
-htmls.append(markdown.markdown('# ' + name))
-htmls.append(get_html_from_results(results, labels, EGO_V))
-htmls.append(get_html_from_results(results, labels, EGO_A))
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, EGO_V))
+ htmls.append(get_html_from_results(results, labels, EGO_A))
-if len(sys.argv) < 2:
- file_name = 'long_mpc_tune_report.html'
-else:
- file_name = sys.argv[1]
+ return htmls
-with open(file_name, 'w') as f:
- f.write(markdown.markdown('# MPC longitudinal tuning report'))
+if __name__ == '__main__':
+ htmls = generate_mpc_tuning_report()
-with open(file_name, 'a') as f:
- for html in htmls:
- f.write(html)
+ if len(sys.argv) < 2:
+ file_name = 'long_mpc_tune_report.html'
+ else:
+ file_name = sys.argv[1]
+
+ with open(file_name, 'w') as f:
+ f.write(markdown.markdown('# MPC longitudinal tuning report'))
+ for html in htmls:
+ f.write(html)
From 9755520b87fac634da3068561511b8df93626c9b Mon Sep 17 00:00:00 2001
From: felsager <76905857+felsager@users.noreply.github.com>
Date: Fri, 6 Feb 2026 11:30:49 -0800
Subject: [PATCH 068/150] longitudinal mpc tuning report: add sinusoidal
oscillation scenario (#37100)
---
.../mpc_longitudinal_tuning_report.py | 28 +++++++++++++++++++
1 file changed, 28 insertions(+)
diff --git a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
index 51e38112f7..547f45aa2e 100644
--- a/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
+++ b/tools/longitudinal_maneuvers/mpc_longitudinal_tuning_report.py
@@ -3,6 +3,7 @@ import sys
import markdown
import numpy as np
import matplotlib.pyplot as plt
+from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.controls.tests.test_following_distance import desired_follow_distance
from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
@@ -108,6 +109,33 @@ def generate_mpc_tuning_report():
htmls.append(get_html_from_results(results, labels, EGO_A))
+ results = {}
+ name = 'Following 5s (sinusoidal) oscillating lead'
+ labels = []
+ speed = np.int64(10)
+ duration = float(30)
+ f_osc = 1. / 5
+ for oscil in np.arange(0, 10, 1):
+ bps = DT_MDL * np.arange(int(duration / DT_MDL))
+ lead_speeds = speed + oscil * np.sin(2 * np.pi * f_osc * bps)
+ man = Maneuver(
+ '',
+ duration=duration,
+ initial_speed=float(speed),
+ lead_relevancy=True,
+ initial_distance_lead=desired_follow_distance(speed, speed),
+ speed_lead_values=lead_speeds,
+ breakpoints=bps,
+ )
+ valid, results[oscil] = man.evaluate()
+ labels.append(f'{oscil} m/s oscilliation size')
+
+ htmls.append(markdown.markdown('# ' + name))
+ htmls.append(get_html_from_results(results, labels, D_REL))
+ htmls.append(get_html_from_results(results, labels, EGO_V))
+ htmls.append(get_html_from_results(results, labels, EGO_A))
+
+
results = {}
name = 'Speed profile when converging to steady state lead at 30m/s'
labels = []
From 187d3a079c45b2221cb46744bff4defc224f1fc5 Mon Sep 17 00:00:00 2001
From: felsager <76905857+felsager@users.noreply.github.com>
Date: Fri, 6 Feb 2026 13:36:51 -0800
Subject: [PATCH 069/150] long_mpc: use log.capnp source enum (#37096)
---
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 7 ++++---
selfdrive/controls/lib/longitudinal_planner.py | 4 ++--
2 files changed, 6 insertions(+), 5 deletions(-)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 9408132c5b..e75705cb68 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -22,7 +22,8 @@ LONG_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
EXPORT_DIR = os.path.join(LONG_MPC_DIR, "c_generated_code")
JSON_FILE = os.path.join(LONG_MPC_DIR, "acados_ocp_long.json")
-SOURCES = ['lead0', 'lead1', 'cruise', 'e2e']
+LongitudinalPlanSource = log.LongitudinalPlan.LongitudinalPlanSource
+MPC_SOURCES = (LongitudinalPlanSource.lead0, LongitudinalPlanSource.lead1, LongitudinalPlanSource.cruise)
X_DIM = 3
U_DIM = 1
@@ -217,7 +218,7 @@ class LongitudinalMpc:
self.dt = dt
self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
self.reset()
- self.source = SOURCES[2]
+ self.source = LongitudinalPlanSource.cruise
def reset(self):
self.solver.reset()
@@ -335,7 +336,7 @@ class LongitudinalMpc:
cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
- self.source = SOURCES[np.argmin(x_obstacles[0])]
+ self.source = MPC_SOURCES[np.argmin(x_obstacles[0])]
self.yref[:,:] = 0.0
for i in range(N):
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c5c03eba18..64de1a8fda 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -9,7 +9,7 @@ from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, SOURCES
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, LongitudinalPlanSource
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_accel_from_plan
from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
@@ -156,7 +156,7 @@ class LongitudinalPlanner:
output_a_target = min(output_a_target_e2e, output_a_target_mpc)
self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
if output_a_target < output_a_target_mpc:
- self.mpc.source = SOURCES[3]
+ self.mpc.source = LongitudinalPlanSource.e2e
else:
output_a_target = output_a_target_mpc
self.output_should_stop = output_should_stop_mpc
From 593c3a0c8e69686ee821b2a0b2cfa9901b67dc27 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?=
Date: Fri, 6 Feb 2026 14:13:46 -0800
Subject: [PATCH 070/150] Calibrate in tg (#36621)
* squash
* bump tg
* fix linmt
* Ready to merge
* cleaner
* match modeld
* more dead stuff
---
selfdrive/modeld/SConscript | 49 ++---
selfdrive/modeld/compile_warp.py | 206 ++++++++++++++++++
selfdrive/modeld/dmonitoringmodeld.py | 27 ++-
selfdrive/modeld/modeld.py | 47 ++--
selfdrive/modeld/models/commonmodel.cc | 64 ------
selfdrive/modeld/models/commonmodel.h | 97 ---------
selfdrive/modeld/models/commonmodel.pxd | 27 ---
selfdrive/modeld/models/commonmodel_pyx.pxd | 13 --
selfdrive/modeld/models/commonmodel_pyx.pyx | 74 -------
selfdrive/modeld/transforms/loadyuv.cc | 76 -------
selfdrive/modeld/transforms/loadyuv.cl | 47 ----
selfdrive/modeld/transforms/loadyuv.h | 20 --
selfdrive/modeld/transforms/transform.cc | 97 ---------
selfdrive/modeld/transforms/transform.cl | 54 -----
selfdrive/modeld/transforms/transform.h | 25 ---
selfdrive/test/process_replay/model_replay.py | 2 +-
.../test/process_replay/process_replay.py | 15 +-
17 files changed, 280 insertions(+), 660 deletions(-)
create mode 100755 selfdrive/modeld/compile_warp.py
delete mode 100644 selfdrive/modeld/models/commonmodel.cc
delete mode 100644 selfdrive/modeld/models/commonmodel.h
delete mode 100644 selfdrive/modeld/models/commonmodel.pxd
delete mode 100644 selfdrive/modeld/models/commonmodel_pyx.pxd
delete mode 100644 selfdrive/modeld/models/commonmodel_pyx.pyx
delete mode 100644 selfdrive/modeld/transforms/loadyuv.cc
delete mode 100644 selfdrive/modeld/transforms/loadyuv.cl
delete mode 100644 selfdrive/modeld/transforms/loadyuv.h
delete mode 100644 selfdrive/modeld/transforms/transform.cc
delete mode 100644 selfdrive/modeld/transforms/transform.cl
delete mode 100644 selfdrive/modeld/transforms/transform.h
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 91f3597447..72d3f95c41 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,35 +1,10 @@
import os
import glob
-Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
+Import('env', 'arch')
lenv = env.Clone()
-lenvCython = envCython.Clone()
-libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
-frameworks = []
-
-common_src = [
- "models/commonmodel.cc",
- "transforms/loadyuv.cc",
- "transforms/transform.cc",
-]
-
-# OpenCL is a framework on Mac
-if arch == "Darwin":
- frameworks += ['OpenCL']
-else:
- libs += ['OpenCL']
-
-# Set path definitions
-for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
- for xenv in (lenv, lenvCython):
- xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
-
-# Compile cython
-cython_libs = envCython["LIBS"] + libs
-commonmodel_lib = lenv.Library('commonmodel', common_src)
-lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x])
+tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
# Get model metadata
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
@@ -38,22 +13,30 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
+# compile warp
+tg_flags = {
+ 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
+ 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
+}.get(arch, 'DEV=CPU CPU_LLVM=1')
+image_flag = {
+ 'larch64': 'IMAGE=2',
+}.get(arch, 'IMAGE=0')
+script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
+cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
+lenv.Command(fn + "warp_tinygrad.pkl", tinygrad_files + script_files, cmd)
+
def tg_compile(flags, model_name):
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
fn = File(f"models/{model_name}").abspath
return lenv.Command(
fn + "_tinygrad.pkl",
[fn + ".onnx"] + tinygrad_files,
- f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+ f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
)
# Compile small models
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
- flags = {
- 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
- 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
- }.get(arch, 'DEV=CPU CPU_LLVM=1')
- tg_compile(flags, model_name)
+ tg_compile(tg_flags, model_name)
# Compile BIG model if USB GPU is available
if "USBGPU" in os.environ:
diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py
new file mode 100755
index 0000000000..5adb60e624
--- /dev/null
+++ b/selfdrive/modeld/compile_warp.py
@@ -0,0 +1,206 @@
+#!/usr/bin/env python3
+import time
+import pickle
+import numpy as np
+from pathlib import Path
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import Context
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
+from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
+
+MODELS_DIR = Path(__file__).parent / 'models'
+
+CAMERA_CONFIGS = [
+ (_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
+ (_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
+]
+
+UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
+UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
+
+IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2)
+
+
+def warp_pkl_path(w, h):
+ return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
+
+
+def dm_warp_pkl_path(w, h):
+ return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'
+
+
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, ratio):
+ w_dst, h_dst = dst_shape
+ h_src, w_src = src_shape
+
+ x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst)
+ y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst)
+ ones = Tensor.ones_like(x)
+ dst_coords = x.reshape(1, -1).cat(y.reshape(1, -1)).cat(ones.reshape(1, -1))
+
+ src_coords = M_inv @ dst_coords
+ src_coords = src_coords / src_coords[2:3, :]
+
+ x_nn_clipped = Tensor.round(src_coords[0]).clip(0, w_src - 1).cast('int')
+ y_nn_clipped = Tensor.round(src_coords[1]).clip(0, h_src - 1).cast('int')
+ idx = y_nn_clipped * w_src + (y_nn_clipped * ratio).cast('int') * stride_pad + x_nn_clipped
+
+ sampled = src_flat[idx]
+ return sampled
+
+
+def frames_to_tensor(frames, model_w, model_h):
+ H = (frames.shape[0] * 2) // 3
+ W = frames.shape[1]
+ in_img1 = Tensor.cat(frames[0:H:2, 0::2],
+ frames[1:H:2, 0::2],
+ frames[0:H:2, 1::2],
+ frames[1:H:2, 1::2],
+ frames[H:H+H//4].reshape((H//2, W//2)),
+ frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
+ return in_img1
+
+
+def make_frame_prepare(cam_w, cam_h, model_w, model_h):
+ stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
+ uv_offset = stride * y_height
+ stride_pad = stride - cam_w
+
+ def frame_prepare_tinygrad(input_frame, M_inv):
+ tg_scale = Tensor(UV_SCALE_MATRIX)
+ M_inv_uv = tg_scale @ M_inv @ Tensor(UV_SCALE_MATRIX_INV)
+ with Context(SPLIT_REDUCEOP=0):
+ y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
+ M_inv, (model_w, model_h),
+ (cam_h, cam_w), stride_pad, 1).realize()
+ u = warp_perspective_tinygrad(input_frame[uv_offset:uv_offset + (cam_h//4)*stride],
+ M_inv_uv, (model_w//2, model_h//2),
+ (cam_h//2, cam_w//2), stride_pad, 0.5).realize()
+ v = warp_perspective_tinygrad(input_frame[uv_offset + (cam_h//4)*stride:uv_offset + (cam_h//2)*stride],
+ M_inv_uv, (model_w//2, model_h//2),
+ (cam_h//2, cam_w//2), stride_pad, 0.5).realize()
+ yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
+ tensor = frames_to_tensor(yuv, model_w, model_h)
+ return tensor
+ return frame_prepare_tinygrad
+
+
+def make_update_img_input(frame_prepare, model_w, model_h):
+ def update_img_input_tinygrad(tensor, frame, M_inv):
+ M_inv = M_inv.to(Device.DEFAULT)
+ new_img = frame_prepare(frame, M_inv)
+ full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
+ return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
+ return update_img_input_tinygrad
+
+
+def make_update_both_imgs(frame_prepare, model_w, model_h):
+ update_img = make_update_img_input(frame_prepare, model_w, model_h)
+
+ def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
+ calib_big_img_buffer, new_big_img, M_inv_big):
+ calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
+ calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
+ return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
+ return update_both_imgs_tinygrad
+
+
+def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
+ stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
+ stride_pad = stride - cam_w
+
+ def warp_dm(input_frame, M_inv):
+ M_inv = M_inv.to(Device.DEFAULT)
+ with Context(SPLIT_REDUCEOP=0):
+ result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad, 1).reshape(-1, dm_h * dm_w)
+ return result
+ return warp_dm
+
+
+def compile_modeld_warp(cam_w, cam_h):
+ model_w, model_h = MEDMODEL_INPUT_SIZE
+ _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+
+ print(f"Compiling modeld warp for {cam_w}x{cam_h}...")
+
+ frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
+ update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
+ update_img_jit = TinyJit(update_both_imgs, prune=True)
+
+ full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
+ big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
+ full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
+ big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
+
+ for i in range(10):
+ new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
+ img_inputs = [full_buffer,
+ Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+ Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+ new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
+ big_img_inputs = [big_full_buffer,
+ Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
+ Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+ inputs = img_inputs + big_img_inputs
+ Device.default.synchronize()
+
+ inputs_np = [x.numpy() for x in inputs]
+ inputs_np[0] = full_buffer_np
+ inputs_np[3] = big_full_buffer_np
+
+ st = time.perf_counter()
+ out = update_img_jit(*inputs)
+ full_buffer = out[0].contiguous().realize().clone()
+ big_full_buffer = out[2].contiguous().realize().clone()
+ mt = time.perf_counter()
+ Device.default.synchronize()
+ et = time.perf_counter()
+ print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+ pkl_path = warp_pkl_path(cam_w, cam_h)
+ with open(pkl_path, "wb") as f:
+ pickle.dump(update_img_jit, f)
+ print(f" Saved to {pkl_path}")
+
+ jit = pickle.load(open(pkl_path, "rb"))
+ jit(*inputs)
+
+
+def compile_dm_warp(cam_w, cam_h):
+ dm_w, dm_h = DM_INPUT_SIZE
+ _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
+
+ print(f"Compiling DM warp for {cam_w}x{cam_h}...")
+
+ warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
+ warp_dm_jit = TinyJit(warp_dm, prune=True)
+
+ for i in range(10):
+ inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
+ Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
+ Device.default.synchronize()
+ st = time.perf_counter()
+ warp_dm_jit(*inputs)
+ mt = time.perf_counter()
+ Device.default.synchronize()
+ et = time.perf_counter()
+ print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
+
+ pkl_path = dm_warp_pkl_path(cam_w, cam_h)
+ with open(pkl_path, "wb") as f:
+ pickle.dump(warp_dm_jit, f)
+ print(f" Saved to {pkl_path}")
+
+
+def run_and_save_pickle():
+ for cam_w, cam_h in CAMERA_CONFIGS:
+ compile_modeld_warp(cam_w, cam_h)
+ compile_dm_warp(cam_w, cam_h)
+
+
+if __name__ == "__main__":
+ run_and_save_pickle()
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index fca762c69b..f12c13081b 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -3,7 +3,6 @@ import os
from openpilot.system.hardware import TICI
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
import time
import pickle
import numpy as np
@@ -12,19 +11,19 @@ from pathlib import Path
from cereal import messaging
from cereal.messaging import PubMaster, SubMaster
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from msgq.visionipc.visionipc_pyx import CLContext
from openpilot.common.swaglog import cloudlog
from openpilot.common.realtime import config_realtime_process
from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
-from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
-
+MODELS_DIR = Path(__file__).parent / 'models'
class ModelState:
inputs: dict[str, np.ndarray]
@@ -36,12 +35,15 @@ class ModelState:
self.input_shapes = model_metadata['input_shapes']
self.output_slices = model_metadata['output_slices']
- self.frame = MonitoringModelFrame(cl_ctx)
self.numpy_inputs = {
'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32),
}
+ self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
+ self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
+ self.frame_buf_params = None
self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
+ self.image_warp = None
with open(MODEL_PKL_PATH, "rb") as f:
self.model_run = pickle.load(f)
@@ -50,14 +52,15 @@ class ModelState:
t1 = time.perf_counter()
- input_img_cl = self.frame.prepare(buf, transform.flatten())
- if TICI:
- # The imgs tensors are backed by opencl memory, only need init once
- if 'input_img' not in self.tensor_inputs:
- self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, self.input_shapes['input_img'], dtype=dtypes.uint8)
- else:
- self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize()
+ if self.image_warp is None:
+ self.frame_buf_params = get_nv12_info(buf.width, buf.height)
+ warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
+ with open(warp_path, "rb") as f:
+ self.image_warp = pickle.load(f)
+ self.warp_inputs['frame'] = Tensor.from_blob(buf.data.ctypes.data, (self.frame_buf_params[3],), dtype='uint8').realize()
+ self.warp_inputs_np['transform'][:] = transform[:]
+ self.tensor_inputs['input_img'] = self.image_warp(self.warp_inputs['frame'], self.warp_inputs['transform']).realize()
output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy()
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1f347dc32a..d9445c8d33 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -7,7 +7,6 @@ if USBGPU:
os.environ['DEV'] = 'AMD'
os.environ['AMD_IFACE'] = 'USB'
from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
import time
import pickle
import numpy as np
@@ -16,20 +15,20 @@ from cereal import car, log
from pathlib import Path
from cereal.messaging import PubMaster, SubMaster
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from msgq.visionipc.visionipc_pyx import CLContext
from opendbc.car.car_helpers import get_demo_car_params
from openpilot.common.swaglog import cloudlog
from openpilot.common.params import Params
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import config_realtime_process, DT_MDL
from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
from openpilot.common.transformations.model import get_warp_matrix
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
-from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
-from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -39,11 +38,15 @@ VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
+MODELS_DIR = Path(__file__).parent / 'models'
LAT_SMOOTH_SECONDS = 0.0
LONG_SMOOTH_SECONDS = 0.3
MIN_LAT_CONTROL_SPEED = 0.3
+IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256)
+assert IMG_QUEUE_SHAPE[0] == 30
+
def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
@@ -136,7 +139,6 @@ class InputQueues:
return out
class ModelState:
- frames: dict[str, DrivingModelFrame]
inputs: dict[str, np.ndarray]
output: np.ndarray
prev_desire: np.ndarray # for tracking the rising edge of the pulse
@@ -155,7 +157,6 @@ class ModelState:
self.policy_output_slices = policy_metadata['output_slices']
policy_output_size = policy_metadata['output_shapes']['outputs'][1]
- self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
# policy inputs
@@ -166,11 +167,17 @@ class ModelState:
self.full_input_queues.reset()
# img buffers are managed in openCL transform code
- self.vision_inputs: dict[str, Tensor] = {}
+ self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
+ 'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),}
+ self.full_frames : dict[str, Tensor] = {}
+ self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues}
+ self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
self.parser = Parser()
+ self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
+ self.update_imgs = None
with open(VISION_PKL_PATH, "rb") as f:
self.vision_run = pickle.load(f)
@@ -188,23 +195,28 @@ class ModelState:
inputs['desire_pulse'][0] = 0
new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
self.prev_desire[:] = inputs['desire_pulse']
+ if self.update_imgs is None:
+ for key in bufs.keys():
+ w, h = bufs[key].width, bufs[key].height
+ self.frame_buf_params[key] = get_nv12_info(w, h)
+ warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
+ with open(warp_path, "rb") as f:
+ self.update_imgs = pickle.load(f)
- imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
- if TICI and not USBGPU:
- # The imgs tensors are backed by opencl memory, only need init once
- for key in imgs_cl:
- if key not in self.vision_inputs:
- self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8)
- else:
- for key in imgs_cl:
- frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key])
- self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize()
+ for key in bufs.keys():
+ self.full_frames[key] = Tensor.from_blob(bufs[key].data.ctypes.data, (self.frame_buf_params[key][3],), dtype='uint8').realize()
+ self.transforms_np[key][:,:] = transforms[key][:,:]
+
+ out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
+ self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
+ self.img_queues['img'], self.img_queues['big_img'], = out[0].realize(), out[2].realize()
+ vision_inputs = {'img': out[1], 'big_img': out[3]}
if prepare_only:
return None
- self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
+ self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy()
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
@@ -214,7 +226,6 @@ class ModelState:
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
-
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
if SEND_RAW_PRED:
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
deleted file mode 100644
index d3341e76ec..0000000000
--- a/selfdrive/modeld/models/commonmodel.cc
+++ /dev/null
@@ -1,64 +0,0 @@
-#include "selfdrive/modeld/models/commonmodel.h"
-
-#include
-#include
-
-#include "common/clutil.h"
-
-DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) {
- input_frames = std::make_unique(buf_size);
- temporal_skip = _temporal_skip;
- input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
- img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err));
- region.origin = temporal_skip * frame_size_bytes;
- region.size = frame_size_bytes;
- last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err));
-
- loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
- init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
- run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
-
- for (int i = 0; i < temporal_skip; i++) {
- CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
- }
- loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
-
- copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
- copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
-
- // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
- clFinish(q);
- return &input_frames_cl;
-}
-
-DrivingModelFrame::~DrivingModelFrame() {
- deinit_transform();
- loadyuv_destroy(&loadyuv);
- CL_CHECK(clReleaseMemObject(input_frames_cl));
- CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
- CL_CHECK(clReleaseMemObject(last_img_cl));
- CL_CHECK(clReleaseCommandQueue(q));
-}
-
-
-MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
- input_frames = std::make_unique(buf_size);
- input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
-
- init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
-}
-
-cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
- run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
- clFinish(q);
- return &y_cl;
-}
-
-MonitoringModelFrame::~MonitoringModelFrame() {
- deinit_transform();
- CL_CHECK(clReleaseMemObject(input_frame_cl));
- CL_CHECK(clReleaseCommandQueue(q));
-}
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
deleted file mode 100644
index 176d7eb6dc..0000000000
--- a/selfdrive/modeld/models/commonmodel.h
+++ /dev/null
@@ -1,97 +0,0 @@
-#pragma once
-
-#include
-#include
-#include
-
-#include
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include
-#else
-#include
-#endif
-
-#include "common/mat.h"
-#include "selfdrive/modeld/transforms/loadyuv.h"
-#include "selfdrive/modeld/transforms/transform.h"
-
-class ModelFrame {
-public:
- ModelFrame(cl_device_id device_id, cl_context context) {
- q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
- }
- virtual ~ModelFrame() {}
- virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
- uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
- CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
- clFinish(q);
- return &input_frames[0];
- }
-
- int MODEL_WIDTH;
- int MODEL_HEIGHT;
- int MODEL_FRAME_SIZE;
- int buf_size;
-
-protected:
- cl_mem y_cl, u_cl, v_cl;
- Transform transform;
- cl_command_queue q;
- std::unique_ptr input_frames;
-
- void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
- y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
- u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
- v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
- transform_init(&transform, context, device_id);
- }
-
- void deinit_transform() {
- transform_destroy(&transform);
- CL_CHECK(clReleaseMemObject(v_cl));
- CL_CHECK(clReleaseMemObject(u_cl));
- CL_CHECK(clReleaseMemObject(y_cl));
- }
-
- void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
- transform_queue(&transform, q,
- yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
- y_cl, u_cl, v_cl, model_width, model_height, projection);
- }
-};
-
-class DrivingModelFrame : public ModelFrame {
-public:
- DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip);
- ~DrivingModelFrame();
- cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
- const int MODEL_WIDTH = 512;
- const int MODEL_HEIGHT = 256;
- const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
- const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart
- const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
-
-private:
- LoadYUVState loadyuv;
- cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
- cl_buffer_region region;
- int temporal_skip;
-};
-
-class MonitoringModelFrame : public ModelFrame {
-public:
- MonitoringModelFrame(cl_device_id device_id, cl_context context);
- ~MonitoringModelFrame();
- cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
-
- const int MODEL_WIDTH = 1440;
- const int MODEL_HEIGHT = 960;
- const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
- const int buf_size = MODEL_FRAME_SIZE;
-
-private:
- cl_mem input_frame_cl;
-};
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
deleted file mode 100644
index 4ac64d9172..0000000000
--- a/selfdrive/modeld/models/commonmodel.pxd
+++ /dev/null
@@ -1,27 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
-
-cdef extern from "common/mat.h":
- cdef struct mat3:
- float v[9]
-
-cdef extern from "common/clutil.h":
- cdef unsigned long CL_DEVICE_TYPE_DEFAULT
- cl_device_id cl_get_device_id(unsigned long)
- cl_context cl_create_context(cl_device_id)
- void cl_release_context(cl_context)
-
-cdef extern from "selfdrive/modeld/models/commonmodel.h":
- cppclass ModelFrame:
- int buf_size
- unsigned char * buffer_from_cl(cl_mem*, int);
- cl_mem * prepare(cl_mem, int, int, int, int, mat3)
-
- cppclass DrivingModelFrame:
- int buf_size
- DrivingModelFrame(cl_device_id, cl_context, int)
-
- cppclass MonitoringModelFrame:
- int buf_size
- MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd
deleted file mode 100644
index 0bb798625b..0000000000
--- a/selfdrive/modeld/models/commonmodel_pyx.pxd
+++ /dev/null
@@ -1,13 +0,0 @@
-# distutils: language = c++
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
-
-cdef class CLContext(BaseCLContext):
- pass
-
-cdef class CLMem:
- cdef cl_mem * mem
-
- @staticmethod
- cdef create(void*)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
deleted file mode 100644
index 5b7d11bc71..0000000000
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ /dev/null
@@ -1,74 +0,0 @@
-# distutils: language = c++
-# cython: c_string_encoding=ascii, language_level=3
-
-import numpy as np
-cimport numpy as cnp
-from libc.string cimport memcpy
-from libc.stdint cimport uintptr_t
-
-from msgq.visionipc.visionipc cimport cl_mem
-from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
-from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
-from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
-
-
-cdef class CLContext(BaseCLContext):
- def __cinit__(self):
- self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
- self.context = cl_create_context(self.device_id)
-
- def __dealloc__(self):
- if self.context:
- cl_release_context(self.context)
-
-cdef class CLMem:
- @staticmethod
- cdef create(void * cmem):
- mem = CLMem()
- mem.mem = cmem
- return mem
-
- @property
- def mem_address(self):
- return (self.mem)
-
-def cl_from_visionbuf(VisionBuf buf):
- return CLMem.create(&buf.buf.buf_cl)
-
-
-cdef class ModelFrame:
- cdef cppModelFrame * frame
- cdef int buf_size
-
- def __dealloc__(self):
- del self.frame
-
- def prepare(self, VisionBuf buf, float[:] projection):
- cdef mat3 cprojection
- memcpy(cprojection.v, &projection[0], 9*sizeof(float))
- cdef cl_mem * data
- data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
- return CLMem.create(data)
-
- def buffer_from_cl(self, CLMem in_frames):
- cdef unsigned char * data2
- data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
- return np.asarray( data2)
-
-
-cdef class DrivingModelFrame(ModelFrame):
- cdef cppDrivingModelFrame * _frame
-
- def __cinit__(self, CLContext context, int temporal_skip):
- self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
- self.frame = (self._frame)
- self.buf_size = self._frame.buf_size
-
-cdef class MonitoringModelFrame(ModelFrame):
- cdef cppMonitoringModelFrame * _frame
-
- def __cinit__(self, CLContext context):
- self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
- self.frame = (self._frame)
- self.buf_size = self._frame.buf_size
-
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
deleted file mode 100644
index c93f5cd038..0000000000
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ /dev/null
@@ -1,76 +0,0 @@
-#include "selfdrive/modeld/transforms/loadyuv.h"
-
-#include
-#include
-#include
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
- memset(s, 0, sizeof(*s));
-
- s->width = width;
- s->height = height;
-
- char args[1024];
- snprintf(args, sizeof(args),
- "-cl-fast-relaxed-math -cl-denorms-are-zero "
- "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
- width, height);
- cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
-
- s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
- s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
- s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
-
- // done with this
- CL_CHECK(clReleaseProgram(prg));
-}
-
-void loadyuv_destroy(LoadYUVState* s) {
- CL_CHECK(clReleaseKernel(s->loadys_krnl));
- CL_CHECK(clReleaseKernel(s->loaduv_krnl));
- CL_CHECK(clReleaseKernel(s->copy_krnl));
-}
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
- cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
- cl_mem out_cl) {
- cl_int global_out_off = 0;
-
- CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
- CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
- CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
-
- const size_t loadys_work_size = (s->width*s->height)/8;
- CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
- &loadys_work_size, NULL, 0, 0, NULL));
-
- const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
- global_out_off += (s->width*s->height);
-
- CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
- CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
- CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
- CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
- &loaduv_work_size, NULL, 0, 0, NULL));
-
- global_out_off += (s->width/2)*(s->height/2);
-
- CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
- CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
- CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
-
- CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
- &loaduv_work_size, NULL, 0, 0, NULL));
-}
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
- size_t src_offset, size_t dst_offset, size_t size) {
- CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
- CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
- CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
- CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
- const size_t copy_work_size = size/8;
- CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
- ©_work_size, NULL, 0, 0, NULL));
-}
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
deleted file mode 100644
index 970187a6d7..0000000000
--- a/selfdrive/modeld/transforms/loadyuv.cl
+++ /dev/null
@@ -1,47 +0,0 @@
-#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
-
-__kernel void loadys(__global uchar8 const * const Y,
- __global uchar * out,
- int out_offset)
-{
- const int gid = get_global_id(0);
- const int ois = gid * 8;
- const int oy = ois / TRANSFORMED_WIDTH;
- const int ox = ois % TRANSFORMED_WIDTH;
-
- const uchar8 ys = Y[gid];
-
- // 02
- // 13
-
- __global uchar* outy0;
- __global uchar* outy1;
- if ((oy & 1) == 0) {
- outy0 = out + out_offset; //y0
- outy1 = out + out_offset + UV_SIZE*2; //y2
- } else {
- outy0 = out + out_offset + UV_SIZE; //y1
- outy1 = out + out_offset + UV_SIZE*3; //y3
- }
-
- vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
- vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-}
-
-__kernel void loaduv(__global uchar8 const * const in,
- __global uchar8 * out,
- int out_offset)
-{
- const int gid = get_global_id(0);
- const uchar8 inv = in[gid];
- out[gid + out_offset / 8] = inv;
-}
-
-__kernel void copy(__global uchar8 * in,
- __global uchar8 * out,
- int in_offset,
- int out_offset)
-{
- const int gid = get_global_id(0);
- out[gid + out_offset / 8] = in[gid + in_offset / 8];
-}
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
deleted file mode 100644
index 659059cd25..0000000000
--- a/selfdrive/modeld/transforms/loadyuv.h
+++ /dev/null
@@ -1,20 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-typedef struct {
- int width, height;
- cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
-} LoadYUVState;
-
-void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
-
-void loadyuv_destroy(LoadYUVState* s);
-
-void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
- cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
- cl_mem out_cl);
-
-
-void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
- size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc
deleted file mode 100644
index 305643cf42..0000000000
--- a/selfdrive/modeld/transforms/transform.cc
+++ /dev/null
@@ -1,97 +0,0 @@
-#include "selfdrive/modeld/transforms/transform.h"
-
-#include
-#include
-
-#include "common/clutil.h"
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
- memset(s, 0, sizeof(*s));
-
- cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
- s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
- // done with this
- CL_CHECK(clReleaseProgram(prg));
-
- s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
- s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
-}
-
-void transform_destroy(Transform* s) {
- CL_CHECK(clReleaseMemObject(s->m_y_cl));
- CL_CHECK(clReleaseMemObject(s->m_uv_cl));
- CL_CHECK(clReleaseKernel(s->krnl));
-}
-
-void transform_queue(Transform* s,
- cl_command_queue q,
- cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
- cl_mem out_y, cl_mem out_u, cl_mem out_v,
- int out_width, int out_height,
- const mat3& projection) {
- const int zero = 0;
-
- // sampled using pixel center origin
- // (because that's how fastcv and opencv does it)
-
- mat3 projection_y = projection;
-
- // in and out uv is half the size of y.
- mat3 projection_uv = transform_scale_buffer(projection, 0.5);
-
- CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
- CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
-
- const int in_y_width = in_width;
- const int in_y_height = in_height;
- const int in_y_px_stride = 1;
- const int in_uv_width = in_width/2;
- const int in_uv_height = in_height/2;
- const int in_uv_px_stride = 2;
- const int in_u_offset = in_uv_offset;
- const int in_v_offset = in_uv_offset + 1;
-
- const int out_y_width = out_width;
- const int out_y_height = out_height;
- const int out_uv_width = out_width/2;
- const int out_uv_height = out_height/2;
-
- CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src
- CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride
- CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride
- CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset
- CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows
- CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols
- CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst
- CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride
- CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset
- CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows
- CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols
- CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M
-
- const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
-
- CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
- (const size_t*)&work_size_y, NULL, 0, 0, NULL));
-
- const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
-
- CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride
- CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset
- CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows
- CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols
- CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst
- CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride
- CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset
- CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows
- CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols
- CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M
-
- CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
- (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
- CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset
- CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst
-
- CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
- (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
-}
diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl
deleted file mode 100644
index 2ca25920cd..0000000000
--- a/selfdrive/modeld/transforms/transform.cl
+++ /dev/null
@@ -1,54 +0,0 @@
-#define INTER_BITS 5
-#define INTER_TAB_SIZE (1 << INTER_BITS)
-#define INTER_SCALE 1.f / INTER_TAB_SIZE
-
-#define INTER_REMAP_COEF_BITS 15
-#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
-
-__kernel void warpPerspective(__global const uchar * src,
- int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
- __global uchar * dst,
- int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
- __constant float * M)
-{
- int dx = get_global_id(0);
- int dy = get_global_id(1);
-
- if (dx < dst_cols && dy < dst_rows)
- {
- float X0 = M[0] * dx + M[1] * dy + M[2];
- float Y0 = M[3] * dx + M[4] * dy + M[5];
- float W = M[6] * dx + M[7] * dy + M[8];
- W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
- int X = rint(X0 * W), Y = rint(Y0 * W);
-
- int sx = convert_short_sat(X >> INTER_BITS);
- int sy = convert_short_sat(Y >> INTER_BITS);
-
- short sx_clamp = clamp(sx, 0, src_cols - 1);
- short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
- short sy_clamp = clamp(sy, 0, src_rows - 1);
- short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
- int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
- int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
- int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
- int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
-
- short ay = (short)(Y & (INTER_TAB_SIZE - 1));
- short ax = (short)(X & (INTER_TAB_SIZE - 1));
- float taby = 1.f/INTER_TAB_SIZE*ay;
- float tabx = 1.f/INTER_TAB_SIZE*ax;
-
- int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
-
- int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
- int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
- int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
- int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
-
- int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3;
-
- uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
- dst[dst_index] = pix;
- }
-}
diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h
deleted file mode 100644
index 771a7054b3..0000000000
--- a/selfdrive/modeld/transforms/transform.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#pragma once
-
-#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
-#ifdef __APPLE__
-#include
-#else
-#include
-#endif
-
-#include "common/mat.h"
-
-typedef struct {
- cl_kernel krnl;
- cl_mem m_y_cl, m_uv_cl;
-} Transform;
-
-void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
-
-void transform_destroy(Transform* transform);
-
-void transform_queue(Transform* s, cl_command_queue q,
- cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
- cl_mem out_y, cl_mem out_u, cl_mem out_v,
- int out_width, int out_height,
- const mat3& projection);
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 9ba599bac9..c242328400 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -34,7 +34,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
EXEC_TIMINGS = [
# model, instant max, average max
- ("modelV2", 0.035, 0.025),
+ ("modelV2", 0.035, 0.028),
("driverStateV2", 0.02, 0.015),
]
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 8af72e5f4e..5143334bc6 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -4,6 +4,7 @@ import time
import copy
import heapq
import signal
+import numpy as np
from collections import Counter
from dataclasses import dataclass, field
from itertools import islice
@@ -23,6 +24,7 @@ from openpilot.common.params import Params
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.common.timeout import Timeout
from openpilot.common.realtime import DT_CTRL
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
from openpilot.system.manager.process_config import managed_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -203,7 +205,8 @@ class ProcessContainer:
if meta.camera_state in self.cfg.vision_pubs:
assert frs[meta.camera_state].pix_fmt == 'nv12'
frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
- vipc_server.create_buffers(meta.stream, 2, *frame_size)
+ stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1])
+ vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height)
vipc_server.start_listener()
self.vipc_server = vipc_server
@@ -300,7 +303,15 @@ class ProcessContainer:
camera_meta = meta_from_camera_state(m.which())
assert frs is not None
img = frs[m.which()].get(camera_state.frameId)
- self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
+
+ h, w = frs[m.which()].h, frs[m.which()].w
+ stride, y_height, _, yuv_size = get_nv12_info(w, h)
+ uv_offset = stride * y_height
+ padded_img = np.zeros((yuv_size), dtype=np.uint8).reshape((-1, stride))
+ padded_img[:h, :w] = img[:h * w].reshape((-1, w))
+ padded_img[uv_offset // stride:uv_offset // stride + h // 2, :w] = img[h * w:].reshape((-1, w))
+
+ self.vipc_server.send(camera_meta.stream, padded_img.flatten().tobytes(),
camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
self.msg_queue = []
From 12597856dae9442357c45dd9857542ca6b4b8ada Mon Sep 17 00:00:00 2001
From: felsager <76905857+felsager@users.noreply.github.com>
Date: Fri, 6 Feb 2026 14:26:20 -0800
Subject: [PATCH 071/150] long mpc: state name before subscript (#37101)
---
.../controls/lib/longitudinal_mpc_lib/long_mpc.py | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index e75705cb68..efdef9dd71 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -108,10 +108,10 @@ def gen_long_model():
a_min = SX.sym('a_min')
a_max = SX.sym('a_max')
x_obstacle = SX.sym('x_obstacle')
- prev_a = SX.sym('prev_a')
+ a_prev = SX.sym('a_prev')
lead_t_follow = SX.sym('lead_t_follow')
lead_danger_factor = SX.sym('lead_danger_factor')
- model.p = vertcat(a_min, a_max, x_obstacle, prev_a, lead_t_follow, lead_danger_factor)
+ model.p = vertcat(a_min, a_max, x_obstacle, a_prev, lead_t_follow, lead_danger_factor)
# dynamics model
f_expl = vertcat(v_ego, a_ego, j_ego)
@@ -143,7 +143,7 @@ def gen_long_ocp():
a_min, a_max = ocp.model.p[0], ocp.model.p[1]
x_obstacle = ocp.model.p[2]
- prev_a = ocp.model.p[3]
+ a_prev = ocp.model.p[3]
lead_t_follow = ocp.model.p[4]
lead_danger_factor = ocp.model.p[5]
@@ -160,7 +160,7 @@ def gen_long_ocp():
x_ego,
v_ego,
a_ego,
- a_ego - prev_a,
+ a_ego - a_prev,
j_ego]
ocp.model.cost_y_expr = vertcat(*costs)
ocp.model.cost_y_expr_e = vertcat(*costs[:-1])
@@ -228,7 +228,7 @@ class LongitudinalMpc:
self.v_solution = np.zeros(N+1)
self.a_solution = np.zeros(N+1)
self.j_solution = np.zeros(N)
- self.prev_a = np.array(self.a_solution)
+ self.a_prev = np.array(self.a_solution)
self.yref = np.zeros((N+1, COST_DIM))
for i in range(N):
@@ -346,7 +346,7 @@ class LongitudinalMpc:
self.params[:,0] = ACCEL_MIN
self.params[:,1] = ACCEL_MAX
self.params[:,2] = np.min(x_obstacles, axis=1)
- self.params[:,3] = np.copy(self.prev_a)
+ self.params[:,3] = np.copy(self.a_prev)
self.params[:,4] = t_follow
self.params[:,5] = LEAD_DANGER_FACTOR
@@ -378,7 +378,7 @@ class LongitudinalMpc:
self.a_solution = self.x_sol[:,2]
self.j_solution = self.u_sol[:,0]
- self.prev_a = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
+ self.a_prev = np.interp(T_IDXS + self.dt, T_IDXS, self.a_solution)
t = time.monotonic()
if self.solution_status != 0:
From 96fded03992bd418099e0c19bb404d371b14966c Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Fri, 6 Feb 2026 15:13:08 -0800
Subject: [PATCH 072/150] clip: clean up imports (#37104)
* wtf is this
* don't break import timing
* they are the same
* clean up
* good catch
---
tools/clip/run.py | 32 +++++++++++++++++---------------
1 file changed, 17 insertions(+), 15 deletions(-)
diff --git a/tools/clip/run.py b/tools/clip/run.py
index 679bb241c1..13f591eb41 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -226,11 +226,11 @@ def load_route_metadata(route):
}
-def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, center=False):
+def draw_text_box(text, x, y, size, gui_app, font, color=None, center=False):
+ import pyray as rl
+ from openpilot.system.ui.lib.text_measure import measure_text_cached
box_color, text_color = rl.Color(0, 0, 0, 85), color or rl.WHITE
- # measure_text_ex is NOT auto-scaled, so multiply by font_scale
- # draw_text_ex IS auto-scaled, so pass size directly
- text_size = rl.measure_text_ex(font, text, size * font_scale, 0)
+ text_size = measure_text_cached(font, text, size)
text_width, text_height = int(text_size.x), int(text_size.y)
if center:
x = (gui_app.width - text_width) // 2
@@ -238,7 +238,8 @@ def draw_text_box(rl, text, x, y, size, gui_app, font, font_scale, color=None, c
rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color)
-def _wrap_text_by_delimiter(text: str, rl, font, font_size: int, font_scale: float, max_width: int, delimiter: str = ", ") -> list[str]:
+def _wrap_text_by_delimiter(text: str, font, font_size: int, max_width: int, delimiter: str = ", ") -> list[str]:
+ from openpilot.system.ui.lib.text_measure import measure_text_cached
"""Wrap text by splitting on delimiter when it exceeds max_width."""
words = text.split(delimiter)
lines: list[str] = []
@@ -248,7 +249,7 @@ def _wrap_text_by_delimiter(text: str, rl, font, font_size: int, font_scale: flo
current_line.append(word)
check_line = delimiter.join(current_line)
# Check if line exceeds max width
- if rl.measure_text_ex(font, check_line, font_size * font_scale, 0).x > max_width:
+ if measure_text_cached(font, check_line, font_size).x > max_width:
current_line.pop() # Line is too long, move word to next line
if current_line:
lines.append(delimiter.join(current_line))
@@ -259,7 +260,8 @@ def _wrap_text_by_delimiter(text: str, rl, font, font_size: int, font_scale: flo
return lines
-def render_overlays(rl, gui_app, font, font_scale, big, metadata, title, start_time, frame_idx, show_metadata, show_time):
+def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx, show_metadata, show_time):
+ from openpilot.system.ui.lib.text_measure import measure_text_cached
metadata_size = 16 if big else 12
title_size = 32 if big else 24
time_size = 24 if big else 16
@@ -269,8 +271,8 @@ def render_overlays(rl, gui_app, font, font_scale, big, metadata, title, start_t
if show_time:
t = start_time + frame_idx / FRAMERATE
time_text = f"{int(t) // 60:02d}:{int(t) % 60:02d}"
- time_width = int(rl.measure_text_ex(font, time_text, time_size * font_scale, 0).x)
- draw_text_box(rl, time_text, gui_app.width - time_width - 5, 0, time_size, gui_app, font, font_scale)
+ time_width = int(measure_text_cached(font, time_text, time_size).x)
+ draw_text_box(time_text, gui_app.width - time_width - 5, 0, time_size, gui_app, font)
# Metadata overlay (first 5 seconds)
if show_metadata and metadata and frame_idx < FRAMERATE * 5:
@@ -280,18 +282,18 @@ def render_overlays(rl, gui_app, font, font_scale, big, metadata, title, start_t
# Wrap text if too wide (leave margin on each side)
margin = 2 * (time_width + 10 if show_time else 20) # leave enough margin for time overlay
max_width = gui_app.width - margin
- lines = _wrap_text_by_delimiter(text, rl, font, metadata_size, font_scale, max_width)
+ lines = _wrap_text_by_delimiter(text, font, metadata_size, max_width)
# Draw wrapped metadata text
y_offset = 6
for line in lines:
- draw_text_box(rl, line, 0, y_offset, metadata_size, gui_app, font, font_scale, center=True)
- line_height = int(rl.measure_text_ex(font, line, metadata_size * font_scale, 0).y) + 4
+ draw_text_box(line, 0, y_offset, metadata_size, gui_app, font, center=True)
+ line_height = int(measure_text_cached(font, line, metadata_size).y) + 4
y_offset += line_height
# Title overlay
if title:
- draw_text_box(rl, title, 0, 60, title_size, gui_app, font, font_scale, center=True)
+ draw_text_box(title, 0, 60, title_size, gui_app, font, center=True)
def clip(route: Route, output: str, start: int, end: int, headless: bool = True, big: bool = False,
@@ -304,7 +306,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
else:
from openpilot.selfdrive.ui.mici.onroad.augmented_road_view import AugmentedRoadView # type: ignore[assignment]
from openpilot.selfdrive.ui.ui_state import ui_state
- from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
+ from openpilot.system.ui.lib.application import gui_app, FontWeight
timer.lap("import")
logger.info(f"Clipping {route.name.canonical_name}, {start}s-{end}s ({duration}s)")
@@ -348,7 +350,7 @@ def clip(route: Route, output: str, start: int, end: int, headless: bool = True,
ui_state.update()
if should_render:
road_view.render()
- render_overlays(rl, gui_app, font, FONT_SCALE, big, metadata, title, start, frame_idx, show_metadata, show_time)
+ render_overlays(gui_app, font, big, metadata, title, start, frame_idx, show_metadata, show_time)
frame_idx += 1
pbar.update(1)
timer.lap("render")
From 4ce701150a3f932aca210e3ff372ffcdb2a23e83 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh
Date: Fri, 6 Feb 2026 16:06:16 -0800
Subject: [PATCH 073/150] rm common/mat.h
---
common/mat.h | 85 ----------------------------------------------------
1 file changed, 85 deletions(-)
delete mode 100644 common/mat.h
diff --git a/common/mat.h b/common/mat.h
deleted file mode 100644
index 8e10d61971..0000000000
--- a/common/mat.h
+++ /dev/null
@@ -1,85 +0,0 @@
-#pragma once
-
-typedef struct vec3 {
- float v[3];
-} vec3;
-
-typedef struct vec4 {
- float v[4];
-} vec4;
-
-typedef struct mat3 {
- float v[3*3];
-} mat3;
-
-typedef struct mat4 {
- float v[4*4];
-} mat4;
-
-static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
- mat3 ret = {{0.0}};
- for (int r=0; r<3; r++) {
- for (int c=0; c<3; c++) {
- float v = 0.0;
- for (int k=0; k<3; k++) {
- v += a.v[r*3+k] * b.v[k*3+c];
- }
- ret.v[r*3+c] = v;
- }
- }
- return ret;
-}
-
-static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
- vec3 ret = {{0.0}};
- for (int r=0; r<3; r++) {
- for (int c=0; c<3; c++) {
- ret.v[r] += a.v[r*3+c] * b.v[c];
- }
- }
- return ret;
-}
-
-static inline mat4 matmul(const mat4 &a, const mat4 &b) {
- mat4 ret = {{0.0}};
- for (int r=0; r<4; r++) {
- for (int c=0; c<4; c++) {
- float v = 0.0;
- for (int k=0; k<4; k++) {
- v += a.v[r*4+k] * b.v[k*4+c];
- }
- ret.v[r*4+c] = v;
- }
- }
- return ret;
-}
-
-static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
- vec4 ret = {{0.0}};
- for (int r=0; r<4; r++) {
- for (int c=0; c<4; c++) {
- ret.v[r] += a.v[r*4+c] * b.v[c];
- }
- }
- return ret;
-}
-
-// scales the input and output space of a transformation matrix
-// that assumes pixel-center origin.
-static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
- // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
-
- mat3 transform_out = {{
- 1.0f/s, 0.0f, 0.5f,
- 0.0f, 1.0f/s, 0.5f,
- 0.0f, 0.0f, 1.0f,
- }};
-
- mat3 transform_in = {{
- s, 0.0f, -0.5f*s,
- 0.0f, s, -0.5f*s,
- 0.0f, 0.0f, 1.0f,
- }};
-
- return matmul3(transform_in, matmul3(in, transform_out));
-}
From d5cbb89d84212bfd99d5fdd8b19f76d90b4f40e0 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh
Date: Fri, 6 Feb 2026 16:36:47 -0800
Subject: [PATCH 074/150] Remove all the OpenCL (#37105)
* Remove all the OpenCL
* lil more
* bump msgq
---
Dockerfile.openpilot_base | 37 -
SConstruct | 1 -
common/SConscript | 1 -
common/clutil.cc | 98 --
common/clutil.h | 28 -
msgq_repo | 2 +-
selfdrive/modeld/dmonitoringmodeld.py | 8 +-
selfdrive/modeld/modeld.py | 14 +-
selfdrive/modeld/runners/tinygrad_helpers.py | 8 -
system/camerad/SConscript | 2 +-
system/camerad/cameras/camera_common.cc | 5 +-
system/camerad/cameras/camera_common.h | 2 +-
system/camerad/cameras/camera_qcom2.cc | 22 +-
system/camerad/cameras/spectra.cc | 4 +-
system/camerad/cameras/spectra.h | 2 +-
system/loggerd/SConscript | 5 +-
third_party/opencl/include/CL/cl.h | 1452 -----------------
third_party/opencl/include/CL/cl_d3d10.h | 131 --
third_party/opencl/include/CL/cl_d3d11.h | 131 --
.../opencl/include/CL/cl_dx9_media_sharing.h | 132 --
third_party/opencl/include/CL/cl_egl.h | 136 --
third_party/opencl/include/CL/cl_ext.h | 391 -----
third_party/opencl/include/CL/cl_ext_qcom.h | 255 ---
third_party/opencl/include/CL/cl_gl.h | 167 --
third_party/opencl/include/CL/cl_gl_ext.h | 74 -
third_party/opencl/include/CL/cl_platform.h | 1333 ---------------
third_party/opencl/include/CL/opencl.h | 59 -
tools/cabana/SConscript | 2 -
tools/install_ubuntu_dependencies.sh | 3 -
tools/replay/SConscript | 5 -
tools/webcam/README.md | 4 -
31 files changed, 22 insertions(+), 4492 deletions(-)
delete mode 100644 common/clutil.cc
delete mode 100644 common/clutil.h
delete mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py
delete mode 100644 third_party/opencl/include/CL/cl.h
delete mode 100644 third_party/opencl/include/CL/cl_d3d10.h
delete mode 100644 third_party/opencl/include/CL/cl_d3d11.h
delete mode 100644 third_party/opencl/include/CL/cl_dx9_media_sharing.h
delete mode 100644 third_party/opencl/include/CL/cl_egl.h
delete mode 100644 third_party/opencl/include/CL/cl_ext.h
delete mode 100644 third_party/opencl/include/CL/cl_ext_qcom.h
delete mode 100644 third_party/opencl/include/CL/cl_gl.h
delete mode 100644 third_party/opencl/include/CL/cl_gl_ext.h
delete mode 100644 third_party/opencl/include/CL/cl_platform.h
delete mode 100644 third_party/opencl/include/CL/opencl.h
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 44d8d95e95..8a60412993 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -18,43 +18,6 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \
cd /usr/lib/gcc/arm-none-eabi/* && \
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
- apt-utils \
- alien \
- unzip \
- tar \
- curl \
- xz-utils \
- dbus \
- gcc-arm-none-eabi \
- tmux \
- vim \
- libx11-6 \
- wget \
- && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
- cd /tmp/opencl-driver-intel && \
- wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
- wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
- mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
- cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
- tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
- mkdir -p /etc/OpenCL/vendors && \
- echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
- cd /opt/intel && \
- tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
- ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
- ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
- ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
- ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
- mkdir -p /etc/ld.so.conf.d && \
- echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
- ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
- cd / && \
- rm -rf /tmp/opencl-driver-intel
-
ENV NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
ENV QTWEBENGINE_DISABLE_SANDBOX=1
diff --git a/SConstruct b/SConstruct
index ca5b7b6cb7..4f04be624c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -94,7 +94,6 @@ env = Environment(
# Arch-specific flags and paths
if arch == "larch64":
- env.Append(CPPPATH=["#third_party/opencl/include"])
env.Append(LIBPATH=[
"/usr/local/lib",
"/system/vendor/lib64",
diff --git a/common/SConscript b/common/SConscript
index 1c68cf05c7..15a0e5eff1 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -5,7 +5,6 @@ common_libs = [
'swaglog.cc',
'util.cc',
'ratekeeper.cc',
- 'clutil.cc',
]
_common = env.Library('common', common_libs, LIBS="json11")
diff --git a/common/clutil.cc b/common/clutil.cc
deleted file mode 100644
index f8381a7e09..0000000000
--- a/common/clutil.cc
+++ /dev/null
@@ -1,98 +0,0 @@
-#include "common/clutil.h"
-
-#include
-#include
-#include
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-namespace { // helper functions
-
-template
-std::string get_info(Func get_info_func, Id id, Name param_name) {
- size_t size = 0;
- CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
- std::string info(size, '\0');
- CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
- return info;
-}
-inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
-inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
-
-void cl_print_info(cl_platform_id platform, cl_device_id device) {
- size_t work_group_size = 0;
- cl_device_type device_type = 0;
- clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
- clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
- const char *type_str = "Other...";
- switch (device_type) {
- case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
- case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
- case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
- }
-
- LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
- LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
- LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
- LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
- LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
- LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
- LOGD("max work group size: %zu", work_group_size);
- LOGD("type = %d, %s", (int)device_type, type_str);
-}
-
-void cl_print_build_errors(cl_program program, cl_device_id device) {
- cl_build_status status;
- clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
- size_t log_size;
- clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
- std::string log(log_size, '\0');
- clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
-
- LOGE("build failed; status=%d, log: %s", status, log.c_str());
-}
-
-} // namespace
-
-cl_device_id cl_get_device_id(cl_device_type device_type) {
- cl_uint num_platforms = 0;
- CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
- std::unique_ptr platform_ids = std::make_unique(num_platforms);
- CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
-
- for (size_t i = 0; i < num_platforms; ++i) {
- LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
-
- // Get first device
- if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
- cl_print_info(platform_ids[i], device_id);
- return device_id;
- }
- }
- LOGE("No valid openCL platform found");
- assert(0);
- return nullptr;
-}
-
-cl_context cl_create_context(cl_device_id device_id) {
- return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-void cl_release_context(cl_context context) {
- clReleaseContext(context);
-}
-
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
- return cl_program_from_source(ctx, device_id, util::read_file(path), args);
-}
-
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
- const char *csrc = src.c_str();
- cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
- if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
- cl_print_build_errors(prg, device_id);
- assert(0);
- }
- return prg;
-}
diff --git a/common/clutil.h b/common/clutil.h
deleted file mode 100644
index b364e79d45..0000000000
--- a/common/clutil.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#pragma once
-
-#ifdef __APPLE__
-#include
-#else
-#include
-#endif
-
-#include
-
-#define CL_CHECK(_expr) \
- do { \
- assert(CL_SUCCESS == (_expr)); \
- } while (0)
-
-#define CL_CHECK_ERR(_expr) \
- ({ \
- cl_int err = CL_INVALID_VALUE; \
- __typeof__(_expr) _ret = _expr; \
- assert(_ret&& err == CL_SUCCESS); \
- _ret; \
- })
-
-cl_device_id cl_get_device_id(cl_device_type device_type);
-cl_context cl_create_context(cl_device_id device_id);
-void cl_release_context(cl_context context);
-cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
-cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
diff --git a/msgq_repo b/msgq_repo
index 20f2493855..f9ebdca885 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 20f2493855ef32339b80f0ad76b3cb82210dc474
+Subproject commit f9ebdca885cfe25295d09de9fd57023a10758de5
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index f12c13081b..7d4df713c7 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -11,7 +11,6 @@ from pathlib import Path
from cereal import messaging
from cereal.messaging import PubMaster, SubMaster
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from msgq.visionipc.visionipc_pyx import CLContext
from openpilot.common.swaglog import cloudlog
from openpilot.common.realtime import config_realtime_process
from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
@@ -29,7 +28,7 @@ class ModelState:
inputs: dict[str, np.ndarray]
output: np.ndarray
- def __init__(self, cl_ctx):
+ def __init__(self):
with open(METADATA_PATH, 'rb') as f:
model_metadata = pickle.load(f)
self.input_shapes = model_metadata['input_shapes']
@@ -110,12 +109,11 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
def main():
config_realtime_process(7, 5)
- cl_context = CLContext()
- model = ModelState(cl_context)
+ model = ModelState()
cloudlog.warning("models loaded, dmonitoringmodeld starting")
cloudlog.warning("connecting to driver stream")
- vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
+ vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
while not vipc_client.connect(False):
time.sleep(0.1)
assert vipc_client.is_connected()
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index d9445c8d33..7fae365109 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -15,7 +15,6 @@ from cereal import car, log
from pathlib import Path
from cereal.messaging import PubMaster, SubMaster
from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from msgq.visionipc.visionipc_pyx import CLContext
from opendbc.car.car_helpers import get_demo_car_params
from openpilot.common.swaglog import cloudlog
from openpilot.common.params import Params
@@ -143,7 +142,7 @@ class ModelState:
output: np.ndarray
prev_desire: np.ndarray # for tracking the rising edge of the pulse
- def __init__(self, context: CLContext):
+ def __init__(self):
with open(VISION_METADATA_PATH, 'rb') as f:
vision_metadata = pickle.load(f)
self.vision_input_shapes = vision_metadata['input_shapes']
@@ -166,7 +165,6 @@ class ModelState:
self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
self.full_input_queues.reset()
- # img buffers are managed in openCL transform code
self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),}
self.full_frames : dict[str, Tensor] = {}
@@ -242,10 +240,8 @@ def main(demo=False):
config_realtime_process(7, 54)
st = time.monotonic()
- cloudlog.warning("setting up CL context")
- cl_context = CLContext()
- cloudlog.warning("CL context ready; loading model")
- model = ModelState(cl_context)
+ cloudlog.warning("loading model")
+ model = ModelState()
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
# visionipc clients
@@ -258,8 +254,8 @@ def main(demo=False):
time.sleep(.1)
vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
- vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
- vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
+ vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
+ vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
while not vipc_client_main.connect(False):
diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py
deleted file mode 100644
index 776381341c..0000000000
--- a/selfdrive/modeld/runners/tinygrad_helpers.py
+++ /dev/null
@@ -1,8 +0,0 @@
-
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import to_mv
-
-def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
- cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
- rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
- return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index e288c6d8b0..c28330b32c 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -1,6 +1,6 @@
Import('env', 'arch', 'messaging', 'common', 'visionipc')
-libs = [common, 'OpenCL', messaging, visionipc]
+libs = [common, messaging, visionipc]
if arch != "Darwin":
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 88bca7f775..329192b63a 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -7,7 +7,7 @@
#include "system/camerad/cameras/spectra.h"
-void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
+void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
vipc_server = v;
stream_type = type;
frame_buf_count = frame_cnt;
@@ -21,9 +21,8 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
for (int i = 0; i < frame_buf_count; i++) {
camera_bufs_raw[i].allocate(raw_frame_size);
- camera_bufs_raw[i].init_cl(device_id, context);
}
- LOGD("allocated %d CL buffers", frame_buf_count);
+ LOGD("allocated %d buffers", frame_buf_count);
}
vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset);
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index c26859cbc4..7f35e06a83 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -36,7 +36,7 @@ public:
CameraBuf() = default;
~CameraBuf();
- void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
+ void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
void sendFrameToVipc();
};
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index d741e13cf3..6a7f599ab6 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -12,16 +12,8 @@
#include
#include
-#ifdef __TICI__
-#include "CL/cl_ext_qcom.h"
-#else
-#define CL_PRIORITY_HINT_HIGH_QCOM NULL
-#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL
-#endif
-
#include "media/cam_sensor_cmn_header.h"
-#include "common/clutil.h"
#include "common/params.h"
#include "common/swaglog.h"
@@ -57,7 +49,7 @@ public:
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
~CameraState();
- void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+ void init(VisionIpcServer *v);
void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
void set_camera_exposure(float grey_frac);
void set_exposure_rect();
@@ -68,8 +60,8 @@ public:
}
};
-void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
- camera.camera_open(v, device_id, ctx);
+void CameraState::init(VisionIpcServer *v) {
+ camera.camera_open(v);
if (!camera.enabled) return;
@@ -257,11 +249,7 @@ void CameraState::sendState() {
void camerad_thread() {
// TODO: centralize enabled handling
- cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
- const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
- cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
-
- VisionIpcServer v("camerad", device_id, ctx);
+ VisionIpcServer v("camerad");
// *** initial ISP init ***
SpectraMaster m;
@@ -271,7 +259,7 @@ void camerad_thread() {
std::vector> cams;
for (const auto &config : ALL_CAMERA_CONFIGS) {
auto cam = std::make_unique(&m, config);
- cam->init(&v, device_id, ctx);
+ cam->init(&v);
cams.emplace_back(std::move(cam));
}
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 5c3e7a9d23..73e0a78da3 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -274,7 +274,7 @@ int SpectraCamera::clear_req_queue() {
return ret;
}
-void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
+void SpectraCamera::camera_open(VisionIpcServer *v) {
if (!openSensor()) {
return;
}
@@ -296,7 +296,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
linkDevices();
LOGD("camera init %d", cc.camera_num);
- buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
+ buf.init(this, v, ife_buf_depth, cc.stream_type);
camera_map_bufs();
clearAndRequeue(1);
}
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index 13cb13f98f..a02b8a6cac 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -113,7 +113,7 @@ public:
SpectraCamera(SpectraMaster *master, const CameraConfig &config);
~SpectraCamera();
- void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
+ void camera_open(VisionIpcServer *v);
bool handle_camera_event(const cam_req_mgr_message *event_data);
void camera_close();
void camera_map_bufs();
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index cf169f4dc6..cc8ef7c88f 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -2,16 +2,13 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc')
libs = [common, messaging, visionipc,
'avformat', 'avcodec', 'avutil',
- 'yuv', 'OpenCL', 'pthread', 'zstd']
+ 'yuv', 'pthread', 'zstd']
src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
if arch != "larch64":
src += ['encoder/ffmpeg_encoder.cc']
if arch == "Darwin":
- # fix OpenCL
- del libs[libs.index('OpenCL')]
- env['FRAMEWORKS'] = ['OpenCL']
# exclude v4l
del src[src.index('encoder/v4l_encoder.cc')]
diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h
deleted file mode 100644
index 0086319f5f..0000000000
--- a/third_party/opencl/include/CL/cl.h
+++ /dev/null
@@ -1,1452 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- * https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-#ifndef __OPENCL_CL_H
-#define __OPENCL_CL_H
-
-#ifdef __APPLE__
-#include
-#else
-#include
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************/
-
-typedef struct _cl_platform_id * cl_platform_id;
-typedef struct _cl_device_id * cl_device_id;
-typedef struct _cl_context * cl_context;
-typedef struct _cl_command_queue * cl_command_queue;
-typedef struct _cl_mem * cl_mem;
-typedef struct _cl_program * cl_program;
-typedef struct _cl_kernel * cl_kernel;
-typedef struct _cl_event * cl_event;
-typedef struct _cl_sampler * cl_sampler;
-
-typedef cl_uint cl_bool; /* WARNING! Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */
-typedef cl_ulong cl_bitfield;
-typedef cl_bitfield cl_device_type;
-typedef cl_uint cl_platform_info;
-typedef cl_uint cl_device_info;
-typedef cl_bitfield cl_device_fp_config;
-typedef cl_uint cl_device_mem_cache_type;
-typedef cl_uint cl_device_local_mem_type;
-typedef cl_bitfield cl_device_exec_capabilities;
-typedef cl_bitfield cl_device_svm_capabilities;
-typedef cl_bitfield cl_command_queue_properties;
-typedef intptr_t cl_device_partition_property;
-typedef cl_bitfield cl_device_affinity_domain;
-
-typedef intptr_t cl_context_properties;
-typedef cl_uint cl_context_info;
-typedef cl_bitfield cl_queue_properties;
-typedef cl_uint cl_command_queue_info;
-typedef cl_uint cl_channel_order;
-typedef cl_uint cl_channel_type;
-typedef cl_bitfield cl_mem_flags;
-typedef cl_bitfield cl_svm_mem_flags;
-typedef cl_uint cl_mem_object_type;
-typedef cl_uint cl_mem_info;
-typedef cl_bitfield cl_mem_migration_flags;
-typedef cl_uint cl_image_info;
-typedef cl_uint cl_buffer_create_type;
-typedef cl_uint cl_addressing_mode;
-typedef cl_uint cl_filter_mode;
-typedef cl_uint cl_sampler_info;
-typedef cl_bitfield cl_map_flags;
-typedef intptr_t cl_pipe_properties;
-typedef cl_uint cl_pipe_info;
-typedef cl_uint cl_program_info;
-typedef cl_uint cl_program_build_info;
-typedef cl_uint cl_program_binary_type;
-typedef cl_int cl_build_status;
-typedef cl_uint cl_kernel_info;
-typedef cl_uint cl_kernel_arg_info;
-typedef cl_uint cl_kernel_arg_address_qualifier;
-typedef cl_uint cl_kernel_arg_access_qualifier;
-typedef cl_bitfield cl_kernel_arg_type_qualifier;
-typedef cl_uint cl_kernel_work_group_info;
-typedef cl_uint cl_kernel_sub_group_info;
-typedef cl_uint cl_event_info;
-typedef cl_uint cl_command_type;
-typedef cl_uint cl_profiling_info;
-typedef cl_bitfield cl_sampler_properties;
-typedef cl_uint cl_kernel_exec_info;
-
-typedef struct _cl_image_format {
- cl_channel_order image_channel_order;
- cl_channel_type image_channel_data_type;
-} cl_image_format;
-
-typedef struct _cl_image_desc {
- cl_mem_object_type image_type;
- size_t image_width;
- size_t image_height;
- size_t image_depth;
- size_t image_array_size;
- size_t image_row_pitch;
- size_t image_slice_pitch;
- cl_uint num_mip_levels;
- cl_uint num_samples;
-#ifdef __GNUC__
- __extension__ /* Prevents warnings about anonymous union in -pedantic builds */
-#endif
- union {
- cl_mem buffer;
- cl_mem mem_object;
- };
-} cl_image_desc;
-
-typedef struct _cl_buffer_region {
- size_t origin;
- size_t size;
-} cl_buffer_region;
-
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_SUCCESS 0
-#define CL_DEVICE_NOT_FOUND -1
-#define CL_DEVICE_NOT_AVAILABLE -2
-#define CL_COMPILER_NOT_AVAILABLE -3
-#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4
-#define CL_OUT_OF_RESOURCES -5
-#define CL_OUT_OF_HOST_MEMORY -6
-#define CL_PROFILING_INFO_NOT_AVAILABLE -7
-#define CL_MEM_COPY_OVERLAP -8
-#define CL_IMAGE_FORMAT_MISMATCH -9
-#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10
-#define CL_BUILD_PROGRAM_FAILURE -11
-#define CL_MAP_FAILURE -12
-#define CL_MISALIGNED_SUB_BUFFER_OFFSET -13
-#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14
-#define CL_COMPILE_PROGRAM_FAILURE -15
-#define CL_LINKER_NOT_AVAILABLE -16
-#define CL_LINK_PROGRAM_FAILURE -17
-#define CL_DEVICE_PARTITION_FAILED -18
-#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE -19
-
-#define CL_INVALID_VALUE -30
-#define CL_INVALID_DEVICE_TYPE -31
-#define CL_INVALID_PLATFORM -32
-#define CL_INVALID_DEVICE -33
-#define CL_INVALID_CONTEXT -34
-#define CL_INVALID_QUEUE_PROPERTIES -35
-#define CL_INVALID_COMMAND_QUEUE -36
-#define CL_INVALID_HOST_PTR -37
-#define CL_INVALID_MEM_OBJECT -38
-#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39
-#define CL_INVALID_IMAGE_SIZE -40
-#define CL_INVALID_SAMPLER -41
-#define CL_INVALID_BINARY -42
-#define CL_INVALID_BUILD_OPTIONS -43
-#define CL_INVALID_PROGRAM -44
-#define CL_INVALID_PROGRAM_EXECUTABLE -45
-#define CL_INVALID_KERNEL_NAME -46
-#define CL_INVALID_KERNEL_DEFINITION -47
-#define CL_INVALID_KERNEL -48
-#define CL_INVALID_ARG_INDEX -49
-#define CL_INVALID_ARG_VALUE -50
-#define CL_INVALID_ARG_SIZE -51
-#define CL_INVALID_KERNEL_ARGS -52
-#define CL_INVALID_WORK_DIMENSION -53
-#define CL_INVALID_WORK_GROUP_SIZE -54
-#define CL_INVALID_WORK_ITEM_SIZE -55
-#define CL_INVALID_GLOBAL_OFFSET -56
-#define CL_INVALID_EVENT_WAIT_LIST -57
-#define CL_INVALID_EVENT -58
-#define CL_INVALID_OPERATION -59
-#define CL_INVALID_GL_OBJECT -60
-#define CL_INVALID_BUFFER_SIZE -61
-#define CL_INVALID_MIP_LEVEL -62
-#define CL_INVALID_GLOBAL_WORK_SIZE -63
-#define CL_INVALID_PROPERTY -64
-#define CL_INVALID_IMAGE_DESCRIPTOR -65
-#define CL_INVALID_COMPILER_OPTIONS -66
-#define CL_INVALID_LINKER_OPTIONS -67
-#define CL_INVALID_DEVICE_PARTITION_COUNT -68
-#define CL_INVALID_PIPE_SIZE -69
-#define CL_INVALID_DEVICE_QUEUE -70
-
-/* OpenCL Version */
-#define CL_VERSION_1_0 1
-#define CL_VERSION_1_1 1
-#define CL_VERSION_1_2 1
-#define CL_VERSION_2_0 1
-#define CL_VERSION_2_1 1
-
-/* cl_bool */
-#define CL_FALSE 0
-#define CL_TRUE 1
-#define CL_BLOCKING CL_TRUE
-#define CL_NON_BLOCKING CL_FALSE
-
-/* cl_platform_info */
-#define CL_PLATFORM_PROFILE 0x0900
-#define CL_PLATFORM_VERSION 0x0901
-#define CL_PLATFORM_NAME 0x0902
-#define CL_PLATFORM_VENDOR 0x0903
-#define CL_PLATFORM_EXTENSIONS 0x0904
-#define CL_PLATFORM_HOST_TIMER_RESOLUTION 0x0905
-
-/* cl_device_type - bitfield */
-#define CL_DEVICE_TYPE_DEFAULT (1 << 0)
-#define CL_DEVICE_TYPE_CPU (1 << 1)
-#define CL_DEVICE_TYPE_GPU (1 << 2)
-#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3)
-#define CL_DEVICE_TYPE_CUSTOM (1 << 4)
-#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF
-
-/* cl_device_info */
-#define CL_DEVICE_TYPE 0x1000
-#define CL_DEVICE_VENDOR_ID 0x1001
-#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002
-#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003
-#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004
-#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B
-#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C
-#define CL_DEVICE_ADDRESS_BITS 0x100D
-#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E
-#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F
-#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010
-#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011
-#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012
-#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013
-#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014
-#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015
-#define CL_DEVICE_IMAGE_SUPPORT 0x1016
-#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017
-#define CL_DEVICE_MAX_SAMPLERS 0x1018
-#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019
-#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A
-#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B
-#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C
-#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D
-#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E
-#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F
-#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020
-#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021
-#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022
-#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023
-#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024
-#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025
-#define CL_DEVICE_ENDIAN_LITTLE 0x1026
-#define CL_DEVICE_AVAILABLE 0x1027
-#define CL_DEVICE_COMPILER_AVAILABLE 0x1028
-#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029
-#define CL_DEVICE_QUEUE_PROPERTIES 0x102A /* deprecated */
-#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES 0x102A
-#define CL_DEVICE_NAME 0x102B
-#define CL_DEVICE_VENDOR 0x102C
-#define CL_DRIVER_VERSION 0x102D
-#define CL_DEVICE_PROFILE 0x102E
-#define CL_DEVICE_VERSION 0x102F
-#define CL_DEVICE_EXTENSIONS 0x1030
-#define CL_DEVICE_PLATFORM 0x1031
-#define CL_DEVICE_DOUBLE_FP_CONFIG 0x1032
-/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */
-#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF 0x1034
-#define CL_DEVICE_HOST_UNIFIED_MEMORY 0x1035 /* deprecated */
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR 0x1036
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT 0x1037
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT 0x1038
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG 0x1039
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT 0x103A
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE 0x103B
-#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF 0x103C
-#define CL_DEVICE_OPENCL_C_VERSION 0x103D
-#define CL_DEVICE_LINKER_AVAILABLE 0x103E
-#define CL_DEVICE_BUILT_IN_KERNELS 0x103F
-#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE 0x1040
-#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE 0x1041
-#define CL_DEVICE_PARENT_DEVICE 0x1042
-#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES 0x1043
-#define CL_DEVICE_PARTITION_PROPERTIES 0x1044
-#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN 0x1045
-#define CL_DEVICE_PARTITION_TYPE 0x1046
-#define CL_DEVICE_REFERENCE_COUNT 0x1047
-#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC 0x1048
-#define CL_DEVICE_PRINTF_BUFFER_SIZE 0x1049
-#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT 0x104A
-#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT 0x104B
-#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS 0x104C
-#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE 0x104D
-#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES 0x104E
-#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE 0x104F
-#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE 0x1050
-#define CL_DEVICE_MAX_ON_DEVICE_QUEUES 0x1051
-#define CL_DEVICE_MAX_ON_DEVICE_EVENTS 0x1052
-#define CL_DEVICE_SVM_CAPABILITIES 0x1053
-#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE 0x1054
-#define CL_DEVICE_MAX_PIPE_ARGS 0x1055
-#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS 0x1056
-#define CL_DEVICE_PIPE_MAX_PACKET_SIZE 0x1057
-#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT 0x1058
-#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT 0x1059
-#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT 0x105A
-#define CL_DEVICE_IL_VERSION 0x105B
-#define CL_DEVICE_MAX_NUM_SUB_GROUPS 0x105C
-#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D
-
-/* cl_device_fp_config - bitfield */
-#define CL_FP_DENORM (1 << 0)
-#define CL_FP_INF_NAN (1 << 1)
-#define CL_FP_ROUND_TO_NEAREST (1 << 2)
-#define CL_FP_ROUND_TO_ZERO (1 << 3)
-#define CL_FP_ROUND_TO_INF (1 << 4)
-#define CL_FP_FMA (1 << 5)
-#define CL_FP_SOFT_FLOAT (1 << 6)
-#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT (1 << 7)
-
-/* cl_device_mem_cache_type */
-#define CL_NONE 0x0
-#define CL_READ_ONLY_CACHE 0x1
-#define CL_READ_WRITE_CACHE 0x2
-
-/* cl_device_local_mem_type */
-#define CL_LOCAL 0x1
-#define CL_GLOBAL 0x2
-
-/* cl_device_exec_capabilities - bitfield */
-#define CL_EXEC_KERNEL (1 << 0)
-#define CL_EXEC_NATIVE_KERNEL (1 << 1)
-
-/* cl_command_queue_properties - bitfield */
-#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0)
-#define CL_QUEUE_PROFILING_ENABLE (1 << 1)
-#define CL_QUEUE_ON_DEVICE (1 << 2)
-#define CL_QUEUE_ON_DEVICE_DEFAULT (1 << 3)
-
-/* cl_context_info */
-#define CL_CONTEXT_REFERENCE_COUNT 0x1080
-#define CL_CONTEXT_DEVICES 0x1081
-#define CL_CONTEXT_PROPERTIES 0x1082
-#define CL_CONTEXT_NUM_DEVICES 0x1083
-
-/* cl_context_properties */
-#define CL_CONTEXT_PLATFORM 0x1084
-#define CL_CONTEXT_INTEROP_USER_SYNC 0x1085
-
-/* cl_device_partition_property */
-#define CL_DEVICE_PARTITION_EQUALLY 0x1086
-#define CL_DEVICE_PARTITION_BY_COUNTS 0x1087
-#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END 0x0
-#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN 0x1088
-
-/* cl_device_affinity_domain */
-#define CL_DEVICE_AFFINITY_DOMAIN_NUMA (1 << 0)
-#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE (1 << 1)
-#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE (1 << 2)
-#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE (1 << 3)
-#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE (1 << 4)
-#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5)
-
-/* cl_device_svm_capabilities */
-#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER (1 << 0)
-#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER (1 << 1)
-#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM (1 << 2)
-#define CL_DEVICE_SVM_ATOMICS (1 << 3)
-
-/* cl_command_queue_info */
-#define CL_QUEUE_CONTEXT 0x1090
-#define CL_QUEUE_DEVICE 0x1091
-#define CL_QUEUE_REFERENCE_COUNT 0x1092
-#define CL_QUEUE_PROPERTIES 0x1093
-#define CL_QUEUE_SIZE 0x1094
-#define CL_QUEUE_DEVICE_DEFAULT 0x1095
-
-/* cl_mem_flags and cl_svm_mem_flags - bitfield */
-#define CL_MEM_READ_WRITE (1 << 0)
-#define CL_MEM_WRITE_ONLY (1 << 1)
-#define CL_MEM_READ_ONLY (1 << 2)
-#define CL_MEM_USE_HOST_PTR (1 << 3)
-#define CL_MEM_ALLOC_HOST_PTR (1 << 4)
-#define CL_MEM_COPY_HOST_PTR (1 << 5)
-/* reserved (1 << 6) */
-#define CL_MEM_HOST_WRITE_ONLY (1 << 7)
-#define CL_MEM_HOST_READ_ONLY (1 << 8)
-#define CL_MEM_HOST_NO_ACCESS (1 << 9)
-#define CL_MEM_SVM_FINE_GRAIN_BUFFER (1 << 10) /* used by cl_svm_mem_flags only */
-#define CL_MEM_SVM_ATOMICS (1 << 11) /* used by cl_svm_mem_flags only */
-#define CL_MEM_KERNEL_READ_AND_WRITE (1 << 12)
-
-/* cl_mem_migration_flags - bitfield */
-#define CL_MIGRATE_MEM_OBJECT_HOST (1 << 0)
-#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED (1 << 1)
-
-/* cl_channel_order */
-#define CL_R 0x10B0
-#define CL_A 0x10B1
-#define CL_RG 0x10B2
-#define CL_RA 0x10B3
-#define CL_RGB 0x10B4
-#define CL_RGBA 0x10B5
-#define CL_BGRA 0x10B6
-#define CL_ARGB 0x10B7
-#define CL_INTENSITY 0x10B8
-#define CL_LUMINANCE 0x10B9
-#define CL_Rx 0x10BA
-#define CL_RGx 0x10BB
-#define CL_RGBx 0x10BC
-#define CL_DEPTH 0x10BD
-#define CL_DEPTH_STENCIL 0x10BE
-#define CL_sRGB 0x10BF
-#define CL_sRGBx 0x10C0
-#define CL_sRGBA 0x10C1
-#define CL_sBGRA 0x10C2
-#define CL_ABGR 0x10C3
-
-/* cl_channel_type */
-#define CL_SNORM_INT8 0x10D0
-#define CL_SNORM_INT16 0x10D1
-#define CL_UNORM_INT8 0x10D2
-#define CL_UNORM_INT16 0x10D3
-#define CL_UNORM_SHORT_565 0x10D4
-#define CL_UNORM_SHORT_555 0x10D5
-#define CL_UNORM_INT_101010 0x10D6
-#define CL_SIGNED_INT8 0x10D7
-#define CL_SIGNED_INT16 0x10D8
-#define CL_SIGNED_INT32 0x10D9
-#define CL_UNSIGNED_INT8 0x10DA
-#define CL_UNSIGNED_INT16 0x10DB
-#define CL_UNSIGNED_INT32 0x10DC
-#define CL_HALF_FLOAT 0x10DD
-#define CL_FLOAT 0x10DE
-#define CL_UNORM_INT24 0x10DF
-#define CL_UNORM_INT_101010_2 0x10E0
-
-/* cl_mem_object_type */
-#define CL_MEM_OBJECT_BUFFER 0x10F0
-#define CL_MEM_OBJECT_IMAGE2D 0x10F1
-#define CL_MEM_OBJECT_IMAGE3D 0x10F2
-#define CL_MEM_OBJECT_IMAGE2D_ARRAY 0x10F3
-#define CL_MEM_OBJECT_IMAGE1D 0x10F4
-#define CL_MEM_OBJECT_IMAGE1D_ARRAY 0x10F5
-#define CL_MEM_OBJECT_IMAGE1D_BUFFER 0x10F6
-#define CL_MEM_OBJECT_PIPE 0x10F7
-
-/* cl_mem_info */
-#define CL_MEM_TYPE 0x1100
-#define CL_MEM_FLAGS 0x1101
-#define CL_MEM_SIZE 0x1102
-#define CL_MEM_HOST_PTR 0x1103
-#define CL_MEM_MAP_COUNT 0x1104
-#define CL_MEM_REFERENCE_COUNT 0x1105
-#define CL_MEM_CONTEXT 0x1106
-#define CL_MEM_ASSOCIATED_MEMOBJECT 0x1107
-#define CL_MEM_OFFSET 0x1108
-#define CL_MEM_USES_SVM_POINTER 0x1109
-
-/* cl_image_info */
-#define CL_IMAGE_FORMAT 0x1110
-#define CL_IMAGE_ELEMENT_SIZE 0x1111
-#define CL_IMAGE_ROW_PITCH 0x1112
-#define CL_IMAGE_SLICE_PITCH 0x1113
-#define CL_IMAGE_WIDTH 0x1114
-#define CL_IMAGE_HEIGHT 0x1115
-#define CL_IMAGE_DEPTH 0x1116
-#define CL_IMAGE_ARRAY_SIZE 0x1117
-#define CL_IMAGE_BUFFER 0x1118
-#define CL_IMAGE_NUM_MIP_LEVELS 0x1119
-#define CL_IMAGE_NUM_SAMPLES 0x111A
-
-/* cl_pipe_info */
-#define CL_PIPE_PACKET_SIZE 0x1120
-#define CL_PIPE_MAX_PACKETS 0x1121
-
-/* cl_addressing_mode */
-#define CL_ADDRESS_NONE 0x1130
-#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131
-#define CL_ADDRESS_CLAMP 0x1132
-#define CL_ADDRESS_REPEAT 0x1133
-#define CL_ADDRESS_MIRRORED_REPEAT 0x1134
-
-/* cl_filter_mode */
-#define CL_FILTER_NEAREST 0x1140
-#define CL_FILTER_LINEAR 0x1141
-
-/* cl_sampler_info */
-#define CL_SAMPLER_REFERENCE_COUNT 0x1150
-#define CL_SAMPLER_CONTEXT 0x1151
-#define CL_SAMPLER_NORMALIZED_COORDS 0x1152
-#define CL_SAMPLER_ADDRESSING_MODE 0x1153
-#define CL_SAMPLER_FILTER_MODE 0x1154
-#define CL_SAMPLER_MIP_FILTER_MODE 0x1155
-#define CL_SAMPLER_LOD_MIN 0x1156
-#define CL_SAMPLER_LOD_MAX 0x1157
-
-/* cl_map_flags - bitfield */
-#define CL_MAP_READ (1 << 0)
-#define CL_MAP_WRITE (1 << 1)
-#define CL_MAP_WRITE_INVALIDATE_REGION (1 << 2)
-
-/* cl_program_info */
-#define CL_PROGRAM_REFERENCE_COUNT 0x1160
-#define CL_PROGRAM_CONTEXT 0x1161
-#define CL_PROGRAM_NUM_DEVICES 0x1162
-#define CL_PROGRAM_DEVICES 0x1163
-#define CL_PROGRAM_SOURCE 0x1164
-#define CL_PROGRAM_BINARY_SIZES 0x1165
-#define CL_PROGRAM_BINARIES 0x1166
-#define CL_PROGRAM_NUM_KERNELS 0x1167
-#define CL_PROGRAM_KERNEL_NAMES 0x1168
-#define CL_PROGRAM_IL 0x1169
-
-/* cl_program_build_info */
-#define CL_PROGRAM_BUILD_STATUS 0x1181
-#define CL_PROGRAM_BUILD_OPTIONS 0x1182
-#define CL_PROGRAM_BUILD_LOG 0x1183
-#define CL_PROGRAM_BINARY_TYPE 0x1184
-#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185
-
-/* cl_program_binary_type */
-#define CL_PROGRAM_BINARY_TYPE_NONE 0x0
-#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT 0x1
-#define CL_PROGRAM_BINARY_TYPE_LIBRARY 0x2
-#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE 0x4
-
-/* cl_build_status */
-#define CL_BUILD_SUCCESS 0
-#define CL_BUILD_NONE -1
-#define CL_BUILD_ERROR -2
-#define CL_BUILD_IN_PROGRESS -3
-
-/* cl_kernel_info */
-#define CL_KERNEL_FUNCTION_NAME 0x1190
-#define CL_KERNEL_NUM_ARGS 0x1191
-#define CL_KERNEL_REFERENCE_COUNT 0x1192
-#define CL_KERNEL_CONTEXT 0x1193
-#define CL_KERNEL_PROGRAM 0x1194
-#define CL_KERNEL_ATTRIBUTES 0x1195
-#define CL_KERNEL_MAX_NUM_SUB_GROUPS 0x11B9
-#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS 0x11BA
-
-/* cl_kernel_arg_info */
-#define CL_KERNEL_ARG_ADDRESS_QUALIFIER 0x1196
-#define CL_KERNEL_ARG_ACCESS_QUALIFIER 0x1197
-#define CL_KERNEL_ARG_TYPE_NAME 0x1198
-#define CL_KERNEL_ARG_TYPE_QUALIFIER 0x1199
-#define CL_KERNEL_ARG_NAME 0x119A
-
-/* cl_kernel_arg_address_qualifier */
-#define CL_KERNEL_ARG_ADDRESS_GLOBAL 0x119B
-#define CL_KERNEL_ARG_ADDRESS_LOCAL 0x119C
-#define CL_KERNEL_ARG_ADDRESS_CONSTANT 0x119D
-#define CL_KERNEL_ARG_ADDRESS_PRIVATE 0x119E
-
-/* cl_kernel_arg_access_qualifier */
-#define CL_KERNEL_ARG_ACCESS_READ_ONLY 0x11A0
-#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY 0x11A1
-#define CL_KERNEL_ARG_ACCESS_READ_WRITE 0x11A2
-#define CL_KERNEL_ARG_ACCESS_NONE 0x11A3
-
-/* cl_kernel_arg_type_qualifer */
-#define CL_KERNEL_ARG_TYPE_NONE 0
-#define CL_KERNEL_ARG_TYPE_CONST (1 << 0)
-#define CL_KERNEL_ARG_TYPE_RESTRICT (1 << 1)
-#define CL_KERNEL_ARG_TYPE_VOLATILE (1 << 2)
-#define CL_KERNEL_ARG_TYPE_PIPE (1 << 3)
-
-/* cl_kernel_work_group_info */
-#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0
-#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1
-#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2
-#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3
-#define CL_KERNEL_PRIVATE_MEM_SIZE 0x11B4
-#define CL_KERNEL_GLOBAL_WORK_SIZE 0x11B5
-
-/* cl_kernel_sub_group_info */
-#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE 0x2033
-#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE 0x2034
-#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT 0x11B8
-
-/* cl_kernel_exec_info */
-#define CL_KERNEL_EXEC_INFO_SVM_PTRS 0x11B6
-#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM 0x11B7
-
-/* cl_event_info */
-#define CL_EVENT_COMMAND_QUEUE 0x11D0
-#define CL_EVENT_COMMAND_TYPE 0x11D1
-#define CL_EVENT_REFERENCE_COUNT 0x11D2
-#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3
-#define CL_EVENT_CONTEXT 0x11D4
-
-/* cl_command_type */
-#define CL_COMMAND_NDRANGE_KERNEL 0x11F0
-#define CL_COMMAND_TASK 0x11F1
-#define CL_COMMAND_NATIVE_KERNEL 0x11F2
-#define CL_COMMAND_READ_BUFFER 0x11F3
-#define CL_COMMAND_WRITE_BUFFER 0x11F4
-#define CL_COMMAND_COPY_BUFFER 0x11F5
-#define CL_COMMAND_READ_IMAGE 0x11F6
-#define CL_COMMAND_WRITE_IMAGE 0x11F7
-#define CL_COMMAND_COPY_IMAGE 0x11F8
-#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9
-#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA
-#define CL_COMMAND_MAP_BUFFER 0x11FB
-#define CL_COMMAND_MAP_IMAGE 0x11FC
-#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD
-#define CL_COMMAND_MARKER 0x11FE
-#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x11FF
-#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1200
-#define CL_COMMAND_READ_BUFFER_RECT 0x1201
-#define CL_COMMAND_WRITE_BUFFER_RECT 0x1202
-#define CL_COMMAND_COPY_BUFFER_RECT 0x1203
-#define CL_COMMAND_USER 0x1204
-#define CL_COMMAND_BARRIER 0x1205
-#define CL_COMMAND_MIGRATE_MEM_OBJECTS 0x1206
-#define CL_COMMAND_FILL_BUFFER 0x1207
-#define CL_COMMAND_FILL_IMAGE 0x1208
-#define CL_COMMAND_SVM_FREE 0x1209
-#define CL_COMMAND_SVM_MEMCPY 0x120A
-#define CL_COMMAND_SVM_MEMFILL 0x120B
-#define CL_COMMAND_SVM_MAP 0x120C
-#define CL_COMMAND_SVM_UNMAP 0x120D
-
-/* command execution status */
-#define CL_COMPLETE 0x0
-#define CL_RUNNING 0x1
-#define CL_SUBMITTED 0x2
-#define CL_QUEUED 0x3
-
-/* cl_buffer_create_type */
-#define CL_BUFFER_CREATE_TYPE_REGION 0x1220
-
-/* cl_profiling_info */
-#define CL_PROFILING_COMMAND_QUEUED 0x1280
-#define CL_PROFILING_COMMAND_SUBMIT 0x1281
-#define CL_PROFILING_COMMAND_START 0x1282
-#define CL_PROFILING_COMMAND_END 0x1283
-#define CL_PROFILING_COMMAND_COMPLETE 0x1284
-
-/********************************************************************************************************/
-
-/* Platform API */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetPlatformIDs(cl_uint /* num_entries */,
- cl_platform_id * /* platforms */,
- cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetPlatformInfo(cl_platform_id /* platform */,
- cl_platform_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Device APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceIDs(cl_platform_id /* platform */,
- cl_device_type /* device_type */,
- cl_uint /* num_entries */,
- cl_device_id * /* devices */,
- cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceInfo(cl_device_id /* device */,
- cl_device_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCreateSubDevices(cl_device_id /* in_device */,
- const cl_device_partition_property * /* properties */,
- cl_uint /* num_devices */,
- cl_device_id * /* out_devices */,
- cl_uint * /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetDefaultDeviceCommandQueue(cl_context /* context */,
- cl_device_id /* device */,
- cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceAndHostTimer(cl_device_id /* device */,
- cl_ulong* /* device_timestamp */,
- cl_ulong* /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetHostTimer(cl_device_id /* device */,
- cl_ulong * /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1;
-
-
-/* Context APIs */
-extern CL_API_ENTRY cl_context CL_API_CALL
-clCreateContext(const cl_context_properties * /* properties */,
- cl_uint /* num_devices */,
- const cl_device_id * /* devices */,
- void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *),
- void * /* user_data */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_context CL_API_CALL
-clCreateContextFromType(const cl_context_properties * /* properties */,
- cl_device_type /* device_type */,
- void (CL_CALLBACK * /* pfn_notify*/ )(const char *, const void *, size_t, void *),
- void * /* user_data */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetContextInfo(cl_context /* context */,
- cl_context_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Command Queue APIs */
-extern CL_API_ENTRY cl_command_queue CL_API_CALL
-clCreateCommandQueueWithProperties(cl_context /* context */,
- cl_device_id /* device */,
- const cl_queue_properties * /* properties */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetCommandQueueInfo(cl_command_queue /* command_queue */,
- cl_command_queue_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Memory Object APIs */
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateBuffer(cl_context /* context */,
- cl_mem_flags /* flags */,
- size_t /* size */,
- void * /* host_ptr */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateSubBuffer(cl_mem /* buffer */,
- cl_mem_flags /* flags */,
- cl_buffer_create_type /* buffer_create_type */,
- const void * /* buffer_create_info */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateImage(cl_context /* context */,
- cl_mem_flags /* flags */,
- const cl_image_format * /* image_format */,
- const cl_image_desc * /* image_desc */,
- void * /* host_ptr */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreatePipe(cl_context /* context */,
- cl_mem_flags /* flags */,
- cl_uint /* pipe_packet_size */,
- cl_uint /* pipe_max_packets */,
- const cl_pipe_properties * /* properties */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetSupportedImageFormats(cl_context /* context */,
- cl_mem_flags /* flags */,
- cl_mem_object_type /* image_type */,
- cl_uint /* num_entries */,
- cl_image_format * /* image_formats */,
- cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetMemObjectInfo(cl_mem /* memobj */,
- cl_mem_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetImageInfo(cl_mem /* image */,
- cl_image_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetPipeInfo(cl_mem /* pipe */,
- cl_pipe_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0;
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetMemObjectDestructorCallback(cl_mem /* memobj */,
- void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/),
- void * /*user_data */ ) CL_API_SUFFIX__VERSION_1_1;
-
-/* SVM Allocation APIs */
-extern CL_API_ENTRY void * CL_API_CALL
-clSVMAlloc(cl_context /* context */,
- cl_svm_mem_flags /* flags */,
- size_t /* size */,
- cl_uint /* alignment */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY void CL_API_CALL
-clSVMFree(cl_context /* context */,
- void * /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0;
-
-/* Sampler APIs */
-extern CL_API_ENTRY cl_sampler CL_API_CALL
-clCreateSamplerWithProperties(cl_context /* context */,
- const cl_sampler_properties * /* normalized_coords */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetSamplerInfo(cl_sampler /* sampler */,
- cl_sampler_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Program Object APIs */
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithSource(cl_context /* context */,
- cl_uint /* count */,
- const char ** /* strings */,
- const size_t * /* lengths */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithBinary(cl_context /* context */,
- cl_uint /* num_devices */,
- const cl_device_id * /* device_list */,
- const size_t * /* lengths */,
- const unsigned char ** /* binaries */,
- cl_int * /* binary_status */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithBuiltInKernels(cl_context /* context */,
- cl_uint /* num_devices */,
- const cl_device_id * /* device_list */,
- const char * /* kernel_names */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clCreateProgramWithIL(cl_context /* context */,
- const void* /* il */,
- size_t /* length */,
- cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clBuildProgram(cl_program /* program */,
- cl_uint /* num_devices */,
- const cl_device_id * /* device_list */,
- const char * /* options */,
- void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
- void * /* user_data */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCompileProgram(cl_program /* program */,
- cl_uint /* num_devices */,
- const cl_device_id * /* device_list */,
- const char * /* options */,
- cl_uint /* num_input_headers */,
- const cl_program * /* input_headers */,
- const char ** /* header_include_names */,
- void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
- void * /* user_data */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_program CL_API_CALL
-clLinkProgram(cl_context /* context */,
- cl_uint /* num_devices */,
- const cl_device_id * /* device_list */,
- const char * /* options */,
- cl_uint /* num_input_programs */,
- const cl_program * /* input_programs */,
- void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
- void * /* user_data */,
- cl_int * /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2;
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetProgramInfo(cl_program /* program */,
- cl_program_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetProgramBuildInfo(cl_program /* program */,
- cl_device_id /* device */,
- cl_program_build_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Kernel Object APIs */
-extern CL_API_ENTRY cl_kernel CL_API_CALL
-clCreateKernel(cl_program /* program */,
- const char * /* kernel_name */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clCreateKernelsInProgram(cl_program /* program */,
- cl_uint /* num_kernels */,
- cl_kernel * /* kernels */,
- cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_kernel CL_API_CALL
-clCloneKernel(cl_kernel /* source_kernel */,
- cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelArg(cl_kernel /* kernel */,
- cl_uint /* arg_index */,
- size_t /* arg_size */,
- const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelArgSVMPointer(cl_kernel /* kernel */,
- cl_uint /* arg_index */,
- const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetKernelExecInfo(cl_kernel /* kernel */,
- cl_kernel_exec_info /* param_name */,
- size_t /* param_value_size */,
- const void * /* param_value */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelInfo(cl_kernel /* kernel */,
- cl_kernel_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelArgInfo(cl_kernel /* kernel */,
- cl_uint /* arg_indx */,
- cl_kernel_arg_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelWorkGroupInfo(cl_kernel /* kernel */,
- cl_device_id /* device */,
- cl_kernel_work_group_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelSubGroupInfo(cl_kernel /* kernel */,
- cl_device_id /* device */,
- cl_kernel_sub_group_info /* param_name */,
- size_t /* input_value_size */,
- const void* /*input_value */,
- size_t /* param_value_size */,
- void* /* param_value */,
- size_t* /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1;
-
-
-/* Event Object APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clWaitForEvents(cl_uint /* num_events */,
- const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetEventInfo(cl_event /* event */,
- cl_event_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateUserEvent(cl_context /* context */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetUserEventStatus(cl_event /* event */,
- cl_int /* execution_status */) CL_API_SUFFIX__VERSION_1_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetEventCallback( cl_event /* event */,
- cl_int /* command_exec_callback_type */,
- void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *),
- void * /* user_data */) CL_API_SUFFIX__VERSION_1_1;
-
-/* Profiling APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetEventProfilingInfo(cl_event /* event */,
- cl_profiling_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Flush and Finish APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
-
-/* Enqueued Commands APIs */
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadBuffer(cl_command_queue /* command_queue */,
- cl_mem /* buffer */,
- cl_bool /* blocking_read */,
- size_t /* offset */,
- size_t /* size */,
- void * /* ptr */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadBufferRect(cl_command_queue /* command_queue */,
- cl_mem /* buffer */,
- cl_bool /* blocking_read */,
- const size_t * /* buffer_offset */,
- const size_t * /* host_offset */,
- const size_t * /* region */,
- size_t /* buffer_row_pitch */,
- size_t /* buffer_slice_pitch */,
- size_t /* host_row_pitch */,
- size_t /* host_slice_pitch */,
- void * /* ptr */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteBuffer(cl_command_queue /* command_queue */,
- cl_mem /* buffer */,
- cl_bool /* blocking_write */,
- size_t /* offset */,
- size_t /* size */,
- const void * /* ptr */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteBufferRect(cl_command_queue /* command_queue */,
- cl_mem /* buffer */,
- cl_bool /* blocking_write */,
- const size_t * /* buffer_offset */,
- const size_t * /* host_offset */,
- const size_t * /* region */,
- size_t /* buffer_row_pitch */,
- size_t /* buffer_slice_pitch */,
- size_t /* host_row_pitch */,
- size_t /* host_slice_pitch */,
- const void * /* ptr */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueFillBuffer(cl_command_queue /* command_queue */,
- cl_mem /* buffer */,
- const void * /* pattern */,
- size_t /* pattern_size */,
- size_t /* offset */,
- size_t /* size */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBuffer(cl_command_queue /* command_queue */,
- cl_mem /* src_buffer */,
- cl_mem /* dst_buffer */,
- size_t /* src_offset */,
- size_t /* dst_offset */,
- size_t /* size */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBufferRect(cl_command_queue /* command_queue */,
- cl_mem /* src_buffer */,
- cl_mem /* dst_buffer */,
- const size_t * /* src_origin */,
- const size_t * /* dst_origin */,
- const size_t * /* region */,
- size_t /* src_row_pitch */,
- size_t /* src_slice_pitch */,
- size_t /* dst_row_pitch */,
- size_t /* dst_slice_pitch */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReadImage(cl_command_queue /* command_queue */,
- cl_mem /* image */,
- cl_bool /* blocking_read */,
- const size_t * /* origin[3] */,
- const size_t * /* region[3] */,
- size_t /* row_pitch */,
- size_t /* slice_pitch */,
- void * /* ptr */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueWriteImage(cl_command_queue /* command_queue */,
- cl_mem /* image */,
- cl_bool /* blocking_write */,
- const size_t * /* origin[3] */,
- const size_t * /* region[3] */,
- size_t /* input_row_pitch */,
- size_t /* input_slice_pitch */,
- const void * /* ptr */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueFillImage(cl_command_queue /* command_queue */,
- cl_mem /* image */,
- const void * /* fill_color */,
- const size_t * /* origin[3] */,
- const size_t * /* region[3] */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyImage(cl_command_queue /* command_queue */,
- cl_mem /* src_image */,
- cl_mem /* dst_image */,
- const size_t * /* src_origin[3] */,
- const size_t * /* dst_origin[3] */,
- const size_t * /* region[3] */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */,
- cl_mem /* src_image */,
- cl_mem /* dst_buffer */,
- const size_t * /* src_origin[3] */,
- const size_t * /* region[3] */,
- size_t /* dst_offset */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */,
- cl_mem /* src_buffer */,
- cl_mem /* dst_image */,
- size_t /* src_offset */,
- const size_t * /* dst_origin[3] */,
- const size_t * /* region[3] */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY void * CL_API_CALL
-clEnqueueMapBuffer(cl_command_queue /* command_queue */,
- cl_mem /* buffer */,
- cl_bool /* blocking_map */,
- cl_map_flags /* map_flags */,
- size_t /* offset */,
- size_t /* size */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY void * CL_API_CALL
-clEnqueueMapImage(cl_command_queue /* command_queue */,
- cl_mem /* image */,
- cl_bool /* blocking_map */,
- cl_map_flags /* map_flags */,
- const size_t * /* origin[3] */,
- const size_t * /* region[3] */,
- size_t * /* image_row_pitch */,
- size_t * /* image_slice_pitch */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueUnmapMemObject(cl_command_queue /* command_queue */,
- cl_mem /* memobj */,
- void * /* mapped_ptr */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueMigrateMemObjects(cl_command_queue /* command_queue */,
- cl_uint /* num_mem_objects */,
- const cl_mem * /* mem_objects */,
- cl_mem_migration_flags /* flags */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueNDRangeKernel(cl_command_queue /* command_queue */,
- cl_kernel /* kernel */,
- cl_uint /* work_dim */,
- const size_t * /* global_work_offset */,
- const size_t * /* global_work_size */,
- const size_t * /* local_work_size */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueNativeKernel(cl_command_queue /* command_queue */,
- void (CL_CALLBACK * /*user_func*/)(void *),
- void * /* args */,
- size_t /* cb_args */,
- cl_uint /* num_mem_objects */,
- const cl_mem * /* mem_list */,
- const void ** /* args_mem_loc */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueMarkerWithWaitList(cl_command_queue /* command_queue */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueBarrierWithWaitList(cl_command_queue /* command_queue */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMFree(cl_command_queue /* command_queue */,
- cl_uint /* num_svm_pointers */,
- void *[] /* svm_pointers[] */,
- void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */,
- cl_uint /* num_svm_pointers */,
- void *[] /* svm_pointers[] */,
- void * /* user_data */),
- void * /* user_data */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMemcpy(cl_command_queue /* command_queue */,
- cl_bool /* blocking_copy */,
- void * /* dst_ptr */,
- const void * /* src_ptr */,
- size_t /* size */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMemFill(cl_command_queue /* command_queue */,
- void * /* svm_ptr */,
- const void * /* pattern */,
- size_t /* pattern_size */,
- size_t /* size */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMap(cl_command_queue /* command_queue */,
- cl_bool /* blocking_map */,
- cl_map_flags /* flags */,
- void * /* svm_ptr */,
- size_t /* size */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMUnmap(cl_command_queue /* command_queue */,
- void * /* svm_ptr */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueSVMMigrateMem(cl_command_queue /* command_queue */,
- cl_uint /* num_svm_pointers */,
- const void ** /* svm_pointers */,
- const size_t * /* sizes */,
- cl_mem_migration_flags /* flags */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_2_1;
-
-
-/* Extension function access
- *
- * Returns the extension function address for the given function name,
- * or NULL if a valid function can not be found. The client must
- * check to make sure the address is not NULL, before using or
- * calling the returned function address.
- */
-extern CL_API_ENTRY void * CL_API_CALL
-clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */,
- const char * /* func_name */) CL_API_SUFFIX__VERSION_1_2;
-
-
-/* Deprecated OpenCL 1.1 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateImage2D(cl_context /* context */,
- cl_mem_flags /* flags */,
- const cl_image_format * /* image_format */,
- size_t /* image_width */,
- size_t /* image_height */,
- size_t /* image_row_pitch */,
- void * /* host_ptr */,
- cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateImage3D(cl_context /* context */,
- cl_mem_flags /* flags */,
- const cl_image_format * /* image_format */,
- size_t /* image_width */,
- size_t /* image_height */,
- size_t /* image_depth */,
- size_t /* image_row_pitch */,
- size_t /* image_slice_pitch */,
- void * /* host_ptr */,
- cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueMarker(cl_command_queue /* command_queue */,
- cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueWaitForEvents(cl_command_queue /* command_queue */,
- cl_uint /* num_events */,
- const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
-clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL
-clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-/* Deprecated OpenCL 2.0 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL
-clCreateCommandQueue(cl_context /* context */,
- cl_device_id /* device */,
- cl_command_queue_properties /* properties */,
- cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL
-clCreateSampler(cl_context /* context */,
- cl_bool /* normalized_coords */,
- cl_addressing_mode /* addressing_mode */,
- cl_filter_mode /* filter_mode */,
- cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL
-clEnqueueTask(cl_command_queue /* command_queue */,
- cl_kernel /* kernel */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_H */
-
diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h
deleted file mode 100644
index d5960a43f7..0000000000
--- a/third_party/opencl/include/CL/cl_d3d10.h
+++ /dev/null
@@ -1,131 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- * https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_D3D10_H
-#define __OPENCL_CL_D3D10_H
-
-#include
-#include
-#include
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************
- * cl_khr_d3d10_sharing */
-#define cl_khr_d3d10_sharing 1
-
-typedef cl_uint cl_d3d10_device_source_khr;
-typedef cl_uint cl_d3d10_device_set_khr;
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_D3D10_DEVICE_KHR -1002
-#define CL_INVALID_D3D10_RESOURCE_KHR -1003
-#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR -1004
-#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR -1005
-
-/* cl_d3d10_device_source_nv */
-#define CL_D3D10_DEVICE_KHR 0x4010
-#define CL_D3D10_DXGI_ADAPTER_KHR 0x4011
-
-/* cl_d3d10_device_set_nv */
-#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR 0x4012
-#define CL_ALL_DEVICES_FOR_D3D10_KHR 0x4013
-
-/* cl_context_info */
-#define CL_CONTEXT_D3D10_DEVICE_KHR 0x4014
-#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C
-
-/* cl_mem_info */
-#define CL_MEM_D3D10_RESOURCE_KHR 0x4015
-
-/* cl_image_info */
-#define CL_IMAGE_D3D10_SUBRESOURCE_KHR 0x4016
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR 0x4017
-#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR 0x4018
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)(
- cl_platform_id platform,
- cl_d3d10_device_source_khr d3d_device_source,
- void * d3d_object,
- cl_d3d10_device_set_khr d3d_device_set,
- cl_uint num_entries,
- cl_device_id * devices,
- cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)(
- cl_context context,
- cl_mem_flags flags,
- ID3D10Buffer * resource,
- cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)(
- cl_context context,
- cl_mem_flags flags,
- ID3D10Texture2D * resource,
- UINT subresource,
- cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)(
- cl_context context,
- cl_mem_flags flags,
- ID3D10Texture3D * resource,
- UINT subresource,
- cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)(
- cl_command_queue command_queue,
- cl_uint num_objects,
- const cl_mem * mem_objects,
- cl_uint num_events_in_wait_list,
- const cl_event * event_wait_list,
- cl_event * event) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)(
- cl_command_queue command_queue,
- cl_uint num_objects,
- const cl_mem * mem_objects,
- cl_uint num_events_in_wait_list,
- const cl_event * event_wait_list,
- cl_event * event) CL_API_SUFFIX__VERSION_1_0;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_D3D10_H */
-
diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h
deleted file mode 100644
index 39f9072398..0000000000
--- a/third_party/opencl/include/CL/cl_d3d11.h
+++ /dev/null
@@ -1,131 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- * https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_D3D11_H
-#define __OPENCL_CL_D3D11_H
-
-#include
-#include
-#include
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************
- * cl_khr_d3d11_sharing */
-#define cl_khr_d3d11_sharing 1
-
-typedef cl_uint cl_d3d11_device_source_khr;
-typedef cl_uint cl_d3d11_device_set_khr;
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_D3D11_DEVICE_KHR -1006
-#define CL_INVALID_D3D11_RESOURCE_KHR -1007
-#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR -1008
-#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR -1009
-
-/* cl_d3d11_device_source */
-#define CL_D3D11_DEVICE_KHR 0x4019
-#define CL_D3D11_DXGI_ADAPTER_KHR 0x401A
-
-/* cl_d3d11_device_set */
-#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR 0x401B
-#define CL_ALL_DEVICES_FOR_D3D11_KHR 0x401C
-
-/* cl_context_info */
-#define CL_CONTEXT_D3D11_DEVICE_KHR 0x401D
-#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D
-
-/* cl_mem_info */
-#define CL_MEM_D3D11_RESOURCE_KHR 0x401E
-
-/* cl_image_info */
-#define CL_IMAGE_D3D11_SUBRESOURCE_KHR 0x401F
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR 0x4020
-#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR 0x4021
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)(
- cl_platform_id platform,
- cl_d3d11_device_source_khr d3d_device_source,
- void * d3d_object,
- cl_d3d11_device_set_khr d3d_device_set,
- cl_uint num_entries,
- cl_device_id * devices,
- cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)(
- cl_context context,
- cl_mem_flags flags,
- ID3D11Buffer * resource,
- cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)(
- cl_context context,
- cl_mem_flags flags,
- ID3D11Texture2D * resource,
- UINT subresource,
- cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)(
- cl_context context,
- cl_mem_flags flags,
- ID3D11Texture3D * resource,
- UINT subresource,
- cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)(
- cl_command_queue command_queue,
- cl_uint num_objects,
- const cl_mem * mem_objects,
- cl_uint num_events_in_wait_list,
- const cl_event * event_wait_list,
- cl_event * event) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)(
- cl_command_queue command_queue,
- cl_uint num_objects,
- const cl_mem * mem_objects,
- cl_uint num_events_in_wait_list,
- const cl_event * event_wait_list,
- cl_event * event) CL_API_SUFFIX__VERSION_1_2;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_D3D11_H */
-
diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h
deleted file mode 100644
index 2729e8b9e8..0000000000
--- a/third_party/opencl/include/CL/cl_dx9_media_sharing.h
+++ /dev/null
@@ -1,132 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- * https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H
-#define __OPENCL_CL_DX9_MEDIA_SHARING_H
-
-#include
-#include
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/******************************************************************************/
-/* cl_khr_dx9_media_sharing */
-#define cl_khr_dx9_media_sharing 1
-
-typedef cl_uint cl_dx9_media_adapter_type_khr;
-typedef cl_uint cl_dx9_media_adapter_set_khr;
-
-#if defined(_WIN32)
-#include
-typedef struct _cl_dx9_surface_info_khr
-{
- IDirect3DSurface9 *resource;
- HANDLE shared_handle;
-} cl_dx9_surface_info_khr;
-#endif
-
-
-/******************************************************************************/
-
-/* Error Codes */
-#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR -1010
-#define CL_INVALID_DX9_MEDIA_SURFACE_KHR -1011
-#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR -1012
-#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR -1013
-
-/* cl_media_adapter_type_khr */
-#define CL_ADAPTER_D3D9_KHR 0x2020
-#define CL_ADAPTER_D3D9EX_KHR 0x2021
-#define CL_ADAPTER_DXVA_KHR 0x2022
-
-/* cl_media_adapter_set_khr */
-#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2023
-#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2024
-
-/* cl_context_info */
-#define CL_CONTEXT_ADAPTER_D3D9_KHR 0x2025
-#define CL_CONTEXT_ADAPTER_D3D9EX_KHR 0x2026
-#define CL_CONTEXT_ADAPTER_DXVA_KHR 0x2027
-
-/* cl_mem_info */
-#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR 0x2028
-#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR 0x2029
-
-/* cl_image_info */
-#define CL_IMAGE_DX9_MEDIA_PLANE_KHR 0x202A
-
-/* cl_command_type */
-#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR 0x202B
-#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR 0x202C
-
-/******************************************************************************/
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)(
- cl_platform_id platform,
- cl_uint num_media_adapters,
- cl_dx9_media_adapter_type_khr * media_adapter_type,
- void * media_adapters,
- cl_dx9_media_adapter_set_khr media_adapter_set,
- cl_uint num_entries,
- cl_device_id * devices,
- cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)(
- cl_context context,
- cl_mem_flags flags,
- cl_dx9_media_adapter_type_khr adapter_type,
- void * surface_info,
- cl_uint plane,
- cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)(
- cl_command_queue command_queue,
- cl_uint num_objects,
- const cl_mem * mem_objects,
- cl_uint num_events_in_wait_list,
- const cl_event * event_wait_list,
- cl_event * event) CL_API_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)(
- cl_command_queue command_queue,
- cl_uint num_objects,
- const cl_mem * mem_objects,
- cl_uint num_events_in_wait_list,
- const cl_event * event_wait_list,
- cl_event * event) CL_API_SUFFIX__VERSION_1_2;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_DX9_MEDIA_SHARING_H */
-
diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h
deleted file mode 100644
index a765bd5266..0000000000
--- a/third_party/opencl/include/CL/cl_egl.h
+++ /dev/null
@@ -1,136 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- * https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-#ifndef __OPENCL_CL_EGL_H
-#define __OPENCL_CL_EGL_H
-
-#ifdef __APPLE__
-
-#else
-#include
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */
-#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR 0x202F
-#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR 0x202D
-#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR 0x202E
-
-/* Error type for clCreateFromEGLImageKHR */
-#define CL_INVALID_EGL_OBJECT_KHR -1093
-#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR -1092
-
-/* CLeglImageKHR is an opaque handle to an EGLImage */
-typedef void* CLeglImageKHR;
-
-/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */
-typedef void* CLeglDisplayKHR;
-
-/* CLeglSyncKHR is an opaque handle to an EGLSync object */
-typedef void* CLeglSyncKHR;
-
-/* properties passed to clCreateFromEGLImageKHR */
-typedef intptr_t cl_egl_image_properties_khr;
-
-
-#define cl_khr_egl_image 1
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromEGLImageKHR(cl_context /* context */,
- CLeglDisplayKHR /* egldisplay */,
- CLeglImageKHR /* eglimage */,
- cl_mem_flags /* flags */,
- const cl_egl_image_properties_khr * /* properties */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)(
- cl_context context,
- CLeglDisplayKHR egldisplay,
- CLeglImageKHR eglimage,
- cl_mem_flags flags,
- const cl_egl_image_properties_khr * properties,
- cl_int * errcode_ret);
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */,
- cl_uint /* num_objects */,
- const cl_mem * /* mem_objects */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)(
- cl_command_queue command_queue,
- cl_uint num_objects,
- const cl_mem * mem_objects,
- cl_uint num_events_in_wait_list,
- const cl_event * event_wait_list,
- cl_event * event);
-
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */,
- cl_uint /* num_objects */,
- const cl_mem * /* mem_objects */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)(
- cl_command_queue command_queue,
- cl_uint num_objects,
- const cl_mem * mem_objects,
- cl_uint num_events_in_wait_list,
- const cl_event * event_wait_list,
- cl_event * event);
-
-
-#define cl_khr_egl_event 1
-
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateEventFromEGLSyncKHR(cl_context /* context */,
- CLeglSyncKHR /* sync */,
- CLeglDisplayKHR /* display */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)(
- cl_context context,
- CLeglSyncKHR sync,
- CLeglDisplayKHR display,
- cl_int * errcode_ret);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_EGL_H */
diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h
deleted file mode 100644
index 7941583895..0000000000
--- a/third_party/opencl/include/CL/cl_ext.h
+++ /dev/null
@@ -1,391 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- * https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */
-
-/* cl_ext.h contains OpenCL extensions which don't have external */
-/* (OpenGL, D3D) dependencies. */
-
-#ifndef __CL_EXT_H
-#define __CL_EXT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
- #include
- #include
-#else
- #include
-#endif
-
-/* cl_khr_fp16 extension - no extension #define since it has no functions */
-#define CL_DEVICE_HALF_FP_CONFIG 0x1033
-
-/* Memory object destruction
- *
- * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR
- *
- * Registers a user callback function that will be called when the memory object is deleted and its resources
- * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback
- * stack associated with memobj. The registered user callback functions are called in the reverse order in
- * which they were registered. The user callback functions are called and then the memory object is deleted
- * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be
- * notified when the memory referenced by host_ptr, specified when the memory object is created and used as
- * the storage bits for the memory object, can be reused or freed.
- *
- * The application may not call CL api's with the cl_mem object passed to the pfn_notify.
- *
- * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
- * before using.
- */
-#define cl_APPLE_SetMemObjectDestructor 1
-cl_int CL_API_ENTRY clSetMemObjectDestructorAPPLE( cl_mem /* memobj */,
- void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/),
- void * /*user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
-
-
-/* Context Logging Functions
- *
- * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext().
- * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
- * before using.
- *
- * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger
- */
-#define cl_APPLE_ContextLoggingFunctions 1
-extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE( const char * /* errstr */,
- const void * /* private_info */,
- size_t /* cb */,
- void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
-
-/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */
-extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE( const char * /* errstr */,
- const void * /* private_info */,
- size_t /* cb */,
- void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
-
-/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */
-extern void CL_API_ENTRY clLogMessagesToStderrAPPLE( const char * /* errstr */,
- const void * /* private_info */,
- size_t /* cb */,
- void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
-
-
-/************************
-* cl_khr_icd extension *
-************************/
-#define cl_khr_icd 1
-
-/* cl_platform_info */
-#define CL_PLATFORM_ICD_SUFFIX_KHR 0x0920
-
-/* Additional Error Codes */
-#define CL_PLATFORM_NOT_FOUND_KHR -1001
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clIcdGetPlatformIDsKHR(cl_uint /* num_entries */,
- cl_platform_id * /* platforms */,
- cl_uint * /* num_platforms */);
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)(
- cl_uint /* num_entries */,
- cl_platform_id * /* platforms */,
- cl_uint * /* num_platforms */);
-
-
-/* Extension: cl_khr_image2D_buffer
- *
- * This extension allows a 2D image to be created from a cl_mem buffer without a copy.
- * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t.
- * Both the sampler and sampler-less read_image built-in functions are supported for 2D images
- * and 2D images created from a buffer. Similarly, the write_image built-ins are also supported
- * for 2D images created from a buffer.
- *
- * When the 2D image from buffer is created, the client must specify the width,
- * height, image format (i.e. channel order and channel data type) and optionally the row pitch
- *
- * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels.
- * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels.
- */
-
-/*************************************
- * cl_khr_initalize_memory extension *
- *************************************/
-
-#define CL_CONTEXT_MEMORY_INITIALIZE_KHR 0x2030
-
-
-/**************************************
- * cl_khr_terminate_context extension *
- **************************************/
-
-#define CL_DEVICE_TERMINATE_CAPABILITY_KHR 0x2031
-#define CL_CONTEXT_TERMINATE_KHR 0x2032
-
-#define cl_khr_terminate_context 1
-extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
-
-
-/*
- * Extension: cl_khr_spir
- *
- * This extension adds support to create an OpenCL program object from a
- * Standard Portable Intermediate Representation (SPIR) instance
- */
-
-#define CL_DEVICE_SPIR_VERSIONS 0x40E0
-#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE 0x40E1
-
-
-/******************************************
-* cl_nv_device_attribute_query extension *
-******************************************/
-/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */
-#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV 0x4000
-#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV 0x4001
-#define CL_DEVICE_REGISTERS_PER_BLOCK_NV 0x4002
-#define CL_DEVICE_WARP_SIZE_NV 0x4003
-#define CL_DEVICE_GPU_OVERLAP_NV 0x4004
-#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV 0x4005
-#define CL_DEVICE_INTEGRATED_MEMORY_NV 0x4006
-
-/*********************************
-* cl_amd_device_attribute_query *
-*********************************/
-#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD 0x4036
-
-/*********************************
-* cl_arm_printf extension
-*********************************/
-#define CL_PRINTF_CALLBACK_ARM 0x40B0
-#define CL_PRINTF_BUFFERSIZE_ARM 0x40B1
-
-#ifdef CL_VERSION_1_1
- /***********************************
- * cl_ext_device_fission extension *
- ***********************************/
- #define cl_ext_device_fission 1
-
- extern CL_API_ENTRY cl_int CL_API_CALL
- clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
- typedef CL_API_ENTRY cl_int
- (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
- extern CL_API_ENTRY cl_int CL_API_CALL
- clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
- typedef CL_API_ENTRY cl_int
- (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
- typedef cl_ulong cl_device_partition_property_ext;
- extern CL_API_ENTRY cl_int CL_API_CALL
- clCreateSubDevicesEXT( cl_device_id /*in_device*/,
- const cl_device_partition_property_ext * /* properties */,
- cl_uint /*num_entries*/,
- cl_device_id * /*out_devices*/,
- cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
- typedef CL_API_ENTRY cl_int
- ( CL_API_CALL * clCreateSubDevicesEXT_fn)( cl_device_id /*in_device*/,
- const cl_device_partition_property_ext * /* properties */,
- cl_uint /*num_entries*/,
- cl_device_id * /*out_devices*/,
- cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
-
- /* cl_device_partition_property_ext */
- #define CL_DEVICE_PARTITION_EQUALLY_EXT 0x4050
- #define CL_DEVICE_PARTITION_BY_COUNTS_EXT 0x4051
- #define CL_DEVICE_PARTITION_BY_NAMES_EXT 0x4052
- #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT 0x4053
-
- /* clDeviceGetInfo selectors */
- #define CL_DEVICE_PARENT_DEVICE_EXT 0x4054
- #define CL_DEVICE_PARTITION_TYPES_EXT 0x4055
- #define CL_DEVICE_AFFINITY_DOMAINS_EXT 0x4056
- #define CL_DEVICE_REFERENCE_COUNT_EXT 0x4057
- #define CL_DEVICE_PARTITION_STYLE_EXT 0x4058
-
- /* error codes */
- #define CL_DEVICE_PARTITION_FAILED_EXT -1057
- #define CL_INVALID_PARTITION_COUNT_EXT -1058
- #define CL_INVALID_PARTITION_NAME_EXT -1059
-
- /* CL_AFFINITY_DOMAINs */
- #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT 0x1
- #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT 0x2
- #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT 0x3
- #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT 0x4
- #define CL_AFFINITY_DOMAIN_NUMA_EXT 0x10
- #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT 0x100
-
- /* cl_device_partition_property_ext list terminators */
- #define CL_PROPERTIES_LIST_END_EXT ((cl_device_partition_property_ext) 0)
- #define CL_PARTITION_BY_COUNTS_LIST_END_EXT ((cl_device_partition_property_ext) 0)
- #define CL_PARTITION_BY_NAMES_LIST_END_EXT ((cl_device_partition_property_ext) 0 - 1)
-
-/*********************************
-* cl_qcom_ext_host_ptr extension
-*********************************/
-
-#define CL_MEM_EXT_HOST_PTR_QCOM (1 << 29)
-
-#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM 0x40A0
-#define CL_DEVICE_PAGE_SIZE_QCOM 0x40A1
-#define CL_IMAGE_ROW_ALIGNMENT_QCOM 0x40A2
-#define CL_IMAGE_SLICE_ALIGNMENT_QCOM 0x40A3
-#define CL_MEM_HOST_UNCACHED_QCOM 0x40A4
-#define CL_MEM_HOST_WRITEBACK_QCOM 0x40A5
-#define CL_MEM_HOST_WRITETHROUGH_QCOM 0x40A6
-#define CL_MEM_HOST_WRITE_COMBINING_QCOM 0x40A7
-
-typedef cl_uint cl_image_pitch_info_qcom;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetDeviceImageInfoQCOM(cl_device_id device,
- size_t image_width,
- size_t image_height,
- const cl_image_format *image_format,
- cl_image_pitch_info_qcom param_name,
- size_t param_value_size,
- void *param_value,
- size_t *param_value_size_ret);
-
-typedef struct _cl_mem_ext_host_ptr
-{
- /* Type of external memory allocation. */
- /* Legal values will be defined in layered extensions. */
- cl_uint allocation_type;
-
- /* Host cache policy for this external memory allocation. */
- cl_uint host_cache_policy;
-
-} cl_mem_ext_host_ptr;
-
-/*********************************
-* cl_qcom_ion_host_ptr extension
-*********************************/
-
-#define CL_MEM_ION_HOST_PTR_QCOM 0x40A8
-
-typedef struct _cl_mem_ion_host_ptr
-{
- /* Type of external memory allocation. */
- /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */
- cl_mem_ext_host_ptr ext_host_ptr;
-
- /* ION file descriptor */
- int ion_filedesc;
-
- /* Host pointer to the ION allocated memory */
- void* ion_hostptr;
-
-} cl_mem_ion_host_ptr;
-
-#endif /* CL_VERSION_1_1 */
-
-
-#ifdef CL_VERSION_2_0
-/*********************************
-* cl_khr_sub_groups extension
-*********************************/
-#define cl_khr_sub_groups 1
-
-typedef cl_uint cl_kernel_sub_group_info_khr;
-
-/* cl_khr_sub_group_info */
-#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR 0x2033
-#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR 0x2034
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */,
- cl_device_id /*in_device*/,
- cl_kernel_sub_group_info_khr /* param_name */,
- size_t /*input_value_size*/,
- const void * /*input_value*/,
- size_t /*param_value_size*/,
- void* /*param_value*/,
- size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
-
-typedef CL_API_ENTRY cl_int
- ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */,
- cl_device_id /*in_device*/,
- cl_kernel_sub_group_info_khr /* param_name */,
- size_t /*input_value_size*/,
- const void * /*input_value*/,
- size_t /*param_value_size*/,
- void* /*param_value*/,
- size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
-#endif /* CL_VERSION_2_0 */
-
-#ifdef CL_VERSION_2_1
-/*********************************
-* cl_khr_priority_hints extension
-*********************************/
-#define cl_khr_priority_hints 1
-
-typedef cl_uint cl_queue_priority_khr;
-
-/* cl_command_queue_properties */
-#define CL_QUEUE_PRIORITY_KHR 0x1096
-
-/* cl_queue_priority_khr */
-#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0)
-#define CL_QUEUE_PRIORITY_MED_KHR (1<<1)
-#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2)
-
-#endif /* CL_VERSION_2_1 */
-
-#ifdef CL_VERSION_2_1
-/*********************************
-* cl_khr_throttle_hints extension
-*********************************/
-#define cl_khr_throttle_hints 1
-
-typedef cl_uint cl_queue_throttle_khr;
-
-/* cl_command_queue_properties */
-#define CL_QUEUE_THROTTLE_KHR 0x1097
-
-/* cl_queue_throttle_khr */
-#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0)
-#define CL_QUEUE_THROTTLE_MED_KHR (1<<1)
-#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2)
-
-#endif /* CL_VERSION_2_1 */
-
-#ifdef __cplusplus
-}
-#endif
-
-
-#endif /* __CL_EXT_H */
diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h
deleted file mode 100644
index 6328a1cd93..0000000000
--- a/third_party/opencl/include/CL/cl_ext_qcom.h
+++ /dev/null
@@ -1,255 +0,0 @@
-/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc. All Rights Reserved.
- * Qualcomm Technologies Proprietary and Confidential.
- */
-
-#ifndef __OPENCL_CL_EXT_QCOM_H
-#define __OPENCL_CL_EXT_QCOM_H
-
-// Needed by cl_khr_egl_event extension
-#include
-#include
-#include
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-
-/************************************
- * cl_qcom_create_buffer_from_image *
- ************************************/
-
-#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM 0x40C0
-#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM 0x40C1
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateBufferFromImageQCOM(cl_mem image,
- cl_mem_flags flags,
- cl_int *errcode_ret);
-
-
-/************************************
- * cl_qcom_limited_printf extension *
- ************************************/
-
-/* Builtin printf function buffer size in bytes. */
-#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM 0x1049
-
-
-/*************************************
- * cl_qcom_extended_images extension *
- *************************************/
-
-#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM 0x40AA
-#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM 0x40AB
-#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM 0x40AC
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM 0x40AD
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM 0x40AE
-#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM 0x40AF
-
-/*************************************
- * cl_qcom_perf_hint extension *
- *************************************/
-
-typedef cl_uint cl_perf_hint;
-
-#define CL_CONTEXT_PERF_HINT_QCOM 0x40C2
-
-/*cl_perf_hint*/
-#define CL_PERF_HINT_HIGH_QCOM 0x40C3
-#define CL_PERF_HINT_NORMAL_QCOM 0x40C4
-#define CL_PERF_HINT_LOW_QCOM 0x40C5
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clSetPerfHintQCOM(cl_context context,
- cl_perf_hint perf_hint);
-
-// This extension is published at Khronos, so its definitions are made in cl_ext.h.
-// This duplication is for backward compatibility.
-
-#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
-
-/*********************************
-* cl_qcom_android_native_buffer_host_ptr extension
-*********************************/
-
-#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM 0x40C6
-
-
-typedef struct _cl_mem_android_native_buffer_host_ptr
-{
- // Type of external memory allocation.
- // Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
- cl_mem_ext_host_ptr ext_host_ptr;
-
- // Virtual pointer to the android native buffer
- void* anb_ptr;
-
-} cl_mem_android_native_buffer_host_ptr;
-
-#endif //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
-
-/***********************************
-* cl_img_egl_image extension *
-************************************/
-typedef void* CLeglImageIMG;
-typedef void* CLeglDisplayIMG;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromEGLImageIMG(cl_context context,
- cl_mem_flags flags,
- CLeglImageIMG image,
- CLeglDisplayIMG display,
- cl_int *errcode_ret);
-
-
-/*********************************
-* cl_qcom_other_image extension
-*********************************/
-
-// Extended flag for creating/querying QCOM non-standard images
-#define CL_MEM_OTHER_IMAGE_QCOM (1<<25)
-
-// cl_channel_type
-#define CL_QCOM_UNORM_MIPI10 0x4159
-#define CL_QCOM_UNORM_MIPI12 0x415A
-#define CL_QCOM_UNSIGNED_MIPI10 0x415B
-#define CL_QCOM_UNSIGNED_MIPI12 0x415C
-#define CL_QCOM_UNORM_INT10 0x415D
-#define CL_QCOM_UNORM_INT12 0x415E
-#define CL_QCOM_UNSIGNED_INT16 0x415F
-
-// cl_channel_order
-// Dedicate 0x4130-0x415F range for QCOM extended image formats
-// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
-#define CL_QCOM_BAYER 0x414E
-
-#define CL_QCOM_NV12 0x4133
-#define CL_QCOM_NV12_Y 0x4134
-#define CL_QCOM_NV12_UV 0x4135
-
-#define CL_QCOM_TILED_NV12 0x4136
-#define CL_QCOM_TILED_NV12_Y 0x4137
-#define CL_QCOM_TILED_NV12_UV 0x4138
-
-#define CL_QCOM_P010 0x413C
-#define CL_QCOM_P010_Y 0x413D
-#define CL_QCOM_P010_UV 0x413E
-
-#define CL_QCOM_TILED_P010 0x413F
-#define CL_QCOM_TILED_P010_Y 0x4140
-#define CL_QCOM_TILED_P010_UV 0x4141
-
-
-#define CL_QCOM_TP10 0x4145
-#define CL_QCOM_TP10_Y 0x4146
-#define CL_QCOM_TP10_UV 0x4147
-
-#define CL_QCOM_TILED_TP10 0x4148
-#define CL_QCOM_TILED_TP10_Y 0x4149
-#define CL_QCOM_TILED_TP10_UV 0x414A
-
-/*********************************
-* cl_qcom_compressed_image extension
-*********************************/
-
-// Extended flag for creating/querying QCOM non-planar compressed images
-#define CL_MEM_COMPRESSED_IMAGE_QCOM (1<<27)
-
-// Extended image format
-// cl_channel_order
-#define CL_QCOM_COMPRESSED_RGBA 0x4130
-#define CL_QCOM_COMPRESSED_RGBx 0x4131
-
-#define CL_QCOM_COMPRESSED_NV12_Y 0x413A
-#define CL_QCOM_COMPRESSED_NV12_UV 0x413B
-
-#define CL_QCOM_COMPRESSED_P010 0x4142
-#define CL_QCOM_COMPRESSED_P010_Y 0x4143
-#define CL_QCOM_COMPRESSED_P010_UV 0x4144
-
-#define CL_QCOM_COMPRESSED_TP10 0x414B
-#define CL_QCOM_COMPRESSED_TP10_Y 0x414C
-#define CL_QCOM_COMPRESSED_TP10_UV 0x414D
-
-#define CL_QCOM_COMPRESSED_NV12_4R 0x414F
-#define CL_QCOM_COMPRESSED_NV12_4R_Y 0x4150
-#define CL_QCOM_COMPRESSED_NV12_4R_UV 0x4151
-/*********************************
-* cl_qcom_compressed_yuv_image_read extension
-*********************************/
-
-// Extended flag for creating/querying QCOM compressed images
-#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM (1<<28)
-
-// Extended image format
-#define CL_QCOM_COMPRESSED_NV12 0x10C4
-
-// Extended flag for setting ION buffer allocation type
-#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM 0x40CD
-#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM 0x40CE
-
-/*********************************
-* cl_qcom_accelerated_image_ops
-*********************************/
-#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM 0x4110
-#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM 0x4111
-#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM 0x4112
-#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM 0x4113
-#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM 0x4114
-#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM 0x4115
-
-//Extended flag for specifying weight image type
-#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM (1<<0)
-
-// Box Filter
-typedef struct _cl_box_filter_size_qcom
-{
- // Width of box filter on X direction.
- float box_filter_width;
-
- // Height of box filter on Y direction.
- float box_filter_height;
-} cl_box_filter_size_qcom;
-
-// HOF Weight Image Desc
-typedef struct _cl_weight_desc_qcom
-{
- /** Coordinate of the "center" point of the weight image,
- based on the weight image's top-left corner as the origin. */
- size_t center_coord_x;
- size_t center_coord_y;
- cl_bitfield flags;
-} cl_weight_desc_qcom;
-
-typedef struct _cl_weight_image_desc_qcom
-{
- cl_image_desc image_desc;
- cl_weight_desc_qcom weight_desc;
-} cl_weight_image_desc_qcom;
-
-/*************************************
- * cl_qcom_protected_context extension *
- *************************************/
-
-#define CL_CONTEXT_PROTECTED_QCOM 0x40C7
-#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM 0x40C8
-
-/*************************************
- * cl_qcom_priority_hint extension *
- *************************************/
-#define CL_PRIORITY_HINT_NONE_QCOM 0
-typedef cl_uint cl_priority_hint;
-
-#define CL_CONTEXT_PRIORITY_HINT_QCOM 0x40C9
-
-/*cl_priority_hint*/
-#define CL_PRIORITY_HINT_HIGH_QCOM 0x40CA
-#define CL_PRIORITY_HINT_NORMAL_QCOM 0x40CB
-#define CL_PRIORITY_HINT_LOW_QCOM 0x40CC
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_EXT_QCOM_H */
diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h
deleted file mode 100644
index 945daa83d7..0000000000
--- a/third_party/opencl/include/CL/cl_gl.h
+++ /dev/null
@@ -1,167 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- * https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-#ifndef __OPENCL_CL_GL_H
-#define __OPENCL_CL_GL_H
-
-#ifdef __APPLE__
-#include
-#else
-#include
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef cl_uint cl_gl_object_type;
-typedef cl_uint cl_gl_texture_info;
-typedef cl_uint cl_gl_platform_info;
-typedef struct __GLsync *cl_GLsync;
-
-/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken */
-#define CL_GL_OBJECT_BUFFER 0x2000
-#define CL_GL_OBJECT_TEXTURE2D 0x2001
-#define CL_GL_OBJECT_TEXTURE3D 0x2002
-#define CL_GL_OBJECT_RENDERBUFFER 0x2003
-#define CL_GL_OBJECT_TEXTURE2D_ARRAY 0x200E
-#define CL_GL_OBJECT_TEXTURE1D 0x200F
-#define CL_GL_OBJECT_TEXTURE1D_ARRAY 0x2010
-#define CL_GL_OBJECT_TEXTURE_BUFFER 0x2011
-
-/* cl_gl_texture_info */
-#define CL_GL_TEXTURE_TARGET 0x2004
-#define CL_GL_MIPMAP_LEVEL 0x2005
-#define CL_GL_NUM_SAMPLES 0x2012
-
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLBuffer(cl_context /* context */,
- cl_mem_flags /* flags */,
- cl_GLuint /* bufobj */,
- int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLTexture(cl_context /* context */,
- cl_mem_flags /* flags */,
- cl_GLenum /* target */,
- cl_GLint /* miplevel */,
- cl_GLuint /* texture */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
-
-extern CL_API_ENTRY cl_mem CL_API_CALL
-clCreateFromGLRenderbuffer(cl_context /* context */,
- cl_mem_flags /* flags */,
- cl_GLuint /* renderbuffer */,
- cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLObjectInfo(cl_mem /* memobj */,
- cl_gl_object_type * /* gl_object_type */,
- cl_GLuint * /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLTextureInfo(cl_mem /* memobj */,
- cl_gl_texture_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueAcquireGLObjects(cl_command_queue /* command_queue */,
- cl_uint /* num_objects */,
- const cl_mem * /* mem_objects */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clEnqueueReleaseGLObjects(cl_command_queue /* command_queue */,
- cl_uint /* num_objects */,
- const cl_mem * /* mem_objects */,
- cl_uint /* num_events_in_wait_list */,
- const cl_event * /* event_wait_list */,
- cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
-
-
-/* Deprecated OpenCL 1.1 APIs */
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateFromGLTexture2D(cl_context /* context */,
- cl_mem_flags /* flags */,
- cl_GLenum /* target */,
- cl_GLint /* miplevel */,
- cl_GLuint /* texture */,
- cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
-clCreateFromGLTexture3D(cl_context /* context */,
- cl_mem_flags /* flags */,
- cl_GLenum /* target */,
- cl_GLint /* miplevel */,
- cl_GLuint /* texture */,
- cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
-
-/* cl_khr_gl_sharing extension */
-
-#define cl_khr_gl_sharing 1
-
-typedef cl_uint cl_gl_context_info;
-
-/* Additional Error Codes */
-#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR -1000
-
-/* cl_gl_context_info */
-#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR 0x2006
-#define CL_DEVICES_FOR_GL_CONTEXT_KHR 0x2007
-
-/* Additional cl_context_properties */
-#define CL_GL_CONTEXT_KHR 0x2008
-#define CL_EGL_DISPLAY_KHR 0x2009
-#define CL_GLX_DISPLAY_KHR 0x200A
-#define CL_WGL_HDC_KHR 0x200B
-#define CL_CGL_SHAREGROUP_KHR 0x200C
-
-extern CL_API_ENTRY cl_int CL_API_CALL
-clGetGLContextInfoKHR(const cl_context_properties * /* properties */,
- cl_gl_context_info /* param_name */,
- size_t /* param_value_size */,
- void * /* param_value */,
- size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
-
-typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)(
- const cl_context_properties * properties,
- cl_gl_context_info param_name,
- size_t param_value_size,
- void * param_value,
- size_t * param_value_size_ret);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_GL_H */
diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h
deleted file mode 100644
index e3c14c6408..0000000000
--- a/third_party/opencl/include/CL/cl_gl_ext.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- * https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have */
-/* OpenGL dependencies. */
-
-#ifndef __OPENCL_CL_GL_EXT_H
-#define __OPENCL_CL_GL_EXT_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
- #include
-#else
- #include
-#endif
-
-/*
- * For each extension, follow this template
- * cl_VEN_extname extension */
-/* #define cl_VEN_extname 1
- * ... define new types, if any
- * ... define new tokens, if any
- * ... define new APIs, if any
- *
- * If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header
- * This allows us to avoid having to decide whether to include GL headers or GLES here.
- */
-
-/*
- * cl_khr_gl_event extension
- * See section 9.9 in the OpenCL 1.1 spec for more information
- */
-#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR 0x200D
-
-extern CL_API_ENTRY cl_event CL_API_CALL
-clCreateEventFromGLsyncKHR(cl_context /* context */,
- cl_GLsync /* cl_GLsync */,
- cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_CL_GL_EXT_H */
diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h
deleted file mode 100644
index 4e334a2918..0000000000
--- a/third_party/opencl/include/CL/cl_platform.h
+++ /dev/null
@@ -1,1333 +0,0 @@
-/**********************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- * https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- **********************************************************************************/
-
-/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */
-
-#ifndef __CL_PLATFORM_H
-#define __CL_PLATFORM_H
-
-#ifdef __APPLE__
- /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */
- #include
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#if defined(_WIN32)
- #define CL_API_ENTRY
- #define CL_API_CALL __stdcall
- #define CL_CALLBACK __stdcall
-#else
- #define CL_API_ENTRY
- #define CL_API_CALL
- #define CL_CALLBACK
-#endif
-
-/*
- * Deprecation flags refer to the last version of the header in which the
- * feature was not deprecated.
- *
- * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without
- * deprecation but is deprecated in versions later than 1.1.
- */
-
-#ifdef __APPLE__
- #define CL_EXTENSION_WEAK_LINK __attribute__((weak_import))
- #define CL_API_SUFFIX__VERSION_1_0 AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
- #define CL_EXT_SUFFIX__VERSION_1_0 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
- #define CL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
- #define GCL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
- #define CL_EXT_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
- #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7
-
- #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
- #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
- #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
- #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
- #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
- #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8
- #else
- #warning This path should never happen outside of internal operating system development. AvailabilityMacros do not function correctly here!
- #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
- #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
- #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
- #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
- #endif
-#else
- #define CL_EXTENSION_WEAK_LINK
- #define CL_API_SUFFIX__VERSION_1_0
- #define CL_EXT_SUFFIX__VERSION_1_0
- #define CL_API_SUFFIX__VERSION_1_1
- #define CL_EXT_SUFFIX__VERSION_1_1
- #define CL_API_SUFFIX__VERSION_1_2
- #define CL_EXT_SUFFIX__VERSION_1_2
- #define CL_API_SUFFIX__VERSION_2_0
- #define CL_EXT_SUFFIX__VERSION_2_0
- #define CL_API_SUFFIX__VERSION_2_1
- #define CL_EXT_SUFFIX__VERSION_2_1
-
- #ifdef __GNUC__
- #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
- #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
- #else
- #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated))
- #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
- #endif
-
- #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
- #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
- #else
- #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated))
- #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
- #endif
-
- #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
- #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
- #else
- #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated))
- #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
- #endif
-
- #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
- #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
- #else
- #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated))
- #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
- #endif
- #elif _WIN32
- #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
- #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
- #else
- #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated)
- #endif
-
- #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
- #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
- #else
- #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated)
- #endif
-
- #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
- #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
- #else
- #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated)
- #endif
-
- #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
- #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
- #else
- #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated)
- #endif
- #else
- #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
-
- #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
-
- #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
-
- #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
- #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
- #endif
-#endif
-
-#if (defined (_WIN32) && defined(_MSC_VER))
-
-/* scalar types */
-typedef signed __int8 cl_char;
-typedef unsigned __int8 cl_uchar;
-typedef signed __int16 cl_short;
-typedef unsigned __int16 cl_ushort;
-typedef signed __int32 cl_int;
-typedef unsigned __int32 cl_uint;
-typedef signed __int64 cl_long;
-typedef unsigned __int64 cl_ulong;
-
-typedef unsigned __int16 cl_half;
-typedef float cl_float;
-typedef double cl_double;
-
-/* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT 8
-#define CL_SCHAR_MAX 127
-#define CL_SCHAR_MIN (-127-1)
-#define CL_CHAR_MAX CL_SCHAR_MAX
-#define CL_CHAR_MIN CL_SCHAR_MIN
-#define CL_UCHAR_MAX 255
-#define CL_SHRT_MAX 32767
-#define CL_SHRT_MIN (-32767-1)
-#define CL_USHRT_MAX 65535
-#define CL_INT_MAX 2147483647
-#define CL_INT_MIN (-2147483647-1)
-#define CL_UINT_MAX 0xffffffffU
-#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG 6
-#define CL_FLT_MANT_DIG 24
-#define CL_FLT_MAX_10_EXP +38
-#define CL_FLT_MAX_EXP +128
-#define CL_FLT_MIN_10_EXP -37
-#define CL_FLT_MIN_EXP -125
-#define CL_FLT_RADIX 2
-#define CL_FLT_MAX 340282346638528859811704183484516925440.0f
-#define CL_FLT_MIN 1.175494350822287507969e-38f
-#define CL_FLT_EPSILON 0x1.0p-23f
-
-#define CL_DBL_DIG 15
-#define CL_DBL_MANT_DIG 53
-#define CL_DBL_MAX_10_EXP +308
-#define CL_DBL_MAX_EXP +1024
-#define CL_DBL_MIN_10_EXP -307
-#define CL_DBL_MIN_EXP -1021
-#define CL_DBL_RADIX 2
-#define CL_DBL_MAX 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0
-#define CL_DBL_MIN 2.225073858507201383090e-308
-#define CL_DBL_EPSILON 2.220446049250313080847e-16
-
-#define CL_M_E 2.718281828459045090796
-#define CL_M_LOG2E 1.442695040888963387005
-#define CL_M_LOG10E 0.434294481903251816668
-#define CL_M_LN2 0.693147180559945286227
-#define CL_M_LN10 2.302585092994045901094
-#define CL_M_PI 3.141592653589793115998
-#define CL_M_PI_2 1.570796326794896557999
-#define CL_M_PI_4 0.785398163397448278999
-#define CL_M_1_PI 0.318309886183790691216
-#define CL_M_2_PI 0.636619772367581382433
-#define CL_M_2_SQRTPI 1.128379167095512558561
-#define CL_M_SQRT2 1.414213562373095145475
-#define CL_M_SQRT1_2 0.707106781186547572737
-
-#define CL_M_E_F 2.71828174591064f
-#define CL_M_LOG2E_F 1.44269502162933f
-#define CL_M_LOG10E_F 0.43429449200630f
-#define CL_M_LN2_F 0.69314718246460f
-#define CL_M_LN10_F 2.30258512496948f
-#define CL_M_PI_F 3.14159274101257f
-#define CL_M_PI_2_F 1.57079637050629f
-#define CL_M_PI_4_F 0.78539818525314f
-#define CL_M_1_PI_F 0.31830987334251f
-#define CL_M_2_PI_F 0.63661974668503f
-#define CL_M_2_SQRTPI_F 1.12837922573090f
-#define CL_M_SQRT2_F 1.41421353816986f
-#define CL_M_SQRT1_2_F 0.70710676908493f
-
-#define CL_NAN (CL_INFINITY - CL_INFINITY)
-#define CL_HUGE_VALF ((cl_float) 1e50)
-#define CL_HUGE_VAL ((cl_double) 1e500)
-#define CL_MAXFLOAT CL_FLT_MAX
-#define CL_INFINITY CL_HUGE_VALF
-
-#else
-
-#include
-
-/* scalar types */
-typedef int8_t cl_char;
-typedef uint8_t cl_uchar;
-typedef int16_t cl_short __attribute__((aligned(2)));
-typedef uint16_t cl_ushort __attribute__((aligned(2)));
-typedef int32_t cl_int __attribute__((aligned(4)));
-typedef uint32_t cl_uint __attribute__((aligned(4)));
-typedef int64_t cl_long __attribute__((aligned(8)));
-typedef uint64_t cl_ulong __attribute__((aligned(8)));
-
-typedef uint16_t cl_half __attribute__((aligned(2)));
-typedef float cl_float __attribute__((aligned(4)));
-typedef double cl_double __attribute__((aligned(8)));
-
-/* Macro names and corresponding values defined by OpenCL */
-#define CL_CHAR_BIT 8
-#define CL_SCHAR_MAX 127
-#define CL_SCHAR_MIN (-127-1)
-#define CL_CHAR_MAX CL_SCHAR_MAX
-#define CL_CHAR_MIN CL_SCHAR_MIN
-#define CL_UCHAR_MAX 255
-#define CL_SHRT_MAX 32767
-#define CL_SHRT_MIN (-32767-1)
-#define CL_USHRT_MAX 65535
-#define CL_INT_MAX 2147483647
-#define CL_INT_MIN (-2147483647-1)
-#define CL_UINT_MAX 0xffffffffU
-#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
-#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
-#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
-
-#define CL_FLT_DIG 6
-#define CL_FLT_MANT_DIG 24
-#define CL_FLT_MAX_10_EXP +38
-#define CL_FLT_MAX_EXP +128
-#define CL_FLT_MIN_10_EXP -37
-#define CL_FLT_MIN_EXP -125
-#define CL_FLT_RADIX 2
-#define CL_FLT_MAX 0x1.fffffep127f
-#define CL_FLT_MIN 0x1.0p-126f
-#define CL_FLT_EPSILON 0x1.0p-23f
-
-#define CL_DBL_DIG 15
-#define CL_DBL_MANT_DIG 53
-#define CL_DBL_MAX_10_EXP +308
-#define CL_DBL_MAX_EXP +1024
-#define CL_DBL_MIN_10_EXP -307
-#define CL_DBL_MIN_EXP -1021
-#define CL_DBL_RADIX 2
-#define CL_DBL_MAX 0x1.fffffffffffffp1023
-#define CL_DBL_MIN 0x1.0p-1022
-#define CL_DBL_EPSILON 0x1.0p-52
-
-#define CL_M_E 2.718281828459045090796
-#define CL_M_LOG2E 1.442695040888963387005
-#define CL_M_LOG10E 0.434294481903251816668
-#define CL_M_LN2 0.693147180559945286227
-#define CL_M_LN10 2.302585092994045901094
-#define CL_M_PI 3.141592653589793115998
-#define CL_M_PI_2 1.570796326794896557999
-#define CL_M_PI_4 0.785398163397448278999
-#define CL_M_1_PI 0.318309886183790691216
-#define CL_M_2_PI 0.636619772367581382433
-#define CL_M_2_SQRTPI 1.128379167095512558561
-#define CL_M_SQRT2 1.414213562373095145475
-#define CL_M_SQRT1_2 0.707106781186547572737
-
-#define CL_M_E_F 2.71828174591064f
-#define CL_M_LOG2E_F 1.44269502162933f
-#define CL_M_LOG10E_F 0.43429449200630f
-#define CL_M_LN2_F 0.69314718246460f
-#define CL_M_LN10_F 2.30258512496948f
-#define CL_M_PI_F 3.14159274101257f
-#define CL_M_PI_2_F 1.57079637050629f
-#define CL_M_PI_4_F 0.78539818525314f
-#define CL_M_1_PI_F 0.31830987334251f
-#define CL_M_2_PI_F 0.63661974668503f
-#define CL_M_2_SQRTPI_F 1.12837922573090f
-#define CL_M_SQRT2_F 1.41421353816986f
-#define CL_M_SQRT1_2_F 0.70710676908493f
-
-#if defined( __GNUC__ )
- #define CL_HUGE_VALF __builtin_huge_valf()
- #define CL_HUGE_VAL __builtin_huge_val()
- #define CL_NAN __builtin_nanf( "" )
-#else
- #define CL_HUGE_VALF ((cl_float) 1e50)
- #define CL_HUGE_VAL ((cl_double) 1e500)
- float nanf( const char * );
- #define CL_NAN nanf( "" )
-#endif
-#define CL_MAXFLOAT CL_FLT_MAX
-#define CL_INFINITY CL_HUGE_VALF
-
-#endif
-
-#include
-
-/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */
-typedef unsigned int cl_GLuint;
-typedef int cl_GLint;
-typedef unsigned int cl_GLenum;
-
-/*
- * Vector types
- *
- * Note: OpenCL requires that all types be naturally aligned.
- * This means that vector types must be naturally aligned.
- * For example, a vector of four floats must be aligned to
- * a 16 byte boundary (calculated as 4 * the natural 4-byte
- * alignment of the float). The alignment qualifiers here
- * will only function properly if your compiler supports them
- * and if you don't actively work to defeat them. For example,
- * in order for a cl_float4 to be 16 byte aligned in a struct,
- * the start of the struct must itself be 16-byte aligned.
- *
- * Maintaining proper alignment is the user's responsibility.
- */
-
-/* Define basic vector types */
-#if defined( __VEC__ )
- #include /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */
- typedef vector unsigned char __cl_uchar16;
- typedef vector signed char __cl_char16;
- typedef vector unsigned short __cl_ushort8;
- typedef vector signed short __cl_short8;
- typedef vector unsigned int __cl_uint4;
- typedef vector signed int __cl_int4;
- typedef vector float __cl_float4;
- #define __CL_UCHAR16__ 1
- #define __CL_CHAR16__ 1
- #define __CL_USHORT8__ 1
- #define __CL_SHORT8__ 1
- #define __CL_UINT4__ 1
- #define __CL_INT4__ 1
- #define __CL_FLOAT4__ 1
-#endif
-
-#if defined( __SSE__ )
- #if defined( __MINGW64__ )
- #include
- #else
- #include
- #endif
- #if defined( __GNUC__ )
- typedef float __cl_float4 __attribute__((vector_size(16)));
- #else
- typedef __m128 __cl_float4;
- #endif
- #define __CL_FLOAT4__ 1
-#endif
-
-#if defined( __SSE2__ )
- #if defined( __MINGW64__ )
- #include
- #else
- #include
- #endif
- #if defined( __GNUC__ )
- typedef cl_uchar __cl_uchar16 __attribute__((vector_size(16)));
- typedef cl_char __cl_char16 __attribute__((vector_size(16)));
- typedef cl_ushort __cl_ushort8 __attribute__((vector_size(16)));
- typedef cl_short __cl_short8 __attribute__((vector_size(16)));
- typedef cl_uint __cl_uint4 __attribute__((vector_size(16)));
- typedef cl_int __cl_int4 __attribute__((vector_size(16)));
- typedef cl_ulong __cl_ulong2 __attribute__((vector_size(16)));
- typedef cl_long __cl_long2 __attribute__((vector_size(16)));
- typedef cl_double __cl_double2 __attribute__((vector_size(16)));
- #else
- typedef __m128i __cl_uchar16;
- typedef __m128i __cl_char16;
- typedef __m128i __cl_ushort8;
- typedef __m128i __cl_short8;
- typedef __m128i __cl_uint4;
- typedef __m128i __cl_int4;
- typedef __m128i __cl_ulong2;
- typedef __m128i __cl_long2;
- typedef __m128d __cl_double2;
- #endif
- #define __CL_UCHAR16__ 1
- #define __CL_CHAR16__ 1
- #define __CL_USHORT8__ 1
- #define __CL_SHORT8__ 1
- #define __CL_INT4__ 1
- #define __CL_UINT4__ 1
- #define __CL_ULONG2__ 1
- #define __CL_LONG2__ 1
- #define __CL_DOUBLE2__ 1
-#endif
-
-#if defined( __MMX__ )
- #include
- #if defined( __GNUC__ )
- typedef cl_uchar __cl_uchar8 __attribute__((vector_size(8)));
- typedef cl_char __cl_char8 __attribute__((vector_size(8)));
- typedef cl_ushort __cl_ushort4 __attribute__((vector_size(8)));
- typedef cl_short __cl_short4 __attribute__((vector_size(8)));
- typedef cl_uint __cl_uint2 __attribute__((vector_size(8)));
- typedef cl_int __cl_int2 __attribute__((vector_size(8)));
- typedef cl_ulong __cl_ulong1 __attribute__((vector_size(8)));
- typedef cl_long __cl_long1 __attribute__((vector_size(8)));
- typedef cl_float __cl_float2 __attribute__((vector_size(8)));
- #else
- typedef __m64 __cl_uchar8;
- typedef __m64 __cl_char8;
- typedef __m64 __cl_ushort4;
- typedef __m64 __cl_short4;
- typedef __m64 __cl_uint2;
- typedef __m64 __cl_int2;
- typedef __m64 __cl_ulong1;
- typedef __m64 __cl_long1;
- typedef __m64 __cl_float2;
- #endif
- #define __CL_UCHAR8__ 1
- #define __CL_CHAR8__ 1
- #define __CL_USHORT4__ 1
- #define __CL_SHORT4__ 1
- #define __CL_INT2__ 1
- #define __CL_UINT2__ 1
- #define __CL_ULONG1__ 1
- #define __CL_LONG1__ 1
- #define __CL_FLOAT2__ 1
-#endif
-
-#if defined( __AVX__ )
- #if defined( __MINGW64__ )
- #include
- #else
- #include
- #endif
- #if defined( __GNUC__ )
- typedef cl_float __cl_float8 __attribute__((vector_size(32)));
- typedef cl_double __cl_double4 __attribute__((vector_size(32)));
- #else
- typedef __m256 __cl_float8;
- typedef __m256d __cl_double4;
- #endif
- #define __CL_FLOAT8__ 1
- #define __CL_DOUBLE4__ 1
-#endif
-
-/* Define capabilities for anonymous struct members. */
-#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ )
-#define __CL_HAS_ANON_STRUCT__ 1
-#define __CL_ANON_STRUCT__ __extension__
-#elif defined( _WIN32) && (_MSC_VER >= 1500)
- /* Microsoft Developer Studio 2008 supports anonymous structs, but
- * complains by default. */
-#define __CL_HAS_ANON_STRUCT__ 1
-#define __CL_ANON_STRUCT__
- /* Disable warning C4201: nonstandard extension used : nameless
- * struct/union */
-#pragma warning( push )
-#pragma warning( disable : 4201 )
-#else
-#define __CL_HAS_ANON_STRUCT__ 0
-#define __CL_ANON_STRUCT__
-#endif
-
-/* Define alignment keys */
-#if defined( __GNUC__ )
- #define CL_ALIGNED(_x) __attribute__ ((aligned(_x)))
-#elif defined( _WIN32) && (_MSC_VER)
- /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements */
- /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx */
- /* #include */
- /* #define CL_ALIGNED(_x) _CRT_ALIGN(_x) */
- #define CL_ALIGNED(_x)
-#else
- #warning Need to implement some method to align data here
- #define CL_ALIGNED(_x)
-#endif
-
-/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */
-#if __CL_HAS_ANON_STRUCT__
- /* .xyzw and .s0123...{f|F} are supported */
- #define CL_HAS_NAMED_VECTOR_FIELDS 1
- /* .hi and .lo are supported */
- #define CL_HAS_HI_LO_VECTOR_FIELDS 1
-#endif
-
-/* Define cl_vector types */
-
-/* ---- cl_charn ---- */
-typedef union
-{
- cl_char CL_ALIGNED(2) s[2];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_char x, y; };
- __CL_ANON_STRUCT__ struct{ cl_char s0, s1; };
- __CL_ANON_STRUCT__ struct{ cl_char lo, hi; };
-#endif
-#if defined( __CL_CHAR2__)
- __cl_char2 v2;
-#endif
-}cl_char2;
-
-typedef union
-{
- cl_char CL_ALIGNED(4) s[4];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3; };
- __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__)
- __cl_char2 v2[2];
-#endif
-#if defined( __CL_CHAR4__)
- __cl_char4 v4;
-#endif
-}cl_char4;
-
-/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */
-typedef cl_char4 cl_char3;
-
-typedef union
-{
- cl_char CL_ALIGNED(8) s[8];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7; };
- __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__)
- __cl_char2 v2[4];
-#endif
-#if defined( __CL_CHAR4__)
- __cl_char4 v4[2];
-#endif
-#if defined( __CL_CHAR8__ )
- __cl_char8 v8;
-#endif
-}cl_char8;
-
-typedef union
-{
- cl_char CL_ALIGNED(16) s[16];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
- __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
- __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; };
-#endif
-#if defined( __CL_CHAR2__)
- __cl_char2 v2[8];
-#endif
-#if defined( __CL_CHAR4__)
- __cl_char4 v4[4];
-#endif
-#if defined( __CL_CHAR8__ )
- __cl_char8 v8[2];
-#endif
-#if defined( __CL_CHAR16__ )
- __cl_char16 v16;
-#endif
-}cl_char16;
-
-
-/* ---- cl_ucharn ---- */
-typedef union
-{
- cl_uchar CL_ALIGNED(2) s[2];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_uchar x, y; };
- __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1; };
- __CL_ANON_STRUCT__ struct{ cl_uchar lo, hi; };
-#endif
-#if defined( __cl_uchar2__)
- __cl_uchar2 v2;
-#endif
-}cl_uchar2;
-
-typedef union
-{
- cl_uchar CL_ALIGNED(4) s[4];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3; };
- __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__)
- __cl_uchar2 v2[2];
-#endif
-#if defined( __CL_UCHAR4__)
- __cl_uchar4 v4;
-#endif
-}cl_uchar4;
-
-/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */
-typedef cl_uchar4 cl_uchar3;
-
-typedef union
-{
- cl_uchar CL_ALIGNED(8) s[8];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7; };
- __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__)
- __cl_uchar2 v2[4];
-#endif
-#if defined( __CL_UCHAR4__)
- __cl_uchar4 v4[2];
-#endif
-#if defined( __CL_UCHAR8__ )
- __cl_uchar8 v8;
-#endif
-}cl_uchar8;
-
-typedef union
-{
- cl_uchar CL_ALIGNED(16) s[16];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
- __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
- __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; };
-#endif
-#if defined( __CL_UCHAR2__)
- __cl_uchar2 v2[8];
-#endif
-#if defined( __CL_UCHAR4__)
- __cl_uchar4 v4[4];
-#endif
-#if defined( __CL_UCHAR8__ )
- __cl_uchar8 v8[2];
-#endif
-#if defined( __CL_UCHAR16__ )
- __cl_uchar16 v16;
-#endif
-}cl_uchar16;
-
-
-/* ---- cl_shortn ---- */
-typedef union
-{
- cl_short CL_ALIGNED(4) s[2];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_short x, y; };
- __CL_ANON_STRUCT__ struct{ cl_short s0, s1; };
- __CL_ANON_STRUCT__ struct{ cl_short lo, hi; };
-#endif
-#if defined( __CL_SHORT2__)
- __cl_short2 v2;
-#endif
-}cl_short2;
-
-typedef union
-{
- cl_short CL_ALIGNED(8) s[4];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3; };
- __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__)
- __cl_short2 v2[2];
-#endif
-#if defined( __CL_SHORT4__)
- __cl_short4 v4;
-#endif
-}cl_short4;
-
-/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */
-typedef cl_short4 cl_short3;
-
-typedef union
-{
- cl_short CL_ALIGNED(16) s[8];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7; };
- __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__)
- __cl_short2 v2[4];
-#endif
-#if defined( __CL_SHORT4__)
- __cl_short4 v4[2];
-#endif
-#if defined( __CL_SHORT8__ )
- __cl_short8 v8;
-#endif
-}cl_short8;
-
-typedef union
-{
- cl_short CL_ALIGNED(32) s[16];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
- __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
- __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; };
-#endif
-#if defined( __CL_SHORT2__)
- __cl_short2 v2[8];
-#endif
-#if defined( __CL_SHORT4__)
- __cl_short4 v4[4];
-#endif
-#if defined( __CL_SHORT8__ )
- __cl_short8 v8[2];
-#endif
-#if defined( __CL_SHORT16__ )
- __cl_short16 v16;
-#endif
-}cl_short16;
-
-
-/* ---- cl_ushortn ---- */
-typedef union
-{
- cl_ushort CL_ALIGNED(4) s[2];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_ushort x, y; };
- __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1; };
- __CL_ANON_STRUCT__ struct{ cl_ushort lo, hi; };
-#endif
-#if defined( __CL_USHORT2__)
- __cl_ushort2 v2;
-#endif
-}cl_ushort2;
-
-typedef union
-{
- cl_ushort CL_ALIGNED(8) s[4];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3; };
- __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__)
- __cl_ushort2 v2[2];
-#endif
-#if defined( __CL_USHORT4__)
- __cl_ushort4 v4;
-#endif
-}cl_ushort4;
-
-/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */
-typedef cl_ushort4 cl_ushort3;
-
-typedef union
-{
- cl_ushort CL_ALIGNED(16) s[8];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7; };
- __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__)
- __cl_ushort2 v2[4];
-#endif
-#if defined( __CL_USHORT4__)
- __cl_ushort4 v4[2];
-#endif
-#if defined( __CL_USHORT8__ )
- __cl_ushort8 v8;
-#endif
-}cl_ushort8;
-
-typedef union
-{
- cl_ushort CL_ALIGNED(32) s[16];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
- __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
- __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; };
-#endif
-#if defined( __CL_USHORT2__)
- __cl_ushort2 v2[8];
-#endif
-#if defined( __CL_USHORT4__)
- __cl_ushort4 v4[4];
-#endif
-#if defined( __CL_USHORT8__ )
- __cl_ushort8 v8[2];
-#endif
-#if defined( __CL_USHORT16__ )
- __cl_ushort16 v16;
-#endif
-}cl_ushort16;
-
-/* ---- cl_intn ---- */
-typedef union
-{
- cl_int CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_int x, y; };
- __CL_ANON_STRUCT__ struct{ cl_int s0, s1; };
- __CL_ANON_STRUCT__ struct{ cl_int lo, hi; };
-#endif
-#if defined( __CL_INT2__)
- __cl_int2 v2;
-#endif
-}cl_int2;
-
-typedef union
-{
- cl_int CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3; };
- __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; };
-#endif
-#if defined( __CL_INT2__)
- __cl_int2 v2[2];
-#endif
-#if defined( __CL_INT4__)
- __cl_int4 v4;
-#endif
-}cl_int4;
-
-/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */
-typedef cl_int4 cl_int3;
-
-typedef union
-{
- cl_int CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7; };
- __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; };
-#endif
-#if defined( __CL_INT2__)
- __cl_int2 v2[4];
-#endif
-#if defined( __CL_INT4__)
- __cl_int4 v4[2];
-#endif
-#if defined( __CL_INT8__ )
- __cl_int8 v8;
-#endif
-}cl_int8;
-
-typedef union
-{
- cl_int CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
- __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
- __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; };
-#endif
-#if defined( __CL_INT2__)
- __cl_int2 v2[8];
-#endif
-#if defined( __CL_INT4__)
- __cl_int4 v4[4];
-#endif
-#if defined( __CL_INT8__ )
- __cl_int8 v8[2];
-#endif
-#if defined( __CL_INT16__ )
- __cl_int16 v16;
-#endif
-}cl_int16;
-
-
-/* ---- cl_uintn ---- */
-typedef union
-{
- cl_uint CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_uint x, y; };
- __CL_ANON_STRUCT__ struct{ cl_uint s0, s1; };
- __CL_ANON_STRUCT__ struct{ cl_uint lo, hi; };
-#endif
-#if defined( __CL_UINT2__)
- __cl_uint2 v2;
-#endif
-}cl_uint2;
-
-typedef union
-{
- cl_uint CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3; };
- __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; };
-#endif
-#if defined( __CL_UINT2__)
- __cl_uint2 v2[2];
-#endif
-#if defined( __CL_UINT4__)
- __cl_uint4 v4;
-#endif
-}cl_uint4;
-
-/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */
-typedef cl_uint4 cl_uint3;
-
-typedef union
-{
- cl_uint CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7; };
- __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; };
-#endif
-#if defined( __CL_UINT2__)
- __cl_uint2 v2[4];
-#endif
-#if defined( __CL_UINT4__)
- __cl_uint4 v4[2];
-#endif
-#if defined( __CL_UINT8__ )
- __cl_uint8 v8;
-#endif
-}cl_uint8;
-
-typedef union
-{
- cl_uint CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
- __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
- __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; };
-#endif
-#if defined( __CL_UINT2__)
- __cl_uint2 v2[8];
-#endif
-#if defined( __CL_UINT4__)
- __cl_uint4 v4[4];
-#endif
-#if defined( __CL_UINT8__ )
- __cl_uint8 v8[2];
-#endif
-#if defined( __CL_UINT16__ )
- __cl_uint16 v16;
-#endif
-}cl_uint16;
-
-/* ---- cl_longn ---- */
-typedef union
-{
- cl_long CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_long x, y; };
- __CL_ANON_STRUCT__ struct{ cl_long s0, s1; };
- __CL_ANON_STRUCT__ struct{ cl_long lo, hi; };
-#endif
-#if defined( __CL_LONG2__)
- __cl_long2 v2;
-#endif
-}cl_long2;
-
-typedef union
-{
- cl_long CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3; };
- __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; };
-#endif
-#if defined( __CL_LONG2__)
- __cl_long2 v2[2];
-#endif
-#if defined( __CL_LONG4__)
- __cl_long4 v4;
-#endif
-}cl_long4;
-
-/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */
-typedef cl_long4 cl_long3;
-
-typedef union
-{
- cl_long CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7; };
- __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; };
-#endif
-#if defined( __CL_LONG2__)
- __cl_long2 v2[4];
-#endif
-#if defined( __CL_LONG4__)
- __cl_long4 v4[2];
-#endif
-#if defined( __CL_LONG8__ )
- __cl_long8 v8;
-#endif
-}cl_long8;
-
-typedef union
-{
- cl_long CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
- __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
- __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; };
-#endif
-#if defined( __CL_LONG2__)
- __cl_long2 v2[8];
-#endif
-#if defined( __CL_LONG4__)
- __cl_long4 v4[4];
-#endif
-#if defined( __CL_LONG8__ )
- __cl_long8 v8[2];
-#endif
-#if defined( __CL_LONG16__ )
- __cl_long16 v16;
-#endif
-}cl_long16;
-
-
-/* ---- cl_ulongn ---- */
-typedef union
-{
- cl_ulong CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_ulong x, y; };
- __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1; };
- __CL_ANON_STRUCT__ struct{ cl_ulong lo, hi; };
-#endif
-#if defined( __CL_ULONG2__)
- __cl_ulong2 v2;
-#endif
-}cl_ulong2;
-
-typedef union
-{
- cl_ulong CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3; };
- __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__)
- __cl_ulong2 v2[2];
-#endif
-#if defined( __CL_ULONG4__)
- __cl_ulong4 v4;
-#endif
-}cl_ulong4;
-
-/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */
-typedef cl_ulong4 cl_ulong3;
-
-typedef union
-{
- cl_ulong CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7; };
- __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__)
- __cl_ulong2 v2[4];
-#endif
-#if defined( __CL_ULONG4__)
- __cl_ulong4 v4[2];
-#endif
-#if defined( __CL_ULONG8__ )
- __cl_ulong8 v8;
-#endif
-}cl_ulong8;
-
-typedef union
-{
- cl_ulong CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
- __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
- __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; };
-#endif
-#if defined( __CL_ULONG2__)
- __cl_ulong2 v2[8];
-#endif
-#if defined( __CL_ULONG4__)
- __cl_ulong4 v4[4];
-#endif
-#if defined( __CL_ULONG8__ )
- __cl_ulong8 v8[2];
-#endif
-#if defined( __CL_ULONG16__ )
- __cl_ulong16 v16;
-#endif
-}cl_ulong16;
-
-
-/* --- cl_floatn ---- */
-
-typedef union
-{
- cl_float CL_ALIGNED(8) s[2];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_float x, y; };
- __CL_ANON_STRUCT__ struct{ cl_float s0, s1; };
- __CL_ANON_STRUCT__ struct{ cl_float lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__)
- __cl_float2 v2;
-#endif
-}cl_float2;
-
-typedef union
-{
- cl_float CL_ALIGNED(16) s[4];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3; };
- __CL_ANON_STRUCT__ struct{ cl_float2 lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__)
- __cl_float2 v2[2];
-#endif
-#if defined( __CL_FLOAT4__)
- __cl_float4 v4;
-#endif
-}cl_float4;
-
-/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */
-typedef cl_float4 cl_float3;
-
-typedef union
-{
- cl_float CL_ALIGNED(32) s[8];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7; };
- __CL_ANON_STRUCT__ struct{ cl_float4 lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__)
- __cl_float2 v2[4];
-#endif
-#if defined( __CL_FLOAT4__)
- __cl_float4 v4[2];
-#endif
-#if defined( __CL_FLOAT8__ )
- __cl_float8 v8;
-#endif
-}cl_float8;
-
-typedef union
-{
- cl_float CL_ALIGNED(64) s[16];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
- __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
- __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; };
-#endif
-#if defined( __CL_FLOAT2__)
- __cl_float2 v2[8];
-#endif
-#if defined( __CL_FLOAT4__)
- __cl_float4 v4[4];
-#endif
-#if defined( __CL_FLOAT8__ )
- __cl_float8 v8[2];
-#endif
-#if defined( __CL_FLOAT16__ )
- __cl_float16 v16;
-#endif
-}cl_float16;
-
-/* --- cl_doublen ---- */
-
-typedef union
-{
- cl_double CL_ALIGNED(16) s[2];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_double x, y; };
- __CL_ANON_STRUCT__ struct{ cl_double s0, s1; };
- __CL_ANON_STRUCT__ struct{ cl_double lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__)
- __cl_double2 v2;
-#endif
-}cl_double2;
-
-typedef union
-{
- cl_double CL_ALIGNED(32) s[4];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3; };
- __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__)
- __cl_double2 v2[2];
-#endif
-#if defined( __CL_DOUBLE4__)
- __cl_double4 v4;
-#endif
-}cl_double4;
-
-/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */
-typedef cl_double4 cl_double3;
-
-typedef union
-{
- cl_double CL_ALIGNED(64) s[8];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; };
- __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7; };
- __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__)
- __cl_double2 v2[4];
-#endif
-#if defined( __CL_DOUBLE4__)
- __cl_double4 v4[2];
-#endif
-#if defined( __CL_DOUBLE8__ )
- __cl_double8 v8;
-#endif
-}cl_double8;
-
-typedef union
-{
- cl_double CL_ALIGNED(128) s[16];
-#if __CL_HAS_ANON_STRUCT__
- __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
- __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
- __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; };
-#endif
-#if defined( __CL_DOUBLE2__)
- __cl_double2 v2[8];
-#endif
-#if defined( __CL_DOUBLE4__)
- __cl_double4 v4[4];
-#endif
-#if defined( __CL_DOUBLE8__ )
- __cl_double8 v8[2];
-#endif
-#if defined( __CL_DOUBLE16__ )
- __cl_double16 v16;
-#endif
-}cl_double16;
-
-/* Macro to facilitate debugging
- * Usage:
- * Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source.
- * The first line ends with: CL_PROGRAM_STRING_DEBUG_INFO \"
- * Each line thereafter of OpenCL C source must end with: \n\
- * The last line ends in ";
- *
- * Example:
- *
- * const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\
- * kernel void foo( int a, float * b ) \n\
- * { \n\
- * // my comment \n\
- * *b[ get_global_id(0)] = a; \n\
- * } \n\
- * ";
- *
- * This should correctly set up the line, (column) and file information for your source
- * string so you can do source level debugging.
- */
-#define __CL_STRINGIFY( _x ) # _x
-#define _CL_STRINGIFY( _x ) __CL_STRINGIFY( _x )
-#define CL_PROGRAM_STRING_DEBUG_INFO "#line " _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n"
-
-#ifdef __cplusplus
-}
-#endif
-
-#undef __CL_HAS_ANON_STRUCT__
-#undef __CL_ANON_STRUCT__
-#if defined( _WIN32) && (_MSC_VER >= 1500)
-#pragma warning( pop )
-#endif
-
-#endif /* __CL_PLATFORM_H */
diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h
deleted file mode 100644
index 9855cd75e7..0000000000
--- a/third_party/opencl/include/CL/opencl.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2008-2015 The Khronos Group Inc.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a
- * copy of this software and/or associated documentation files (the
- * "Materials"), to deal in the Materials without restriction, including
- * without limitation the rights to use, copy, modify, merge, publish,
- * distribute, sublicense, and/or sell copies of the Materials, and to
- * permit persons to whom the Materials are furnished to do so, subject to
- * the following conditions:
- *
- * The above copyright notice and this permission notice shall be included
- * in all copies or substantial portions of the Materials.
- *
- * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
- * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
- * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
- * https://www.khronos.org/registry/
- *
- * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
- * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
- * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
- * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
- * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
- * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
- * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
- ******************************************************************************/
-
-/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
-
-#ifndef __OPENCL_H
-#define __OPENCL_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#ifdef __APPLE__
-
-#include
-#include
-#include
-#include
-
-#else
-
-#include
-#include
-#include
-#include
-
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __OPENCL_H */
-
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index d4cfc67280..b79d046fca 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -57,11 +57,9 @@ base_frameworks = qt_env['FRAMEWORKS']
base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
if arch == "Darwin":
- base_frameworks.append('OpenCL')
base_frameworks.append('QtCharts')
base_frameworks.append('QtSerialBus')
else:
- base_libs.append('OpenCL')
base_libs.append('Qt5Charts')
base_libs.append('Qt5SerialBus')
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 5c2131d4bf..f428e9972a 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -58,9 +58,6 @@ function install_ubuntu_common_requirements() {
libzmq3-dev \
libzstd-dev \
libsqlite3-dev \
- opencl-headers \
- ocl-icd-libopencl1 \
- ocl-icd-opencl-dev \
portaudio19-dev \
qttools5-dev-tools \
libqt5svg5-dev \
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 136c4119f6..698ab9885d 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -6,11 +6,6 @@ replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations']
base_frameworks = []
base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread']
-if arch == "Darwin":
- base_frameworks.append('OpenCL')
-else:
- base_libs.append('OpenCL')
-
replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
"route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"]
if arch != "Darwin":
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 67ad2cc8cb..6abbc47935 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -10,10 +10,6 @@ What's needed:
## Setup openpilot
- Follow [this readme](../README.md) to install and build the requirements
-- Install OpenCL Driver (Ubuntu)
-```
-sudo apt install pocl-opencl-icd
-```
## Connect the hardware
- Connect the camera first
From 46f74753cd2ee9c72a23acfb1f310338149d3c48 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Fri, 6 Feb 2026 17:11:17 -0800
Subject: [PATCH 075/150] clip: use wrap_text helper (#37102)
* they are same
* no duplication!
* rm rstrip
---
tools/clip/run.py | 25 ++-----------------------
1 file changed, 2 insertions(+), 23 deletions(-)
diff --git a/tools/clip/run.py b/tools/clip/run.py
index 13f591eb41..855ac6fea3 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -238,30 +238,9 @@ def draw_text_box(text, x, y, size, gui_app, font, color=None, center=False):
rl.draw_text_ex(font, text, rl.Vector2(x, y), size, 0, text_color)
-def _wrap_text_by_delimiter(text: str, font, font_size: int, max_width: int, delimiter: str = ", ") -> list[str]:
- from openpilot.system.ui.lib.text_measure import measure_text_cached
- """Wrap text by splitting on delimiter when it exceeds max_width."""
- words = text.split(delimiter)
- lines: list[str] = []
- current_line: list[str] = []
- # Build lines word by word
- for word in words:
- current_line.append(word)
- check_line = delimiter.join(current_line)
- # Check if line exceeds max width
- if measure_text_cached(font, check_line, font_size).x > max_width:
- current_line.pop() # Line is too long, move word to next line
- if current_line:
- lines.append(delimiter.join(current_line))
- current_line = [word]
- # Add leftover words as last line
- if current_line:
- lines.append(delimiter.join(current_line))
- return lines
-
-
def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx, show_metadata, show_time):
from openpilot.system.ui.lib.text_measure import measure_text_cached
+ from openpilot.system.ui.lib.wrap_text import wrap_text
metadata_size = 16 if big else 12
title_size = 32 if big else 24
time_size = 24 if big else 16
@@ -282,7 +261,7 @@ def render_overlays(gui_app, font, big, metadata, title, start_time, frame_idx,
# Wrap text if too wide (leave margin on each side)
margin = 2 * (time_width + 10 if show_time else 20) # leave enough margin for time overlay
max_width = gui_app.width - margin
- lines = _wrap_text_by_delimiter(text, font, metadata_size, max_width)
+ lines = wrap_text(font, text, metadata_size, max_width)
# Draw wrapped metadata text
y_offset = 6
From e531f844f6ada4020850873e808ec7441fbcc2c5 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Fri, 6 Feb 2026 20:15:12 -0800
Subject: [PATCH 076/150] bump opendbc (#37108)
bump
---
opendbc_repo | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/opendbc_repo b/opendbc_repo
index 39ee861197..05348982cb 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 39ee861197edca894fc1b2e28d6fd1a38aea9ca1
+Subproject commit 05348982cb7b6bc6fed73611ac26ecda658194fc
From efc23644c74714725ce8022f9dae0bcf7a293617 Mon Sep 17 00:00:00 2001
From: Shane Smiskol
Date: Fri, 6 Feb 2026 22:59:05 -0800
Subject: [PATCH 077/150] Delete less dialogs (#37111)
* try
* revert
* this is fine
---
selfdrive/ui/mici/layouts/settings/device.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index c12a92482c..f8dba659d2 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -326,7 +326,7 @@ class DeviceLayoutMici(NavWidget):
driver_cam_btn.set_click_callback(self._show_driver_camera)
driver_cam_btn.set_enabled(lambda: ui_state.is_offroad())
- review_training_guide_btn = BigButton("review\nntraining guide", "", "icons_mici/settings/device/info.png")
+ review_training_guide_btn = BigButton("review\ntraining guide", "", "icons_mici/settings/device/info.png")
review_training_guide_btn.set_click_callback(self._on_review_training_guide)
review_training_guide_btn.set_enabled(lambda: ui_state.is_offroad())
@@ -353,7 +353,7 @@ class DeviceLayoutMici(NavWidget):
def _on_regulatory(self):
if not self._fcc_dialog:
self._fcc_dialog = MiciFccModal(os.path.join(BASEDIR, "selfdrive/assets/offroad/mici_fcc.html"))
- gui_app.set_modal_overlay(self._fcc_dialog, callback=setattr(self, '_fcc_dialog', None))
+ gui_app.set_modal_overlay(self._fcc_dialog)
def _offroad_transition(self):
self._power_off_btn.set_visible(ui_state.is_offroad())
From 51312afd3da58ac73cc98d5c908cbebd70498ba5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Harald=20Sch=C3=A4fer?=
Date: Sat, 7 Feb 2026 09:10:29 -0800
Subject: [PATCH 078/150] revert tg calib and opencl cleanup (#37113)
* Revert "Remove all the OpenCL (#37105)"
This reverts commit d5cbb89d84212bfd99d5fdd8b19f76d90b4f40e0.
* Revert "rm common/mat.h"
This reverts commit 4ce701150a3f932aca210e3ff372ffcdb2a23e83.
* Revert "Calibrate in tg (#36621)"
This reverts commit 593c3a0c8e69686ee821b2a0b2cfa9901b67dc27.
---
Dockerfile.openpilot_base | 37 +
SConstruct | 1 +
common/SConscript | 1 +
common/clutil.cc | 98 ++
common/clutil.h | 28 +
common/mat.h | 85 +
msgq_repo | 2 +-
selfdrive/modeld/SConscript | 49 +-
selfdrive/modeld/compile_warp.py | 206 ---
selfdrive/modeld/dmonitoringmodeld.py | 33 +-
selfdrive/modeld/modeld.py | 59 +-
selfdrive/modeld/models/commonmodel.cc | 64 +
selfdrive/modeld/models/commonmodel.h | 97 ++
selfdrive/modeld/models/commonmodel.pxd | 27 +
selfdrive/modeld/models/commonmodel_pyx.pxd | 13 +
selfdrive/modeld/models/commonmodel_pyx.pyx | 74 +
selfdrive/modeld/runners/tinygrad_helpers.py | 8 +
selfdrive/modeld/transforms/loadyuv.cc | 76 +
selfdrive/modeld/transforms/loadyuv.cl | 47 +
selfdrive/modeld/transforms/loadyuv.h | 20 +
selfdrive/modeld/transforms/transform.cc | 97 ++
selfdrive/modeld/transforms/transform.cl | 54 +
selfdrive/modeld/transforms/transform.h | 25 +
selfdrive/test/process_replay/model_replay.py | 2 +-
.../test/process_replay/process_replay.py | 15 +-
system/camerad/SConscript | 2 +-
system/camerad/cameras/camera_common.cc | 5 +-
system/camerad/cameras/camera_common.h | 2 +-
system/camerad/cameras/camera_qcom2.cc | 22 +-
system/camerad/cameras/spectra.cc | 4 +-
system/camerad/cameras/spectra.h | 2 +-
system/loggerd/SConscript | 5 +-
third_party/opencl/include/CL/cl.h | 1452 +++++++++++++++++
third_party/opencl/include/CL/cl_d3d10.h | 131 ++
third_party/opencl/include/CL/cl_d3d11.h | 131 ++
.../opencl/include/CL/cl_dx9_media_sharing.h | 132 ++
third_party/opencl/include/CL/cl_egl.h | 136 ++
third_party/opencl/include/CL/cl_ext.h | 391 +++++
third_party/opencl/include/CL/cl_ext_qcom.h | 255 +++
third_party/opencl/include/CL/cl_gl.h | 167 ++
third_party/opencl/include/CL/cl_gl_ext.h | 74 +
third_party/opencl/include/CL/cl_platform.h | 1333 +++++++++++++++
third_party/opencl/include/CL/opencl.h | 59 +
tools/cabana/SConscript | 2 +
tools/install_ubuntu_dependencies.sh | 3 +
tools/replay/SConscript | 5 +
tools/webcam/README.md | 4 +
47 files changed, 5235 insertions(+), 300 deletions(-)
create mode 100644 common/clutil.cc
create mode 100644 common/clutil.h
create mode 100644 common/mat.h
delete mode 100755 selfdrive/modeld/compile_warp.py
create mode 100644 selfdrive/modeld/models/commonmodel.cc
create mode 100644 selfdrive/modeld/models/commonmodel.h
create mode 100644 selfdrive/modeld/models/commonmodel.pxd
create mode 100644 selfdrive/modeld/models/commonmodel_pyx.pxd
create mode 100644 selfdrive/modeld/models/commonmodel_pyx.pyx
create mode 100644 selfdrive/modeld/runners/tinygrad_helpers.py
create mode 100644 selfdrive/modeld/transforms/loadyuv.cc
create mode 100644 selfdrive/modeld/transforms/loadyuv.cl
create mode 100644 selfdrive/modeld/transforms/loadyuv.h
create mode 100644 selfdrive/modeld/transforms/transform.cc
create mode 100644 selfdrive/modeld/transforms/transform.cl
create mode 100644 selfdrive/modeld/transforms/transform.h
create mode 100644 third_party/opencl/include/CL/cl.h
create mode 100644 third_party/opencl/include/CL/cl_d3d10.h
create mode 100644 third_party/opencl/include/CL/cl_d3d11.h
create mode 100644 third_party/opencl/include/CL/cl_dx9_media_sharing.h
create mode 100644 third_party/opencl/include/CL/cl_egl.h
create mode 100644 third_party/opencl/include/CL/cl_ext.h
create mode 100644 third_party/opencl/include/CL/cl_ext_qcom.h
create mode 100644 third_party/opencl/include/CL/cl_gl.h
create mode 100644 third_party/opencl/include/CL/cl_gl_ext.h
create mode 100644 third_party/opencl/include/CL/cl_platform.h
create mode 100644 third_party/opencl/include/CL/opencl.h
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 8a60412993..44d8d95e95 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -18,6 +18,43 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \
cd /usr/lib/gcc/arm-none-eabi/* && \
rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+ apt-utils \
+ alien \
+ unzip \
+ tar \
+ curl \
+ xz-utils \
+ dbus \
+ gcc-arm-none-eabi \
+ tmux \
+ vim \
+ libx11-6 \
+ wget \
+ && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+ cd /tmp/opencl-driver-intel && \
+ wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+ wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+ mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+ cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+ tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+ mkdir -p /etc/OpenCL/vendors && \
+ echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+ cd /opt/intel && \
+ tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+ ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+ ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+ ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+ ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+ mkdir -p /etc/ld.so.conf.d && \
+ echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+ ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+ cd / && \
+ rm -rf /tmp/opencl-driver-intel
+
ENV NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
ENV QTWEBENGINE_DISABLE_SANDBOX=1
diff --git a/SConstruct b/SConstruct
index 4f04be624c..ca5b7b6cb7 100644
--- a/SConstruct
+++ b/SConstruct
@@ -94,6 +94,7 @@ env = Environment(
# Arch-specific flags and paths
if arch == "larch64":
+ env.Append(CPPPATH=["#third_party/opencl/include"])
env.Append(LIBPATH=[
"/usr/local/lib",
"/system/vendor/lib64",
diff --git a/common/SConscript b/common/SConscript
index 15a0e5eff1..1c68cf05c7 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -5,6 +5,7 @@ common_libs = [
'swaglog.cc',
'util.cc',
'ratekeeper.cc',
+ 'clutil.cc',
]
_common = env.Library('common', common_libs, LIBS="json11")
diff --git a/common/clutil.cc b/common/clutil.cc
new file mode 100644
index 0000000000..f8381a7e09
--- /dev/null
+++ b/common/clutil.cc
@@ -0,0 +1,98 @@
+#include "common/clutil.h"
+
+#include
+#include
+#include
+
+#include "common/util.h"
+#include "common/swaglog.h"
+
+namespace { // helper functions
+
+template
+std::string get_info(Func get_info_func, Id id, Name param_name) {
+ size_t size = 0;
+ CL_CHECK(get_info_func(id, param_name, 0, NULL, &size));
+ std::string info(size, '\0');
+ CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL));
+ return info;
+}
+inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); }
+inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); }
+
+void cl_print_info(cl_platform_id platform, cl_device_id device) {
+ size_t work_group_size = 0;
+ cl_device_type device_type = 0;
+ clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL);
+ clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL);
+ const char *type_str = "Other...";
+ switch (device_type) {
+ case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break;
+ case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break;
+ case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
+ }
+
+ LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
+ LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
+ LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
+ LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
+ LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
+ LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
+ LOGD("max work group size: %zu", work_group_size);
+ LOGD("type = %d, %s", (int)device_type, type_str);
+}
+
+void cl_print_build_errors(cl_program program, cl_device_id device) {
+ cl_build_status status;
+ clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL);
+ size_t log_size;
+ clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size);
+ std::string log(log_size, '\0');
+ clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
+
+ LOGE("build failed; status=%d, log: %s", status, log.c_str());
+}
+
+} // namespace
+
+cl_device_id cl_get_device_id(cl_device_type device_type) {
+ cl_uint num_platforms = 0;
+ CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms));
+ std::unique_ptr platform_ids = std::make_unique(num_platforms);
+ CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
+
+ for (size_t i = 0; i < num_platforms; ++i) {
+ LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+
+ // Get first device
+ if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
+ cl_print_info(platform_ids[i], device_id);
+ return device_id;
+ }
+ }
+ LOGE("No valid openCL platform found");
+ assert(0);
+ return nullptr;
+}
+
+cl_context cl_create_context(cl_device_id device_id) {
+ return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+}
+
+void cl_release_context(cl_context context) {
+ clReleaseContext(context);
+}
+
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
+ return cl_program_from_source(ctx, device_id, util::read_file(path), args);
+}
+
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
+ const char *csrc = src.c_str();
+ cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
+ if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
+ cl_print_build_errors(prg, device_id);
+ assert(0);
+ }
+ return prg;
+}
diff --git a/common/clutil.h b/common/clutil.h
new file mode 100644
index 0000000000..b364e79d45
--- /dev/null
+++ b/common/clutil.h
@@ -0,0 +1,28 @@
+#pragma once
+
+#ifdef __APPLE__
+#include
+#else
+#include
+#endif
+
+#include
+
+#define CL_CHECK(_expr) \
+ do { \
+ assert(CL_SUCCESS == (_expr)); \
+ } while (0)
+
+#define CL_CHECK_ERR(_expr) \
+ ({ \
+ cl_int err = CL_INVALID_VALUE; \
+ __typeof__(_expr) _ret = _expr; \
+ assert(_ret&& err == CL_SUCCESS); \
+ _ret; \
+ })
+
+cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_context cl_create_context(cl_device_id device_id);
+void cl_release_context(cl_context context);
+cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
+cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
diff --git a/common/mat.h b/common/mat.h
new file mode 100644
index 0000000000..8e10d61971
--- /dev/null
+++ b/common/mat.h
@@ -0,0 +1,85 @@
+#pragma once
+
+typedef struct vec3 {
+ float v[3];
+} vec3;
+
+typedef struct vec4 {
+ float v[4];
+} vec4;
+
+typedef struct mat3 {
+ float v[3*3];
+} mat3;
+
+typedef struct mat4 {
+ float v[4*4];
+} mat4;
+
+static inline mat3 matmul3(const mat3 &a, const mat3 &b) {
+ mat3 ret = {{0.0}};
+ for (int r=0; r<3; r++) {
+ for (int c=0; c<3; c++) {
+ float v = 0.0;
+ for (int k=0; k<3; k++) {
+ v += a.v[r*3+k] * b.v[k*3+c];
+ }
+ ret.v[r*3+c] = v;
+ }
+ }
+ return ret;
+}
+
+static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) {
+ vec3 ret = {{0.0}};
+ for (int r=0; r<3; r++) {
+ for (int c=0; c<3; c++) {
+ ret.v[r] += a.v[r*3+c] * b.v[c];
+ }
+ }
+ return ret;
+}
+
+static inline mat4 matmul(const mat4 &a, const mat4 &b) {
+ mat4 ret = {{0.0}};
+ for (int r=0; r<4; r++) {
+ for (int c=0; c<4; c++) {
+ float v = 0.0;
+ for (int k=0; k<4; k++) {
+ v += a.v[r*4+k] * b.v[k*4+c];
+ }
+ ret.v[r*4+c] = v;
+ }
+ }
+ return ret;
+}
+
+static inline vec4 matvecmul(const mat4 &a, const vec4 &b) {
+ vec4 ret = {{0.0}};
+ for (int r=0; r<4; r++) {
+ for (int c=0; c<4; c++) {
+ ret.v[r] += a.v[r*4+c] * b.v[c];
+ }
+ }
+ return ret;
+}
+
+// scales the input and output space of a transformation matrix
+// that assumes pixel-center origin.
+static inline mat3 transform_scale_buffer(const mat3 &in, float s) {
+ // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s
+
+ mat3 transform_out = {{
+ 1.0f/s, 0.0f, 0.5f,
+ 0.0f, 1.0f/s, 0.5f,
+ 0.0f, 0.0f, 1.0f,
+ }};
+
+ mat3 transform_in = {{
+ s, 0.0f, -0.5f*s,
+ 0.0f, s, -0.5f*s,
+ 0.0f, 0.0f, 1.0f,
+ }};
+
+ return matmul3(transform_in, matmul3(in, transform_out));
+}
diff --git a/msgq_repo b/msgq_repo
index f9ebdca885..20f2493855 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit f9ebdca885cfe25295d09de9fd57023a10758de5
+Subproject commit 20f2493855ef32339b80f0ad76b3cb82210dc474
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 72d3f95c41..91f3597447 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,10 +1,35 @@
import os
import glob
-Import('env', 'arch')
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'visionipc')
lenv = env.Clone()
+lenvCython = envCython.Clone()
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
+libs = [cereal, messaging, visionipc, common, 'capnp', 'kj', 'pthread']
+frameworks = []
+
+common_src = [
+ "models/commonmodel.cc",
+ "transforms/loadyuv.cc",
+ "transforms/transform.cc",
+]
+
+# OpenCL is a framework on Mac
+if arch == "Darwin":
+ frameworks += ['OpenCL']
+else:
+ libs += ['OpenCL']
+
+# Set path definitions
+for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl'}.items():
+ for xenv in (lenv, lenvCython):
+ xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
+
+# Compile cython
+cython_libs = envCython["LIBS"] + libs
+commonmodel_lib = lenv.Library('commonmodel', common_src)
+lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
+tinygrad_files = sorted(["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x])
# Get model metadata
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
@@ -13,30 +38,22 @@ for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
-# compile warp
-tg_flags = {
- 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 JIT_BATCH_SIZE=0',
- 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
-}.get(arch, 'DEV=CPU CPU_LLVM=1')
-image_flag = {
- 'larch64': 'IMAGE=2',
-}.get(arch, 'IMAGE=0')
-script_files = [File(Dir("#selfdrive/modeld").File("compile_warp.py").abspath)]
-cmd = f'{tg_flags} python3 {Dir("#selfdrive/modeld").abspath}/compile_warp.py '
-lenv.Command(fn + "warp_tinygrad.pkl", tinygrad_files + script_files, cmd)
-
def tg_compile(flags, model_name):
pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
fn = File(f"models/{model_name}").abspath
return lenv.Command(
fn + "_tinygrad.pkl",
[fn + ".onnx"] + tinygrad_files,
- f'{pythonpath_string} {flags} {image_flag} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+ f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
)
# Compile small models
for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
- tg_compile(tg_flags, model_name)
+ flags = {
+ 'larch64': 'DEV=QCOM FLOAT16=1 NOLOCALS=1 IMAGE=2 JIT_BATCH_SIZE=0',
+ 'Darwin': f'DEV=CPU HOME={os.path.expanduser("~")}', # tinygrad calls brew which needs a $HOME in the env
+ }.get(arch, 'DEV=CPU CPU_LLVM=1')
+ tg_compile(flags, model_name)
# Compile BIG model if USB GPU is available
if "USBGPU" in os.environ:
diff --git a/selfdrive/modeld/compile_warp.py b/selfdrive/modeld/compile_warp.py
deleted file mode 100755
index 5adb60e624..0000000000
--- a/selfdrive/modeld/compile_warp.py
+++ /dev/null
@@ -1,206 +0,0 @@
-#!/usr/bin/env python3
-import time
-import pickle
-import numpy as np
-from pathlib import Path
-from tinygrad.tensor import Tensor
-from tinygrad.helpers import Context
-from tinygrad.device import Device
-from tinygrad.engine.jit import TinyJit
-
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
-from openpilot.common.transformations.model import MEDMODEL_INPUT_SIZE, DM_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-
-MODELS_DIR = Path(__file__).parent / 'models'
-
-CAMERA_CONFIGS = [
- (_ar_ox_fisheye.width, _ar_ox_fisheye.height), # tici: 1928x1208
- (_os_fisheye.width, _os_fisheye.height), # mici: 1344x760
-]
-
-UV_SCALE_MATRIX = np.array([[0.5, 0, 0], [0, 0.5, 0], [0, 0, 1]], dtype=np.float32)
-UV_SCALE_MATRIX_INV = np.linalg.inv(UV_SCALE_MATRIX)
-
-IMG_BUFFER_SHAPE = (30, MEDMODEL_INPUT_SIZE[1] // 2, MEDMODEL_INPUT_SIZE[0] // 2)
-
-
-def warp_pkl_path(w, h):
- return MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
-
-
-def dm_warp_pkl_path(w, h):
- return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'
-
-
-def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, ratio):
- w_dst, h_dst = dst_shape
- h_src, w_src = src_shape
-
- x = Tensor.arange(w_dst).reshape(1, w_dst).expand(h_dst, w_dst)
- y = Tensor.arange(h_dst).reshape(h_dst, 1).expand(h_dst, w_dst)
- ones = Tensor.ones_like(x)
- dst_coords = x.reshape(1, -1).cat(y.reshape(1, -1)).cat(ones.reshape(1, -1))
-
- src_coords = M_inv @ dst_coords
- src_coords = src_coords / src_coords[2:3, :]
-
- x_nn_clipped = Tensor.round(src_coords[0]).clip(0, w_src - 1).cast('int')
- y_nn_clipped = Tensor.round(src_coords[1]).clip(0, h_src - 1).cast('int')
- idx = y_nn_clipped * w_src + (y_nn_clipped * ratio).cast('int') * stride_pad + x_nn_clipped
-
- sampled = src_flat[idx]
- return sampled
-
-
-def frames_to_tensor(frames, model_w, model_h):
- H = (frames.shape[0] * 2) // 3
- W = frames.shape[1]
- in_img1 = Tensor.cat(frames[0:H:2, 0::2],
- frames[1:H:2, 0::2],
- frames[0:H:2, 1::2],
- frames[1:H:2, 1::2],
- frames[H:H+H//4].reshape((H//2, W//2)),
- frames[H+H//4:H+H//2].reshape((H//2, W//2)), dim=0).reshape((6, H//2, W//2))
- return in_img1
-
-
-def make_frame_prepare(cam_w, cam_h, model_w, model_h):
- stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
- uv_offset = stride * y_height
- stride_pad = stride - cam_w
-
- def frame_prepare_tinygrad(input_frame, M_inv):
- tg_scale = Tensor(UV_SCALE_MATRIX)
- M_inv_uv = tg_scale @ M_inv @ Tensor(UV_SCALE_MATRIX_INV)
- with Context(SPLIT_REDUCEOP=0):
- y = warp_perspective_tinygrad(input_frame[:cam_h*stride],
- M_inv, (model_w, model_h),
- (cam_h, cam_w), stride_pad, 1).realize()
- u = warp_perspective_tinygrad(input_frame[uv_offset:uv_offset + (cam_h//4)*stride],
- M_inv_uv, (model_w//2, model_h//2),
- (cam_h//2, cam_w//2), stride_pad, 0.5).realize()
- v = warp_perspective_tinygrad(input_frame[uv_offset + (cam_h//4)*stride:uv_offset + (cam_h//2)*stride],
- M_inv_uv, (model_w//2, model_h//2),
- (cam_h//2, cam_w//2), stride_pad, 0.5).realize()
- yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
- tensor = frames_to_tensor(yuv, model_w, model_h)
- return tensor
- return frame_prepare_tinygrad
-
-
-def make_update_img_input(frame_prepare, model_w, model_h):
- def update_img_input_tinygrad(tensor, frame, M_inv):
- M_inv = M_inv.to(Device.DEFAULT)
- new_img = frame_prepare(frame, M_inv)
- full_buffer = tensor[6:].cat(new_img, dim=0).contiguous()
- return full_buffer, Tensor.cat(full_buffer[:6], full_buffer[-6:], dim=0).contiguous().reshape(1, 12, model_h//2, model_w//2)
- return update_img_input_tinygrad
-
-
-def make_update_both_imgs(frame_prepare, model_w, model_h):
- update_img = make_update_img_input(frame_prepare, model_w, model_h)
-
- def update_both_imgs_tinygrad(calib_img_buffer, new_img, M_inv,
- calib_big_img_buffer, new_big_img, M_inv_big):
- calib_img_buffer, calib_img_pair = update_img(calib_img_buffer, new_img, M_inv)
- calib_big_img_buffer, calib_big_img_pair = update_img(calib_big_img_buffer, new_big_img, M_inv_big)
- return calib_img_buffer, calib_img_pair, calib_big_img_buffer, calib_big_img_pair
- return update_both_imgs_tinygrad
-
-
-def make_warp_dm(cam_w, cam_h, dm_w, dm_h):
- stride, y_height, _, _ = get_nv12_info(cam_w, cam_h)
- stride_pad = stride - cam_w
-
- def warp_dm(input_frame, M_inv):
- M_inv = M_inv.to(Device.DEFAULT)
- with Context(SPLIT_REDUCEOP=0):
- result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad, 1).reshape(-1, dm_h * dm_w)
- return result
- return warp_dm
-
-
-def compile_modeld_warp(cam_w, cam_h):
- model_w, model_h = MEDMODEL_INPUT_SIZE
- _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
- print(f"Compiling modeld warp for {cam_w}x{cam_h}...")
-
- frame_prepare = make_frame_prepare(cam_w, cam_h, model_w, model_h)
- update_both_imgs = make_update_both_imgs(frame_prepare, model_w, model_h)
- update_img_jit = TinyJit(update_both_imgs, prune=True)
-
- full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
- big_full_buffer = Tensor.zeros(IMG_BUFFER_SHAPE, dtype='uint8').contiguous().realize()
- full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
- big_full_buffer_np = np.zeros(IMG_BUFFER_SHAPE, dtype=np.uint8)
-
- for i in range(10):
- new_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
- img_inputs = [full_buffer,
- Tensor.from_blob(new_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
- Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
- new_big_frame_np = (32 * np.random.randn(yuv_size).astype(np.float32) + 128).clip(0, 255).astype(np.uint8)
- big_img_inputs = [big_full_buffer,
- Tensor.from_blob(new_big_frame_np.ctypes.data, (yuv_size,), dtype='uint8').realize(),
- Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
- inputs = img_inputs + big_img_inputs
- Device.default.synchronize()
-
- inputs_np = [x.numpy() for x in inputs]
- inputs_np[0] = full_buffer_np
- inputs_np[3] = big_full_buffer_np
-
- st = time.perf_counter()
- out = update_img_jit(*inputs)
- full_buffer = out[0].contiguous().realize().clone()
- big_full_buffer = out[2].contiguous().realize().clone()
- mt = time.perf_counter()
- Device.default.synchronize()
- et = time.perf_counter()
- print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
- pkl_path = warp_pkl_path(cam_w, cam_h)
- with open(pkl_path, "wb") as f:
- pickle.dump(update_img_jit, f)
- print(f" Saved to {pkl_path}")
-
- jit = pickle.load(open(pkl_path, "rb"))
- jit(*inputs)
-
-
-def compile_dm_warp(cam_w, cam_h):
- dm_w, dm_h = DM_INPUT_SIZE
- _, _, _, yuv_size = get_nv12_info(cam_w, cam_h)
-
- print(f"Compiling DM warp for {cam_w}x{cam_h}...")
-
- warp_dm = make_warp_dm(cam_w, cam_h, dm_w, dm_h)
- warp_dm_jit = TinyJit(warp_dm, prune=True)
-
- for i in range(10):
- inputs = [Tensor.from_blob((32 * Tensor.randn(yuv_size,) + 128).cast(dtype='uint8').realize().numpy().ctypes.data, (yuv_size,), dtype='uint8'),
- Tensor(Tensor.randn(3, 3).mul(8).realize().numpy(), device='NPY')]
- Device.default.synchronize()
- st = time.perf_counter()
- warp_dm_jit(*inputs)
- mt = time.perf_counter()
- Device.default.synchronize()
- et = time.perf_counter()
- print(f" [{i+1}/10] enqueue {(mt-st)*1e3:6.2f} ms -- total {(et-st)*1e3:6.2f} ms")
-
- pkl_path = dm_warp_pkl_path(cam_w, cam_h)
- with open(pkl_path, "wb") as f:
- pickle.dump(warp_dm_jit, f)
- print(f" Saved to {pkl_path}")
-
-
-def run_and_save_pickle():
- for cam_w, cam_h in CAMERA_CONFIGS:
- compile_modeld_warp(cam_w, cam_h)
- compile_dm_warp(cam_w, cam_h)
-
-
-if __name__ == "__main__":
- run_and_save_pickle()
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 7d4df713c7..fca762c69b 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -3,6 +3,7 @@ import os
from openpilot.system.hardware import TICI
os.environ['DEV'] = 'QCOM' if TICI else 'CPU'
from tinygrad.tensor import Tensor
+from tinygrad.dtype import dtypes
import time
import pickle
import numpy as np
@@ -15,34 +16,32 @@ from openpilot.common.swaglog import cloudlog
from openpilot.common.realtime import config_realtime_process
from openpilot.common.transformations.model import dmonitoringmodel_intrinsics
from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import CLContext, MonitoringModelFrame
from openpilot.selfdrive.modeld.parse_model_outputs import sigmoid, safe_exp
+from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
METADATA_PATH = Path(__file__).parent / 'models/dmonitoring_model_metadata.pkl'
-MODELS_DIR = Path(__file__).parent / 'models'
+
class ModelState:
inputs: dict[str, np.ndarray]
output: np.ndarray
- def __init__(self):
+ def __init__(self, cl_ctx):
with open(METADATA_PATH, 'rb') as f:
model_metadata = pickle.load(f)
self.input_shapes = model_metadata['input_shapes']
self.output_slices = model_metadata['output_slices']
+ self.frame = MonitoringModelFrame(cl_ctx)
self.numpy_inputs = {
'calib': np.zeros(self.input_shapes['calib'], dtype=np.float32),
}
- self.warp_inputs_np = {'transform': np.zeros((3,3), dtype=np.float32)}
- self.warp_inputs = {k: Tensor(v, device='NPY') for k,v in self.warp_inputs_np.items()}
- self.frame_buf_params = None
self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
- self.image_warp = None
with open(MODEL_PKL_PATH, "rb") as f:
self.model_run = pickle.load(f)
@@ -51,15 +50,14 @@ class ModelState:
t1 = time.perf_counter()
- if self.image_warp is None:
- self.frame_buf_params = get_nv12_info(buf.width, buf.height)
- warp_path = MODELS_DIR / f'dm_warp_{buf.width}x{buf.height}_tinygrad.pkl'
- with open(warp_path, "rb") as f:
- self.image_warp = pickle.load(f)
- self.warp_inputs['frame'] = Tensor.from_blob(buf.data.ctypes.data, (self.frame_buf_params[3],), dtype='uint8').realize()
+ input_img_cl = self.frame.prepare(buf, transform.flatten())
+ if TICI:
+ # The imgs tensors are backed by opencl memory, only need init once
+ if 'input_img' not in self.tensor_inputs:
+ self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, self.input_shapes['input_img'], dtype=dtypes.uint8)
+ else:
+ self.tensor_inputs['input_img'] = Tensor(self.frame.buffer_from_cl(input_img_cl).reshape(self.input_shapes['input_img']), dtype=dtypes.uint8).realize()
- self.warp_inputs_np['transform'][:] = transform[:]
- self.tensor_inputs['input_img'] = self.image_warp(self.warp_inputs['frame'], self.warp_inputs['transform']).realize()
output = self.model_run(**self.tensor_inputs).contiguous().realize().uop.base.buffer.numpy()
@@ -109,11 +107,12 @@ def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_t
def main():
config_realtime_process(7, 5)
- model = ModelState()
+ cl_context = CLContext()
+ model = ModelState(cl_context)
cloudlog.warning("models loaded, dmonitoringmodeld starting")
cloudlog.warning("connecting to driver stream")
- vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True)
+ vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
while not vipc_client.connect(False):
time.sleep(0.1)
assert vipc_client.is_connected()
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 7fae365109..1f347dc32a 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -7,6 +7,7 @@ if USBGPU:
os.environ['DEV'] = 'AMD'
os.environ['AMD_IFACE'] = 'USB'
from tinygrad.tensor import Tensor
+from tinygrad.dtype import dtypes
import time
import pickle
import numpy as np
@@ -21,13 +22,14 @@ from openpilot.common.params import Params
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import config_realtime_process, DT_MDL
from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
from openpilot.common.transformations.model import get_warp_matrix
from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value, get_curvature_from_plan
from openpilot.selfdrive.modeld.parse_model_outputs import Parser
from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
+from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
+from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
PROCESS_NAME = "selfdrive.modeld.modeld"
@@ -37,15 +39,11 @@ VISION_PKL_PATH = Path(__file__).parent / 'models/driving_vision_tinygrad.pkl'
POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
-MODELS_DIR = Path(__file__).parent / 'models'
LAT_SMOOTH_SECONDS = 0.0
LONG_SMOOTH_SECONDS = 0.3
MIN_LAT_CONTROL_SPEED = 0.3
-IMG_QUEUE_SHAPE = (6*(ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ + 1), 128, 256)
-assert IMG_QUEUE_SHAPE[0] == 30
-
def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
@@ -138,11 +136,12 @@ class InputQueues:
return out
class ModelState:
+ frames: dict[str, DrivingModelFrame]
inputs: dict[str, np.ndarray]
output: np.ndarray
prev_desire: np.ndarray # for tracking the rising edge of the pulse
- def __init__(self):
+ def __init__(self, context: CLContext):
with open(VISION_METADATA_PATH, 'rb') as f:
vision_metadata = pickle.load(f)
self.vision_input_shapes = vision_metadata['input_shapes']
@@ -156,6 +155,7 @@ class ModelState:
self.policy_output_slices = policy_metadata['output_slices']
policy_output_size = policy_metadata['output_shapes']['outputs'][1]
+ self.frames = {name: DrivingModelFrame(context, ModelConstants.MODEL_RUN_FREQ//ModelConstants.MODEL_CONTEXT_FREQ) for name in self.vision_input_names}
self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
# policy inputs
@@ -165,17 +165,12 @@ class ModelState:
self.full_input_queues.update_dtypes_and_shapes({k: self.numpy_inputs[k].dtype}, {k: self.numpy_inputs[k].shape})
self.full_input_queues.reset()
- self.img_queues = {'img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),
- 'big_img': Tensor.zeros(IMG_QUEUE_SHAPE, dtype='uint8').contiguous().realize(),}
- self.full_frames : dict[str, Tensor] = {}
- self.transforms_np = {k: np.zeros((3,3), dtype=np.float32) for k in self.img_queues}
- self.transforms = {k: Tensor(v, device='NPY').realize() for k, v in self.transforms_np.items()}
+ # img buffers are managed in openCL transform code
+ self.vision_inputs: dict[str, Tensor] = {}
self.vision_output = np.zeros(vision_output_size, dtype=np.float32)
self.policy_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
self.policy_output = np.zeros(policy_output_size, dtype=np.float32)
self.parser = Parser()
- self.frame_buf_params : dict[str, tuple[int, int, int, int]] = {}
- self.update_imgs = None
with open(VISION_PKL_PATH, "rb") as f:
self.vision_run = pickle.load(f)
@@ -193,28 +188,23 @@ class ModelState:
inputs['desire_pulse'][0] = 0
new_desire = np.where(inputs['desire_pulse'] - self.prev_desire > .99, inputs['desire_pulse'], 0)
self.prev_desire[:] = inputs['desire_pulse']
- if self.update_imgs is None:
- for key in bufs.keys():
- w, h = bufs[key].width, bufs[key].height
- self.frame_buf_params[key] = get_nv12_info(w, h)
- warp_path = MODELS_DIR / f'warp_{w}x{h}_tinygrad.pkl'
- with open(warp_path, "rb") as f:
- self.update_imgs = pickle.load(f)
+ imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.vision_input_names}
- for key in bufs.keys():
- self.full_frames[key] = Tensor.from_blob(bufs[key].data.ctypes.data, (self.frame_buf_params[key][3],), dtype='uint8').realize()
- self.transforms_np[key][:,:] = transforms[key][:,:]
-
- out = self.update_imgs(self.img_queues['img'], self.full_frames['img'], self.transforms['img'],
- self.img_queues['big_img'], self.full_frames['big_img'], self.transforms['big_img'])
- self.img_queues['img'], self.img_queues['big_img'], = out[0].realize(), out[2].realize()
- vision_inputs = {'img': out[1], 'big_img': out[3]}
+ if TICI and not USBGPU:
+ # The imgs tensors are backed by opencl memory, only need init once
+ for key in imgs_cl:
+ if key not in self.vision_inputs:
+ self.vision_inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.vision_input_shapes[key], dtype=dtypes.uint8)
+ else:
+ for key in imgs_cl:
+ frame_input = self.frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.vision_input_shapes[key])
+ self.vision_inputs[key] = Tensor(frame_input, dtype=dtypes.uint8).realize()
if prepare_only:
return None
- self.vision_output = self.vision_run(**vision_inputs).contiguous().realize().uop.base.buffer.numpy()
+ self.vision_output = self.vision_run(**self.vision_inputs).contiguous().realize().uop.base.buffer.numpy()
vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(self.vision_output, self.vision_output_slices))
self.full_input_queues.enqueue({'features_buffer': vision_outputs_dict['hidden_state'], 'desire_pulse': new_desire})
@@ -224,6 +214,7 @@ class ModelState:
self.policy_output = self.policy_run(**self.policy_inputs).contiguous().realize().uop.base.buffer.numpy()
policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(self.policy_output, self.policy_output_slices))
+
combined_outputs_dict = {**vision_outputs_dict, **policy_outputs_dict}
if SEND_RAW_PRED:
combined_outputs_dict['raw_pred'] = np.concatenate([self.vision_output.copy(), self.policy_output.copy()])
@@ -240,8 +231,10 @@ def main(demo=False):
config_realtime_process(7, 54)
st = time.monotonic()
- cloudlog.warning("loading model")
- model = ModelState()
+ cloudlog.warning("setting up CL context")
+ cl_context = CLContext()
+ cloudlog.warning("CL context ready; loading model")
+ model = ModelState(cl_context)
cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
# visionipc clients
@@ -254,8 +247,8 @@ def main(demo=False):
time.sleep(.1)
vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
- vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
- vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
+ vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context)
+ vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context)
cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
while not vipc_client_main.connect(False):
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
new file mode 100644
index 0000000000..d3341e76ec
--- /dev/null
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -0,0 +1,64 @@
+#include "selfdrive/modeld/models/commonmodel.h"
+
+#include
+#include
+
+#include "common/clutil.h"
+
+DrivingModelFrame::DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip) : ModelFrame(device_id, context) {
+ input_frames = std::make_unique(buf_size);
+ temporal_skip = _temporal_skip;
+ input_frames_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+ img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (temporal_skip+1)*frame_size_bytes, NULL, &err));
+ region.origin = temporal_skip * frame_size_bytes;
+ region.size = frame_size_bytes;
+ last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err));
+
+ loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
+ init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
+}
+
+cl_mem* DrivingModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+ run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+
+ for (int i = 0; i < temporal_skip; i++) {
+ CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr));
+ }
+ loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl);
+
+ copy_queue(&loadyuv, q, img_buffer_20hz_cl, input_frames_cl, 0, 0, frame_size_bytes);
+ copy_queue(&loadyuv, q, last_img_cl, input_frames_cl, 0, frame_size_bytes, frame_size_bytes);
+
+ // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready.
+ clFinish(q);
+ return &input_frames_cl;
+}
+
+DrivingModelFrame::~DrivingModelFrame() {
+ deinit_transform();
+ loadyuv_destroy(&loadyuv);
+ CL_CHECK(clReleaseMemObject(input_frames_cl));
+ CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl));
+ CL_CHECK(clReleaseMemObject(last_img_cl));
+ CL_CHECK(clReleaseCommandQueue(q));
+}
+
+
+MonitoringModelFrame::MonitoringModelFrame(cl_device_id device_id, cl_context context) : ModelFrame(device_id, context) {
+ input_frames = std::make_unique(buf_size);
+ input_frame_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, buf_size, NULL, &err));
+
+ init_transform(device_id, context, MODEL_WIDTH, MODEL_HEIGHT);
+}
+
+cl_mem* MonitoringModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+ run_transform(yuv_cl, MODEL_WIDTH, MODEL_HEIGHT, frame_width, frame_height, frame_stride, frame_uv_offset, projection);
+ clFinish(q);
+ return &y_cl;
+}
+
+MonitoringModelFrame::~MonitoringModelFrame() {
+ deinit_transform();
+ CL_CHECK(clReleaseMemObject(input_frame_cl));
+ CL_CHECK(clReleaseCommandQueue(q));
+}
diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h
new file mode 100644
index 0000000000..176d7eb6dc
--- /dev/null
+++ b/selfdrive/modeld/models/commonmodel.h
@@ -0,0 +1,97 @@
+#pragma once
+
+#include
+#include
+#include
+
+#include
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include
+#else
+#include
+#endif
+
+#include "common/mat.h"
+#include "selfdrive/modeld/transforms/loadyuv.h"
+#include "selfdrive/modeld/transforms/transform.h"
+
+class ModelFrame {
+public:
+ ModelFrame(cl_device_id device_id, cl_context context) {
+ q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
+ }
+ virtual ~ModelFrame() {}
+ virtual cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) { return NULL; }
+ uint8_t* buffer_from_cl(cl_mem *in_frames, int buffer_size) {
+ CL_CHECK(clEnqueueReadBuffer(q, *in_frames, CL_TRUE, 0, buffer_size, input_frames.get(), 0, nullptr, nullptr));
+ clFinish(q);
+ return &input_frames[0];
+ }
+
+ int MODEL_WIDTH;
+ int MODEL_HEIGHT;
+ int MODEL_FRAME_SIZE;
+ int buf_size;
+
+protected:
+ cl_mem y_cl, u_cl, v_cl;
+ Transform transform;
+ cl_command_queue q;
+ std::unique_ptr input_frames;
+
+ void init_transform(cl_device_id device_id, cl_context context, int model_width, int model_height) {
+ y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, model_width * model_height, NULL, &err));
+ u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+ v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (model_width / 2) * (model_height / 2), NULL, &err));
+ transform_init(&transform, context, device_id);
+ }
+
+ void deinit_transform() {
+ transform_destroy(&transform);
+ CL_CHECK(clReleaseMemObject(v_cl));
+ CL_CHECK(clReleaseMemObject(u_cl));
+ CL_CHECK(clReleaseMemObject(y_cl));
+ }
+
+ void run_transform(cl_mem yuv_cl, int model_width, int model_height, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection) {
+ transform_queue(&transform, q,
+ yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+ y_cl, u_cl, v_cl, model_width, model_height, projection);
+ }
+};
+
+class DrivingModelFrame : public ModelFrame {
+public:
+ DrivingModelFrame(cl_device_id device_id, cl_context context, int _temporal_skip);
+ ~DrivingModelFrame();
+ cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
+
+ const int MODEL_WIDTH = 512;
+ const int MODEL_HEIGHT = 256;
+ const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2;
+ const int buf_size = MODEL_FRAME_SIZE * 2; // 2 frames are temporal_skip frames apart
+ const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t);
+
+private:
+ LoadYUVState loadyuv;
+ cl_mem img_buffer_20hz_cl, last_img_cl, input_frames_cl;
+ cl_buffer_region region;
+ int temporal_skip;
+};
+
+class MonitoringModelFrame : public ModelFrame {
+public:
+ MonitoringModelFrame(cl_device_id device_id, cl_context context);
+ ~MonitoringModelFrame();
+ cl_mem* prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3& projection);
+
+ const int MODEL_WIDTH = 1440;
+ const int MODEL_HEIGHT = 960;
+ const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT;
+ const int buf_size = MODEL_FRAME_SIZE;
+
+private:
+ cl_mem input_frame_cl;
+};
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
new file mode 100644
index 0000000000..4ac64d9172
--- /dev/null
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -0,0 +1,27 @@
+# distutils: language = c++
+
+from msgq.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
+
+cdef extern from "common/mat.h":
+ cdef struct mat3:
+ float v[9]
+
+cdef extern from "common/clutil.h":
+ cdef unsigned long CL_DEVICE_TYPE_DEFAULT
+ cl_device_id cl_get_device_id(unsigned long)
+ cl_context cl_create_context(cl_device_id)
+ void cl_release_context(cl_context)
+
+cdef extern from "selfdrive/modeld/models/commonmodel.h":
+ cppclass ModelFrame:
+ int buf_size
+ unsigned char * buffer_from_cl(cl_mem*, int);
+ cl_mem * prepare(cl_mem, int, int, int, int, mat3)
+
+ cppclass DrivingModelFrame:
+ int buf_size
+ DrivingModelFrame(cl_device_id, cl_context, int)
+
+ cppclass MonitoringModelFrame:
+ int buf_size
+ MonitoringModelFrame(cl_device_id, cl_context)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd
new file mode 100644
index 0000000000..0bb798625b
--- /dev/null
+++ b/selfdrive/modeld/models/commonmodel_pyx.pxd
@@ -0,0 +1,13 @@
+# distutils: language = c++
+
+from msgq.visionipc.visionipc cimport cl_mem
+from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
+
+cdef class CLContext(BaseCLContext):
+ pass
+
+cdef class CLMem:
+ cdef cl_mem * mem
+
+ @staticmethod
+ cdef create(void*)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
new file mode 100644
index 0000000000..5b7d11bc71
--- /dev/null
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -0,0 +1,74 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii, language_level=3
+
+import numpy as np
+cimport numpy as cnp
+from libc.string cimport memcpy
+from libc.stdint cimport uintptr_t
+
+from msgq.visionipc.visionipc cimport cl_mem
+from msgq.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
+from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context, cl_release_context
+from .commonmodel cimport mat3, ModelFrame as cppModelFrame, DrivingModelFrame as cppDrivingModelFrame, MonitoringModelFrame as cppMonitoringModelFrame
+
+
+cdef class CLContext(BaseCLContext):
+ def __cinit__(self):
+ self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
+ self.context = cl_create_context(self.device_id)
+
+ def __dealloc__(self):
+ if self.context:
+ cl_release_context(self.context)
+
+cdef class CLMem:
+ @staticmethod
+ cdef create(void * cmem):
+ mem = CLMem()
+ mem.mem = cmem
+ return mem
+
+ @property
+ def mem_address(self):
+ return (self.mem)
+
+def cl_from_visionbuf(VisionBuf buf):
+ return CLMem.create(&buf.buf.buf_cl)
+
+
+cdef class ModelFrame:
+ cdef cppModelFrame * frame
+ cdef int buf_size
+
+ def __dealloc__(self):
+ del self.frame
+
+ def prepare(self, VisionBuf buf, float[:] projection):
+ cdef mat3 cprojection
+ memcpy(cprojection.v, &projection[0], 9*sizeof(float))
+ cdef cl_mem * data
+ data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection)
+ return CLMem.create(data)
+
+ def buffer_from_cl(self, CLMem in_frames):
+ cdef unsigned char * data2
+ data2 = self.frame.buffer_from_cl(in_frames.mem, self.buf_size)
+ return np.asarray( data2)
+
+
+cdef class DrivingModelFrame(ModelFrame):
+ cdef cppDrivingModelFrame * _frame
+
+ def __cinit__(self, CLContext context, int temporal_skip):
+ self._frame = new cppDrivingModelFrame(context.device_id, context.context, temporal_skip)
+ self.frame = (self._frame)
+ self.buf_size = self._frame.buf_size
+
+cdef class MonitoringModelFrame(ModelFrame):
+ cdef cppMonitoringModelFrame * _frame
+
+ def __cinit__(self, CLContext context):
+ self._frame = new cppMonitoringModelFrame(context.device_id, context.context)
+ self.frame = (self._frame)
+ self.buf_size = self._frame.buf_size
+
diff --git a/selfdrive/modeld/runners/tinygrad_helpers.py b/selfdrive/modeld/runners/tinygrad_helpers.py
new file mode 100644
index 0000000000..776381341c
--- /dev/null
+++ b/selfdrive/modeld/runners/tinygrad_helpers.py
@@ -0,0 +1,8 @@
+
+from tinygrad.tensor import Tensor
+from tinygrad.helpers import to_mv
+
+def qcom_tensor_from_opencl_address(opencl_address, shape, dtype):
+ cl_buf_desc_ptr = to_mv(opencl_address, 8).cast('Q')[0]
+ rawbuf_ptr = to_mv(cl_buf_desc_ptr, 0x100).cast('Q')[20] # offset 0xA0 is a raw gpu pointer.
+ return Tensor.from_blob(rawbuf_ptr, shape, dtype=dtype, device='QCOM')
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
new file mode 100644
index 0000000000..c93f5cd038
--- /dev/null
+++ b/selfdrive/modeld/transforms/loadyuv.cc
@@ -0,0 +1,76 @@
+#include "selfdrive/modeld/transforms/loadyuv.h"
+
+#include
+#include
+#include
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) {
+ memset(s, 0, sizeof(*s));
+
+ s->width = width;
+ s->height = height;
+
+ char args[1024];
+ snprintf(args, sizeof(args),
+ "-cl-fast-relaxed-math -cl-denorms-are-zero "
+ "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
+ width, height);
+ cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
+
+ s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
+ s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
+ s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err));
+
+ // done with this
+ CL_CHECK(clReleaseProgram(prg));
+}
+
+void loadyuv_destroy(LoadYUVState* s) {
+ CL_CHECK(clReleaseKernel(s->loadys_krnl));
+ CL_CHECK(clReleaseKernel(s->loaduv_krnl));
+ CL_CHECK(clReleaseKernel(s->copy_krnl));
+}
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+ cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+ cl_mem out_cl) {
+ cl_int global_out_off = 0;
+
+ CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl));
+ CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl));
+ CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off));
+
+ const size_t loadys_work_size = (s->width*s->height)/8;
+ CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL,
+ &loadys_work_size, NULL, 0, 0, NULL));
+
+ const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8;
+ global_out_off += (s->width*s->height);
+
+ CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl));
+ CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+ CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+ CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+ &loaduv_work_size, NULL, 0, 0, NULL));
+
+ global_out_off += (s->width/2)*(s->height/2);
+
+ CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl));
+ CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl));
+ CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off));
+
+ CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL,
+ &loaduv_work_size, NULL, 0, 0, NULL));
+}
+
+void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
+ size_t src_offset, size_t dst_offset, size_t size) {
+ CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src));
+ CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst));
+ CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset));
+ CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset));
+ const size_t copy_work_size = size/8;
+ CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL,
+ ©_work_size, NULL, 0, 0, NULL));
+}
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/loadyuv.cl b/selfdrive/modeld/transforms/loadyuv.cl
new file mode 100644
index 0000000000..970187a6d7
--- /dev/null
+++ b/selfdrive/modeld/transforms/loadyuv.cl
@@ -0,0 +1,47 @@
+#define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
+
+__kernel void loadys(__global uchar8 const * const Y,
+ __global uchar * out,
+ int out_offset)
+{
+ const int gid = get_global_id(0);
+ const int ois = gid * 8;
+ const int oy = ois / TRANSFORMED_WIDTH;
+ const int ox = ois % TRANSFORMED_WIDTH;
+
+ const uchar8 ys = Y[gid];
+
+ // 02
+ // 13
+
+ __global uchar* outy0;
+ __global uchar* outy1;
+ if ((oy & 1) == 0) {
+ outy0 = out + out_offset; //y0
+ outy1 = out + out_offset + UV_SIZE*2; //y2
+ } else {
+ outy0 = out + out_offset + UV_SIZE; //y1
+ outy1 = out + out_offset + UV_SIZE*3; //y3
+ }
+
+ vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+ vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+}
+
+__kernel void loaduv(__global uchar8 const * const in,
+ __global uchar8 * out,
+ int out_offset)
+{
+ const int gid = get_global_id(0);
+ const uchar8 inv = in[gid];
+ out[gid + out_offset / 8] = inv;
+}
+
+__kernel void copy(__global uchar8 * in,
+ __global uchar8 * out,
+ int in_offset,
+ int out_offset)
+{
+ const int gid = get_global_id(0);
+ out[gid + out_offset / 8] = in[gid + in_offset / 8];
+}
diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h
new file mode 100644
index 0000000000..659059cd25
--- /dev/null
+++ b/selfdrive/modeld/transforms/loadyuv.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "common/clutil.h"
+
+typedef struct {
+ int width, height;
+ cl_kernel loadys_krnl, loaduv_krnl, copy_krnl;
+} LoadYUVState;
+
+void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height);
+
+void loadyuv_destroy(LoadYUVState* s);
+
+void loadyuv_queue(LoadYUVState* s, cl_command_queue q,
+ cl_mem y_cl, cl_mem u_cl, cl_mem v_cl,
+ cl_mem out_cl);
+
+
+void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst,
+ size_t src_offset, size_t dst_offset, size_t size);
\ No newline at end of file
diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc
new file mode 100644
index 0000000000..305643cf42
--- /dev/null
+++ b/selfdrive/modeld/transforms/transform.cc
@@ -0,0 +1,97 @@
+#include "selfdrive/modeld/transforms/transform.h"
+
+#include
+#include
+
+#include "common/clutil.h"
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
+ memset(s, 0, sizeof(*s));
+
+ cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
+ s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
+ // done with this
+ CL_CHECK(clReleaseProgram(prg));
+
+ s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+ s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err));
+}
+
+void transform_destroy(Transform* s) {
+ CL_CHECK(clReleaseMemObject(s->m_y_cl));
+ CL_CHECK(clReleaseMemObject(s->m_uv_cl));
+ CL_CHECK(clReleaseKernel(s->krnl));
+}
+
+void transform_queue(Transform* s,
+ cl_command_queue q,
+ cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
+ cl_mem out_y, cl_mem out_u, cl_mem out_v,
+ int out_width, int out_height,
+ const mat3& projection) {
+ const int zero = 0;
+
+ // sampled using pixel center origin
+ // (because that's how fastcv and opencv does it)
+
+ mat3 projection_y = projection;
+
+ // in and out uv is half the size of y.
+ mat3 projection_uv = transform_scale_buffer(projection, 0.5);
+
+ CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL));
+ CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL));
+
+ const int in_y_width = in_width;
+ const int in_y_height = in_height;
+ const int in_y_px_stride = 1;
+ const int in_uv_width = in_width/2;
+ const int in_uv_height = in_height/2;
+ const int in_uv_px_stride = 2;
+ const int in_u_offset = in_uv_offset;
+ const int in_v_offset = in_uv_offset + 1;
+
+ const int out_y_width = out_width;
+ const int out_y_height = out_height;
+ const int out_uv_width = out_width/2;
+ const int out_uv_height = out_height/2;
+
+ CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src
+ CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride
+ CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride
+ CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset
+ CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows
+ CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols
+ CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst
+ CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride
+ CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset
+ CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows
+ CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols
+ CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M
+
+ const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height};
+
+ CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+ (const size_t*)&work_size_y, NULL, 0, 0, NULL));
+
+ const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height};
+
+ CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride
+ CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset
+ CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows
+ CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols
+ CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst
+ CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride
+ CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset
+ CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows
+ CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols
+ CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M
+
+ CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+ (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+ CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset
+ CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst
+
+ CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL,
+ (const size_t*)&work_size_uv, NULL, 0, 0, NULL));
+}
diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl
new file mode 100644
index 0000000000..2ca25920cd
--- /dev/null
+++ b/selfdrive/modeld/transforms/transform.cl
@@ -0,0 +1,54 @@
+#define INTER_BITS 5
+#define INTER_TAB_SIZE (1 << INTER_BITS)
+#define INTER_SCALE 1.f / INTER_TAB_SIZE
+
+#define INTER_REMAP_COEF_BITS 15
+#define INTER_REMAP_COEF_SCALE (1 << INTER_REMAP_COEF_BITS)
+
+__kernel void warpPerspective(__global const uchar * src,
+ int src_row_stride, int src_px_stride, int src_offset, int src_rows, int src_cols,
+ __global uchar * dst,
+ int dst_row_stride, int dst_offset, int dst_rows, int dst_cols,
+ __constant float * M)
+{
+ int dx = get_global_id(0);
+ int dy = get_global_id(1);
+
+ if (dx < dst_cols && dy < dst_rows)
+ {
+ float X0 = M[0] * dx + M[1] * dy + M[2];
+ float Y0 = M[3] * dx + M[4] * dy + M[5];
+ float W = M[6] * dx + M[7] * dy + M[8];
+ W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
+ int X = rint(X0 * W), Y = rint(Y0 * W);
+
+ int sx = convert_short_sat(X >> INTER_BITS);
+ int sy = convert_short_sat(Y >> INTER_BITS);
+
+ short sx_clamp = clamp(sx, 0, src_cols - 1);
+ short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
+ short sy_clamp = clamp(sy, 0, src_rows - 1);
+ short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
+ int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+ int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+ int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+ int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+
+ short ay = (short)(Y & (INTER_TAB_SIZE - 1));
+ short ax = (short)(X & (INTER_TAB_SIZE - 1));
+ float taby = 1.f/INTER_TAB_SIZE*ay;
+ float tabx = 1.f/INTER_TAB_SIZE*ax;
+
+ int dst_index = mad24(dy, dst_row_stride, dst_offset + dx);
+
+ int itab0 = convert_short_sat_rte( (1.0f-taby)*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
+ int itab1 = convert_short_sat_rte( (1.0f-taby)*tabx * INTER_REMAP_COEF_SCALE );
+ int itab2 = convert_short_sat_rte( taby*(1.0f-tabx) * INTER_REMAP_COEF_SCALE );
+ int itab3 = convert_short_sat_rte( taby*tabx * INTER_REMAP_COEF_SCALE );
+
+ int val = v0 * itab0 + v1 * itab1 + v2 * itab2 + v3 * itab3;
+
+ uchar pix = convert_uchar_sat((val + (1 << (INTER_REMAP_COEF_BITS-1))) >> INTER_REMAP_COEF_BITS);
+ dst[dst_index] = pix;
+ }
+}
diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h
new file mode 100644
index 0000000000..771a7054b3
--- /dev/null
+++ b/selfdrive/modeld/transforms/transform.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
+#ifdef __APPLE__
+#include
+#else
+#include
+#endif
+
+#include "common/mat.h"
+
+typedef struct {
+ cl_kernel krnl;
+ cl_mem m_y_cl, m_uv_cl;
+} Transform;
+
+void transform_init(Transform* s, cl_context ctx, cl_device_id device_id);
+
+void transform_destroy(Transform* transform);
+
+void transform_queue(Transform* s, cl_command_queue q,
+ cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset,
+ cl_mem out_y, cl_mem out_u, cl_mem out_v,
+ int out_width, int out_height,
+ const mat3& projection);
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index c242328400..9ba599bac9 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -34,7 +34,7 @@ GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
EXEC_TIMINGS = [
# model, instant max, average max
- ("modelV2", 0.035, 0.028),
+ ("modelV2", 0.035, 0.025),
("driverStateV2", 0.02, 0.015),
]
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 5143334bc6..8af72e5f4e 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -4,7 +4,6 @@ import time
import copy
import heapq
import signal
-import numpy as np
from collections import Counter
from dataclasses import dataclass, field
from itertools import islice
@@ -24,7 +23,6 @@ from openpilot.common.params import Params
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.common.timeout import Timeout
from openpilot.common.realtime import DT_CTRL
-from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
from openpilot.system.manager.process_config import managed_processes
from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
from openpilot.selfdrive.test.process_replay.migration import migrate_all
@@ -205,8 +203,7 @@ class ProcessContainer:
if meta.camera_state in self.cfg.vision_pubs:
assert frs[meta.camera_state].pix_fmt == 'nv12'
frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
- stride, y_height, _, yuv_size = get_nv12_info(frame_size[0], frame_size[1])
- vipc_server.create_buffers_with_sizes(meta.stream, 2, frame_size[0], frame_size[1], yuv_size, stride, stride * y_height)
+ vipc_server.create_buffers(meta.stream, 2, *frame_size)
vipc_server.start_listener()
self.vipc_server = vipc_server
@@ -303,15 +300,7 @@ class ProcessContainer:
camera_meta = meta_from_camera_state(m.which())
assert frs is not None
img = frs[m.which()].get(camera_state.frameId)
-
- h, w = frs[m.which()].h, frs[m.which()].w
- stride, y_height, _, yuv_size = get_nv12_info(w, h)
- uv_offset = stride * y_height
- padded_img = np.zeros((yuv_size), dtype=np.uint8).reshape((-1, stride))
- padded_img[:h, :w] = img[:h * w].reshape((-1, w))
- padded_img[uv_offset // stride:uv_offset // stride + h // 2, :w] = img[h * w:].reshape((-1, w))
-
- self.vipc_server.send(camera_meta.stream, padded_img.flatten().tobytes(),
+ self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
self.msg_queue = []
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index c28330b32c..e288c6d8b0 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -1,6 +1,6 @@
Import('env', 'arch', 'messaging', 'common', 'visionipc')
-libs = [common, messaging, visionipc]
+libs = [common, 'OpenCL', messaging, visionipc]
if arch != "Darwin":
camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/spectra.cc',
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 329192b63a..88bca7f775 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -7,7 +7,7 @@
#include "system/camerad/cameras/spectra.h"
-void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
vipc_server = v;
stream_type = type;
frame_buf_count = frame_cnt;
@@ -21,8 +21,9 @@ void CameraBuf::init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, Vis
const int raw_frame_size = (sensor->frame_height + sensor->extra_height) * sensor->frame_stride;
for (int i = 0; i < frame_buf_count; i++) {
camera_bufs_raw[i].allocate(raw_frame_size);
+ camera_bufs_raw[i].init_cl(device_id, context);
}
- LOGD("allocated %d buffers", frame_buf_count);
+ LOGD("allocated %d CL buffers", frame_buf_count);
}
vipc_server->create_buffers_with_sizes(stream_type, VIPC_BUFFER_COUNT, out_img_width, out_img_height, cam->yuv_size, cam->stride, cam->uv_offset);
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 7f35e06a83..c26859cbc4 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -36,7 +36,7 @@ public:
CameraBuf() = default;
~CameraBuf();
- void init(SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
+ void init(cl_device_id device_id, cl_context context, SpectraCamera *cam, VisionIpcServer * v, int frame_cnt, VisionStreamType type);
void sendFrameToVipc();
};
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 6a7f599ab6..d741e13cf3 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -12,8 +12,16 @@
#include
#include
+#ifdef __TICI__
+#include "CL/cl_ext_qcom.h"
+#else
+#define CL_PRIORITY_HINT_HIGH_QCOM NULL
+#define CL_CONTEXT_PRIORITY_HINT_QCOM NULL
+#endif
+
#include "media/cam_sensor_cmn_header.h"
+#include "common/clutil.h"
#include "common/params.h"
#include "common/swaglog.h"
@@ -49,7 +57,7 @@ public:
CameraState(SpectraMaster *master, const CameraConfig &config) : camera(master, config) {};
~CameraState();
- void init(VisionIpcServer *v);
+ void init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
void set_camera_exposure(float grey_frac);
void set_exposure_rect();
@@ -60,8 +68,8 @@ public:
}
};
-void CameraState::init(VisionIpcServer *v) {
- camera.camera_open(v);
+void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
+ camera.camera_open(v, device_id, ctx);
if (!camera.enabled) return;
@@ -249,7 +257,11 @@ void CameraState::sendState() {
void camerad_thread() {
// TODO: centralize enabled handling
- VisionIpcServer v("camerad");
+ cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
+ const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0};
+ cl_context ctx = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err));
+
+ VisionIpcServer v("camerad", device_id, ctx);
// *** initial ISP init ***
SpectraMaster m;
@@ -259,7 +271,7 @@ void camerad_thread() {
std::vector> cams;
for (const auto &config : ALL_CAMERA_CONFIGS) {
auto cam = std::make_unique(&m, config);
- cam->init(&v);
+ cam->init(&v, device_id, ctx);
cams.emplace_back(std::move(cam));
}
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 73e0a78da3..5c3e7a9d23 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -274,7 +274,7 @@ int SpectraCamera::clear_req_queue() {
return ret;
}
-void SpectraCamera::camera_open(VisionIpcServer *v) {
+void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
if (!openSensor()) {
return;
}
@@ -296,7 +296,7 @@ void SpectraCamera::camera_open(VisionIpcServer *v) {
linkDevices();
LOGD("camera init %d", cc.camera_num);
- buf.init(this, v, ife_buf_depth, cc.stream_type);
+ buf.init(device_id, ctx, this, v, ife_buf_depth, cc.stream_type);
camera_map_bufs();
clearAndRequeue(1);
}
diff --git a/system/camerad/cameras/spectra.h b/system/camerad/cameras/spectra.h
index a02b8a6cac..13cb13f98f 100644
--- a/system/camerad/cameras/spectra.h
+++ b/system/camerad/cameras/spectra.h
@@ -113,7 +113,7 @@ public:
SpectraCamera(SpectraMaster *master, const CameraConfig &config);
~SpectraCamera();
- void camera_open(VisionIpcServer *v);
+ void camera_open(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
bool handle_camera_event(const cam_req_mgr_message *event_data);
void camera_close();
void camera_map_bufs();
diff --git a/system/loggerd/SConscript b/system/loggerd/SConscript
index cc8ef7c88f..cf169f4dc6 100644
--- a/system/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -2,13 +2,16 @@ Import('env', 'arch', 'messaging', 'common', 'visionipc')
libs = [common, messaging, visionipc,
'avformat', 'avcodec', 'avutil',
- 'yuv', 'pthread', 'zstd']
+ 'yuv', 'OpenCL', 'pthread', 'zstd']
src = ['logger.cc', 'zstd_writer.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc', 'encoder/jpeg_encoder.cc']
if arch != "larch64":
src += ['encoder/ffmpeg_encoder.cc']
if arch == "Darwin":
+ # fix OpenCL
+ del libs[libs.index('OpenCL')]
+ env['FRAMEWORKS'] = ['OpenCL']
# exclude v4l
del src[src.index('encoder/v4l_encoder.cc')]
diff --git a/third_party/opencl/include/CL/cl.h b/third_party/opencl/include/CL/cl.h
new file mode 100644
index 0000000000..0086319f5f
--- /dev/null
+++ b/third_party/opencl/include/CL/cl.h
@@ -0,0 +1,1452 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ * https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+#ifndef __OPENCL_CL_H
+#define __OPENCL_CL_H
+
+#ifdef __APPLE__
+#include
+#else
+#include
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************/
+
+typedef struct _cl_platform_id * cl_platform_id;
+typedef struct _cl_device_id * cl_device_id;
+typedef struct _cl_context * cl_context;
+typedef struct _cl_command_queue * cl_command_queue;
+typedef struct _cl_mem * cl_mem;
+typedef struct _cl_program * cl_program;
+typedef struct _cl_kernel * cl_kernel;
+typedef struct _cl_event * cl_event;
+typedef struct _cl_sampler * cl_sampler;
+
+typedef cl_uint cl_bool; /* WARNING! Unlike cl_ types in cl_platform.h, cl_bool is not guaranteed to be the same size as the bool in kernels. */
+typedef cl_ulong cl_bitfield;
+typedef cl_bitfield cl_device_type;
+typedef cl_uint cl_platform_info;
+typedef cl_uint cl_device_info;
+typedef cl_bitfield cl_device_fp_config;
+typedef cl_uint cl_device_mem_cache_type;
+typedef cl_uint cl_device_local_mem_type;
+typedef cl_bitfield cl_device_exec_capabilities;
+typedef cl_bitfield cl_device_svm_capabilities;
+typedef cl_bitfield cl_command_queue_properties;
+typedef intptr_t cl_device_partition_property;
+typedef cl_bitfield cl_device_affinity_domain;
+
+typedef intptr_t cl_context_properties;
+typedef cl_uint cl_context_info;
+typedef cl_bitfield cl_queue_properties;
+typedef cl_uint cl_command_queue_info;
+typedef cl_uint cl_channel_order;
+typedef cl_uint cl_channel_type;
+typedef cl_bitfield cl_mem_flags;
+typedef cl_bitfield cl_svm_mem_flags;
+typedef cl_uint cl_mem_object_type;
+typedef cl_uint cl_mem_info;
+typedef cl_bitfield cl_mem_migration_flags;
+typedef cl_uint cl_image_info;
+typedef cl_uint cl_buffer_create_type;
+typedef cl_uint cl_addressing_mode;
+typedef cl_uint cl_filter_mode;
+typedef cl_uint cl_sampler_info;
+typedef cl_bitfield cl_map_flags;
+typedef intptr_t cl_pipe_properties;
+typedef cl_uint cl_pipe_info;
+typedef cl_uint cl_program_info;
+typedef cl_uint cl_program_build_info;
+typedef cl_uint cl_program_binary_type;
+typedef cl_int cl_build_status;
+typedef cl_uint cl_kernel_info;
+typedef cl_uint cl_kernel_arg_info;
+typedef cl_uint cl_kernel_arg_address_qualifier;
+typedef cl_uint cl_kernel_arg_access_qualifier;
+typedef cl_bitfield cl_kernel_arg_type_qualifier;
+typedef cl_uint cl_kernel_work_group_info;
+typedef cl_uint cl_kernel_sub_group_info;
+typedef cl_uint cl_event_info;
+typedef cl_uint cl_command_type;
+typedef cl_uint cl_profiling_info;
+typedef cl_bitfield cl_sampler_properties;
+typedef cl_uint cl_kernel_exec_info;
+
+typedef struct _cl_image_format {
+ cl_channel_order image_channel_order;
+ cl_channel_type image_channel_data_type;
+} cl_image_format;
+
+typedef struct _cl_image_desc {
+ cl_mem_object_type image_type;
+ size_t image_width;
+ size_t image_height;
+ size_t image_depth;
+ size_t image_array_size;
+ size_t image_row_pitch;
+ size_t image_slice_pitch;
+ cl_uint num_mip_levels;
+ cl_uint num_samples;
+#ifdef __GNUC__
+ __extension__ /* Prevents warnings about anonymous union in -pedantic builds */
+#endif
+ union {
+ cl_mem buffer;
+ cl_mem mem_object;
+ };
+} cl_image_desc;
+
+typedef struct _cl_buffer_region {
+ size_t origin;
+ size_t size;
+} cl_buffer_region;
+
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_SUCCESS 0
+#define CL_DEVICE_NOT_FOUND -1
+#define CL_DEVICE_NOT_AVAILABLE -2
+#define CL_COMPILER_NOT_AVAILABLE -3
+#define CL_MEM_OBJECT_ALLOCATION_FAILURE -4
+#define CL_OUT_OF_RESOURCES -5
+#define CL_OUT_OF_HOST_MEMORY -6
+#define CL_PROFILING_INFO_NOT_AVAILABLE -7
+#define CL_MEM_COPY_OVERLAP -8
+#define CL_IMAGE_FORMAT_MISMATCH -9
+#define CL_IMAGE_FORMAT_NOT_SUPPORTED -10
+#define CL_BUILD_PROGRAM_FAILURE -11
+#define CL_MAP_FAILURE -12
+#define CL_MISALIGNED_SUB_BUFFER_OFFSET -13
+#define CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST -14
+#define CL_COMPILE_PROGRAM_FAILURE -15
+#define CL_LINKER_NOT_AVAILABLE -16
+#define CL_LINK_PROGRAM_FAILURE -17
+#define CL_DEVICE_PARTITION_FAILED -18
+#define CL_KERNEL_ARG_INFO_NOT_AVAILABLE -19
+
+#define CL_INVALID_VALUE -30
+#define CL_INVALID_DEVICE_TYPE -31
+#define CL_INVALID_PLATFORM -32
+#define CL_INVALID_DEVICE -33
+#define CL_INVALID_CONTEXT -34
+#define CL_INVALID_QUEUE_PROPERTIES -35
+#define CL_INVALID_COMMAND_QUEUE -36
+#define CL_INVALID_HOST_PTR -37
+#define CL_INVALID_MEM_OBJECT -38
+#define CL_INVALID_IMAGE_FORMAT_DESCRIPTOR -39
+#define CL_INVALID_IMAGE_SIZE -40
+#define CL_INVALID_SAMPLER -41
+#define CL_INVALID_BINARY -42
+#define CL_INVALID_BUILD_OPTIONS -43
+#define CL_INVALID_PROGRAM -44
+#define CL_INVALID_PROGRAM_EXECUTABLE -45
+#define CL_INVALID_KERNEL_NAME -46
+#define CL_INVALID_KERNEL_DEFINITION -47
+#define CL_INVALID_KERNEL -48
+#define CL_INVALID_ARG_INDEX -49
+#define CL_INVALID_ARG_VALUE -50
+#define CL_INVALID_ARG_SIZE -51
+#define CL_INVALID_KERNEL_ARGS -52
+#define CL_INVALID_WORK_DIMENSION -53
+#define CL_INVALID_WORK_GROUP_SIZE -54
+#define CL_INVALID_WORK_ITEM_SIZE -55
+#define CL_INVALID_GLOBAL_OFFSET -56
+#define CL_INVALID_EVENT_WAIT_LIST -57
+#define CL_INVALID_EVENT -58
+#define CL_INVALID_OPERATION -59
+#define CL_INVALID_GL_OBJECT -60
+#define CL_INVALID_BUFFER_SIZE -61
+#define CL_INVALID_MIP_LEVEL -62
+#define CL_INVALID_GLOBAL_WORK_SIZE -63
+#define CL_INVALID_PROPERTY -64
+#define CL_INVALID_IMAGE_DESCRIPTOR -65
+#define CL_INVALID_COMPILER_OPTIONS -66
+#define CL_INVALID_LINKER_OPTIONS -67
+#define CL_INVALID_DEVICE_PARTITION_COUNT -68
+#define CL_INVALID_PIPE_SIZE -69
+#define CL_INVALID_DEVICE_QUEUE -70
+
+/* OpenCL Version */
+#define CL_VERSION_1_0 1
+#define CL_VERSION_1_1 1
+#define CL_VERSION_1_2 1
+#define CL_VERSION_2_0 1
+#define CL_VERSION_2_1 1
+
+/* cl_bool */
+#define CL_FALSE 0
+#define CL_TRUE 1
+#define CL_BLOCKING CL_TRUE
+#define CL_NON_BLOCKING CL_FALSE
+
+/* cl_platform_info */
+#define CL_PLATFORM_PROFILE 0x0900
+#define CL_PLATFORM_VERSION 0x0901
+#define CL_PLATFORM_NAME 0x0902
+#define CL_PLATFORM_VENDOR 0x0903
+#define CL_PLATFORM_EXTENSIONS 0x0904
+#define CL_PLATFORM_HOST_TIMER_RESOLUTION 0x0905
+
+/* cl_device_type - bitfield */
+#define CL_DEVICE_TYPE_DEFAULT (1 << 0)
+#define CL_DEVICE_TYPE_CPU (1 << 1)
+#define CL_DEVICE_TYPE_GPU (1 << 2)
+#define CL_DEVICE_TYPE_ACCELERATOR (1 << 3)
+#define CL_DEVICE_TYPE_CUSTOM (1 << 4)
+#define CL_DEVICE_TYPE_ALL 0xFFFFFFFF
+
+/* cl_device_info */
+#define CL_DEVICE_TYPE 0x1000
+#define CL_DEVICE_VENDOR_ID 0x1001
+#define CL_DEVICE_MAX_COMPUTE_UNITS 0x1002
+#define CL_DEVICE_MAX_WORK_ITEM_DIMENSIONS 0x1003
+#define CL_DEVICE_MAX_WORK_GROUP_SIZE 0x1004
+#define CL_DEVICE_MAX_WORK_ITEM_SIZES 0x1005
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_CHAR 0x1006
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_SHORT 0x1007
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_INT 0x1008
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_LONG 0x1009
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_FLOAT 0x100A
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_DOUBLE 0x100B
+#define CL_DEVICE_MAX_CLOCK_FREQUENCY 0x100C
+#define CL_DEVICE_ADDRESS_BITS 0x100D
+#define CL_DEVICE_MAX_READ_IMAGE_ARGS 0x100E
+#define CL_DEVICE_MAX_WRITE_IMAGE_ARGS 0x100F
+#define CL_DEVICE_MAX_MEM_ALLOC_SIZE 0x1010
+#define CL_DEVICE_IMAGE2D_MAX_WIDTH 0x1011
+#define CL_DEVICE_IMAGE2D_MAX_HEIGHT 0x1012
+#define CL_DEVICE_IMAGE3D_MAX_WIDTH 0x1013
+#define CL_DEVICE_IMAGE3D_MAX_HEIGHT 0x1014
+#define CL_DEVICE_IMAGE3D_MAX_DEPTH 0x1015
+#define CL_DEVICE_IMAGE_SUPPORT 0x1016
+#define CL_DEVICE_MAX_PARAMETER_SIZE 0x1017
+#define CL_DEVICE_MAX_SAMPLERS 0x1018
+#define CL_DEVICE_MEM_BASE_ADDR_ALIGN 0x1019
+#define CL_DEVICE_MIN_DATA_TYPE_ALIGN_SIZE 0x101A
+#define CL_DEVICE_SINGLE_FP_CONFIG 0x101B
+#define CL_DEVICE_GLOBAL_MEM_CACHE_TYPE 0x101C
+#define CL_DEVICE_GLOBAL_MEM_CACHELINE_SIZE 0x101D
+#define CL_DEVICE_GLOBAL_MEM_CACHE_SIZE 0x101E
+#define CL_DEVICE_GLOBAL_MEM_SIZE 0x101F
+#define CL_DEVICE_MAX_CONSTANT_BUFFER_SIZE 0x1020
+#define CL_DEVICE_MAX_CONSTANT_ARGS 0x1021
+#define CL_DEVICE_LOCAL_MEM_TYPE 0x1022
+#define CL_DEVICE_LOCAL_MEM_SIZE 0x1023
+#define CL_DEVICE_ERROR_CORRECTION_SUPPORT 0x1024
+#define CL_DEVICE_PROFILING_TIMER_RESOLUTION 0x1025
+#define CL_DEVICE_ENDIAN_LITTLE 0x1026
+#define CL_DEVICE_AVAILABLE 0x1027
+#define CL_DEVICE_COMPILER_AVAILABLE 0x1028
+#define CL_DEVICE_EXECUTION_CAPABILITIES 0x1029
+#define CL_DEVICE_QUEUE_PROPERTIES 0x102A /* deprecated */
+#define CL_DEVICE_QUEUE_ON_HOST_PROPERTIES 0x102A
+#define CL_DEVICE_NAME 0x102B
+#define CL_DEVICE_VENDOR 0x102C
+#define CL_DRIVER_VERSION 0x102D
+#define CL_DEVICE_PROFILE 0x102E
+#define CL_DEVICE_VERSION 0x102F
+#define CL_DEVICE_EXTENSIONS 0x1030
+#define CL_DEVICE_PLATFORM 0x1031
+#define CL_DEVICE_DOUBLE_FP_CONFIG 0x1032
+/* 0x1033 reserved for CL_DEVICE_HALF_FP_CONFIG */
+#define CL_DEVICE_PREFERRED_VECTOR_WIDTH_HALF 0x1034
+#define CL_DEVICE_HOST_UNIFIED_MEMORY 0x1035 /* deprecated */
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_CHAR 0x1036
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_SHORT 0x1037
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_INT 0x1038
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_LONG 0x1039
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_FLOAT 0x103A
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_DOUBLE 0x103B
+#define CL_DEVICE_NATIVE_VECTOR_WIDTH_HALF 0x103C
+#define CL_DEVICE_OPENCL_C_VERSION 0x103D
+#define CL_DEVICE_LINKER_AVAILABLE 0x103E
+#define CL_DEVICE_BUILT_IN_KERNELS 0x103F
+#define CL_DEVICE_IMAGE_MAX_BUFFER_SIZE 0x1040
+#define CL_DEVICE_IMAGE_MAX_ARRAY_SIZE 0x1041
+#define CL_DEVICE_PARENT_DEVICE 0x1042
+#define CL_DEVICE_PARTITION_MAX_SUB_DEVICES 0x1043
+#define CL_DEVICE_PARTITION_PROPERTIES 0x1044
+#define CL_DEVICE_PARTITION_AFFINITY_DOMAIN 0x1045
+#define CL_DEVICE_PARTITION_TYPE 0x1046
+#define CL_DEVICE_REFERENCE_COUNT 0x1047
+#define CL_DEVICE_PREFERRED_INTEROP_USER_SYNC 0x1048
+#define CL_DEVICE_PRINTF_BUFFER_SIZE 0x1049
+#define CL_DEVICE_IMAGE_PITCH_ALIGNMENT 0x104A
+#define CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT 0x104B
+#define CL_DEVICE_MAX_READ_WRITE_IMAGE_ARGS 0x104C
+#define CL_DEVICE_MAX_GLOBAL_VARIABLE_SIZE 0x104D
+#define CL_DEVICE_QUEUE_ON_DEVICE_PROPERTIES 0x104E
+#define CL_DEVICE_QUEUE_ON_DEVICE_PREFERRED_SIZE 0x104F
+#define CL_DEVICE_QUEUE_ON_DEVICE_MAX_SIZE 0x1050
+#define CL_DEVICE_MAX_ON_DEVICE_QUEUES 0x1051
+#define CL_DEVICE_MAX_ON_DEVICE_EVENTS 0x1052
+#define CL_DEVICE_SVM_CAPABILITIES 0x1053
+#define CL_DEVICE_GLOBAL_VARIABLE_PREFERRED_TOTAL_SIZE 0x1054
+#define CL_DEVICE_MAX_PIPE_ARGS 0x1055
+#define CL_DEVICE_PIPE_MAX_ACTIVE_RESERVATIONS 0x1056
+#define CL_DEVICE_PIPE_MAX_PACKET_SIZE 0x1057
+#define CL_DEVICE_PREFERRED_PLATFORM_ATOMIC_ALIGNMENT 0x1058
+#define CL_DEVICE_PREFERRED_GLOBAL_ATOMIC_ALIGNMENT 0x1059
+#define CL_DEVICE_PREFERRED_LOCAL_ATOMIC_ALIGNMENT 0x105A
+#define CL_DEVICE_IL_VERSION 0x105B
+#define CL_DEVICE_MAX_NUM_SUB_GROUPS 0x105C
+#define CL_DEVICE_SUB_GROUP_INDEPENDENT_FORWARD_PROGRESS 0x105D
+
+/* cl_device_fp_config - bitfield */
+#define CL_FP_DENORM (1 << 0)
+#define CL_FP_INF_NAN (1 << 1)
+#define CL_FP_ROUND_TO_NEAREST (1 << 2)
+#define CL_FP_ROUND_TO_ZERO (1 << 3)
+#define CL_FP_ROUND_TO_INF (1 << 4)
+#define CL_FP_FMA (1 << 5)
+#define CL_FP_SOFT_FLOAT (1 << 6)
+#define CL_FP_CORRECTLY_ROUNDED_DIVIDE_SQRT (1 << 7)
+
+/* cl_device_mem_cache_type */
+#define CL_NONE 0x0
+#define CL_READ_ONLY_CACHE 0x1
+#define CL_READ_WRITE_CACHE 0x2
+
+/* cl_device_local_mem_type */
+#define CL_LOCAL 0x1
+#define CL_GLOBAL 0x2
+
+/* cl_device_exec_capabilities - bitfield */
+#define CL_EXEC_KERNEL (1 << 0)
+#define CL_EXEC_NATIVE_KERNEL (1 << 1)
+
+/* cl_command_queue_properties - bitfield */
+#define CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE (1 << 0)
+#define CL_QUEUE_PROFILING_ENABLE (1 << 1)
+#define CL_QUEUE_ON_DEVICE (1 << 2)
+#define CL_QUEUE_ON_DEVICE_DEFAULT (1 << 3)
+
+/* cl_context_info */
+#define CL_CONTEXT_REFERENCE_COUNT 0x1080
+#define CL_CONTEXT_DEVICES 0x1081
+#define CL_CONTEXT_PROPERTIES 0x1082
+#define CL_CONTEXT_NUM_DEVICES 0x1083
+
+/* cl_context_properties */
+#define CL_CONTEXT_PLATFORM 0x1084
+#define CL_CONTEXT_INTEROP_USER_SYNC 0x1085
+
+/* cl_device_partition_property */
+#define CL_DEVICE_PARTITION_EQUALLY 0x1086
+#define CL_DEVICE_PARTITION_BY_COUNTS 0x1087
+#define CL_DEVICE_PARTITION_BY_COUNTS_LIST_END 0x0
+#define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN 0x1088
+
+/* cl_device_affinity_domain */
+#define CL_DEVICE_AFFINITY_DOMAIN_NUMA (1 << 0)
+#define CL_DEVICE_AFFINITY_DOMAIN_L4_CACHE (1 << 1)
+#define CL_DEVICE_AFFINITY_DOMAIN_L3_CACHE (1 << 2)
+#define CL_DEVICE_AFFINITY_DOMAIN_L2_CACHE (1 << 3)
+#define CL_DEVICE_AFFINITY_DOMAIN_L1_CACHE (1 << 4)
+#define CL_DEVICE_AFFINITY_DOMAIN_NEXT_PARTITIONABLE (1 << 5)
+
+/* cl_device_svm_capabilities */
+#define CL_DEVICE_SVM_COARSE_GRAIN_BUFFER (1 << 0)
+#define CL_DEVICE_SVM_FINE_GRAIN_BUFFER (1 << 1)
+#define CL_DEVICE_SVM_FINE_GRAIN_SYSTEM (1 << 2)
+#define CL_DEVICE_SVM_ATOMICS (1 << 3)
+
+/* cl_command_queue_info */
+#define CL_QUEUE_CONTEXT 0x1090
+#define CL_QUEUE_DEVICE 0x1091
+#define CL_QUEUE_REFERENCE_COUNT 0x1092
+#define CL_QUEUE_PROPERTIES 0x1093
+#define CL_QUEUE_SIZE 0x1094
+#define CL_QUEUE_DEVICE_DEFAULT 0x1095
+
+/* cl_mem_flags and cl_svm_mem_flags - bitfield */
+#define CL_MEM_READ_WRITE (1 << 0)
+#define CL_MEM_WRITE_ONLY (1 << 1)
+#define CL_MEM_READ_ONLY (1 << 2)
+#define CL_MEM_USE_HOST_PTR (1 << 3)
+#define CL_MEM_ALLOC_HOST_PTR (1 << 4)
+#define CL_MEM_COPY_HOST_PTR (1 << 5)
+/* reserved (1 << 6) */
+#define CL_MEM_HOST_WRITE_ONLY (1 << 7)
+#define CL_MEM_HOST_READ_ONLY (1 << 8)
+#define CL_MEM_HOST_NO_ACCESS (1 << 9)
+#define CL_MEM_SVM_FINE_GRAIN_BUFFER (1 << 10) /* used by cl_svm_mem_flags only */
+#define CL_MEM_SVM_ATOMICS (1 << 11) /* used by cl_svm_mem_flags only */
+#define CL_MEM_KERNEL_READ_AND_WRITE (1 << 12)
+
+/* cl_mem_migration_flags - bitfield */
+#define CL_MIGRATE_MEM_OBJECT_HOST (1 << 0)
+#define CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED (1 << 1)
+
+/* cl_channel_order */
+#define CL_R 0x10B0
+#define CL_A 0x10B1
+#define CL_RG 0x10B2
+#define CL_RA 0x10B3
+#define CL_RGB 0x10B4
+#define CL_RGBA 0x10B5
+#define CL_BGRA 0x10B6
+#define CL_ARGB 0x10B7
+#define CL_INTENSITY 0x10B8
+#define CL_LUMINANCE 0x10B9
+#define CL_Rx 0x10BA
+#define CL_RGx 0x10BB
+#define CL_RGBx 0x10BC
+#define CL_DEPTH 0x10BD
+#define CL_DEPTH_STENCIL 0x10BE
+#define CL_sRGB 0x10BF
+#define CL_sRGBx 0x10C0
+#define CL_sRGBA 0x10C1
+#define CL_sBGRA 0x10C2
+#define CL_ABGR 0x10C3
+
+/* cl_channel_type */
+#define CL_SNORM_INT8 0x10D0
+#define CL_SNORM_INT16 0x10D1
+#define CL_UNORM_INT8 0x10D2
+#define CL_UNORM_INT16 0x10D3
+#define CL_UNORM_SHORT_565 0x10D4
+#define CL_UNORM_SHORT_555 0x10D5
+#define CL_UNORM_INT_101010 0x10D6
+#define CL_SIGNED_INT8 0x10D7
+#define CL_SIGNED_INT16 0x10D8
+#define CL_SIGNED_INT32 0x10D9
+#define CL_UNSIGNED_INT8 0x10DA
+#define CL_UNSIGNED_INT16 0x10DB
+#define CL_UNSIGNED_INT32 0x10DC
+#define CL_HALF_FLOAT 0x10DD
+#define CL_FLOAT 0x10DE
+#define CL_UNORM_INT24 0x10DF
+#define CL_UNORM_INT_101010_2 0x10E0
+
+/* cl_mem_object_type */
+#define CL_MEM_OBJECT_BUFFER 0x10F0
+#define CL_MEM_OBJECT_IMAGE2D 0x10F1
+#define CL_MEM_OBJECT_IMAGE3D 0x10F2
+#define CL_MEM_OBJECT_IMAGE2D_ARRAY 0x10F3
+#define CL_MEM_OBJECT_IMAGE1D 0x10F4
+#define CL_MEM_OBJECT_IMAGE1D_ARRAY 0x10F5
+#define CL_MEM_OBJECT_IMAGE1D_BUFFER 0x10F6
+#define CL_MEM_OBJECT_PIPE 0x10F7
+
+/* cl_mem_info */
+#define CL_MEM_TYPE 0x1100
+#define CL_MEM_FLAGS 0x1101
+#define CL_MEM_SIZE 0x1102
+#define CL_MEM_HOST_PTR 0x1103
+#define CL_MEM_MAP_COUNT 0x1104
+#define CL_MEM_REFERENCE_COUNT 0x1105
+#define CL_MEM_CONTEXT 0x1106
+#define CL_MEM_ASSOCIATED_MEMOBJECT 0x1107
+#define CL_MEM_OFFSET 0x1108
+#define CL_MEM_USES_SVM_POINTER 0x1109
+
+/* cl_image_info */
+#define CL_IMAGE_FORMAT 0x1110
+#define CL_IMAGE_ELEMENT_SIZE 0x1111
+#define CL_IMAGE_ROW_PITCH 0x1112
+#define CL_IMAGE_SLICE_PITCH 0x1113
+#define CL_IMAGE_WIDTH 0x1114
+#define CL_IMAGE_HEIGHT 0x1115
+#define CL_IMAGE_DEPTH 0x1116
+#define CL_IMAGE_ARRAY_SIZE 0x1117
+#define CL_IMAGE_BUFFER 0x1118
+#define CL_IMAGE_NUM_MIP_LEVELS 0x1119
+#define CL_IMAGE_NUM_SAMPLES 0x111A
+
+/* cl_pipe_info */
+#define CL_PIPE_PACKET_SIZE 0x1120
+#define CL_PIPE_MAX_PACKETS 0x1121
+
+/* cl_addressing_mode */
+#define CL_ADDRESS_NONE 0x1130
+#define CL_ADDRESS_CLAMP_TO_EDGE 0x1131
+#define CL_ADDRESS_CLAMP 0x1132
+#define CL_ADDRESS_REPEAT 0x1133
+#define CL_ADDRESS_MIRRORED_REPEAT 0x1134
+
+/* cl_filter_mode */
+#define CL_FILTER_NEAREST 0x1140
+#define CL_FILTER_LINEAR 0x1141
+
+/* cl_sampler_info */
+#define CL_SAMPLER_REFERENCE_COUNT 0x1150
+#define CL_SAMPLER_CONTEXT 0x1151
+#define CL_SAMPLER_NORMALIZED_COORDS 0x1152
+#define CL_SAMPLER_ADDRESSING_MODE 0x1153
+#define CL_SAMPLER_FILTER_MODE 0x1154
+#define CL_SAMPLER_MIP_FILTER_MODE 0x1155
+#define CL_SAMPLER_LOD_MIN 0x1156
+#define CL_SAMPLER_LOD_MAX 0x1157
+
+/* cl_map_flags - bitfield */
+#define CL_MAP_READ (1 << 0)
+#define CL_MAP_WRITE (1 << 1)
+#define CL_MAP_WRITE_INVALIDATE_REGION (1 << 2)
+
+/* cl_program_info */
+#define CL_PROGRAM_REFERENCE_COUNT 0x1160
+#define CL_PROGRAM_CONTEXT 0x1161
+#define CL_PROGRAM_NUM_DEVICES 0x1162
+#define CL_PROGRAM_DEVICES 0x1163
+#define CL_PROGRAM_SOURCE 0x1164
+#define CL_PROGRAM_BINARY_SIZES 0x1165
+#define CL_PROGRAM_BINARIES 0x1166
+#define CL_PROGRAM_NUM_KERNELS 0x1167
+#define CL_PROGRAM_KERNEL_NAMES 0x1168
+#define CL_PROGRAM_IL 0x1169
+
+/* cl_program_build_info */
+#define CL_PROGRAM_BUILD_STATUS 0x1181
+#define CL_PROGRAM_BUILD_OPTIONS 0x1182
+#define CL_PROGRAM_BUILD_LOG 0x1183
+#define CL_PROGRAM_BINARY_TYPE 0x1184
+#define CL_PROGRAM_BUILD_GLOBAL_VARIABLE_TOTAL_SIZE 0x1185
+
+/* cl_program_binary_type */
+#define CL_PROGRAM_BINARY_TYPE_NONE 0x0
+#define CL_PROGRAM_BINARY_TYPE_COMPILED_OBJECT 0x1
+#define CL_PROGRAM_BINARY_TYPE_LIBRARY 0x2
+#define CL_PROGRAM_BINARY_TYPE_EXECUTABLE 0x4
+
+/* cl_build_status */
+#define CL_BUILD_SUCCESS 0
+#define CL_BUILD_NONE -1
+#define CL_BUILD_ERROR -2
+#define CL_BUILD_IN_PROGRESS -3
+
+/* cl_kernel_info */
+#define CL_KERNEL_FUNCTION_NAME 0x1190
+#define CL_KERNEL_NUM_ARGS 0x1191
+#define CL_KERNEL_REFERENCE_COUNT 0x1192
+#define CL_KERNEL_CONTEXT 0x1193
+#define CL_KERNEL_PROGRAM 0x1194
+#define CL_KERNEL_ATTRIBUTES 0x1195
+#define CL_KERNEL_MAX_NUM_SUB_GROUPS 0x11B9
+#define CL_KERNEL_COMPILE_NUM_SUB_GROUPS 0x11BA
+
+/* cl_kernel_arg_info */
+#define CL_KERNEL_ARG_ADDRESS_QUALIFIER 0x1196
+#define CL_KERNEL_ARG_ACCESS_QUALIFIER 0x1197
+#define CL_KERNEL_ARG_TYPE_NAME 0x1198
+#define CL_KERNEL_ARG_TYPE_QUALIFIER 0x1199
+#define CL_KERNEL_ARG_NAME 0x119A
+
+/* cl_kernel_arg_address_qualifier */
+#define CL_KERNEL_ARG_ADDRESS_GLOBAL 0x119B
+#define CL_KERNEL_ARG_ADDRESS_LOCAL 0x119C
+#define CL_KERNEL_ARG_ADDRESS_CONSTANT 0x119D
+#define CL_KERNEL_ARG_ADDRESS_PRIVATE 0x119E
+
+/* cl_kernel_arg_access_qualifier */
+#define CL_KERNEL_ARG_ACCESS_READ_ONLY 0x11A0
+#define CL_KERNEL_ARG_ACCESS_WRITE_ONLY 0x11A1
+#define CL_KERNEL_ARG_ACCESS_READ_WRITE 0x11A2
+#define CL_KERNEL_ARG_ACCESS_NONE 0x11A3
+
+/* cl_kernel_arg_type_qualifer */
+#define CL_KERNEL_ARG_TYPE_NONE 0
+#define CL_KERNEL_ARG_TYPE_CONST (1 << 0)
+#define CL_KERNEL_ARG_TYPE_RESTRICT (1 << 1)
+#define CL_KERNEL_ARG_TYPE_VOLATILE (1 << 2)
+#define CL_KERNEL_ARG_TYPE_PIPE (1 << 3)
+
+/* cl_kernel_work_group_info */
+#define CL_KERNEL_WORK_GROUP_SIZE 0x11B0
+#define CL_KERNEL_COMPILE_WORK_GROUP_SIZE 0x11B1
+#define CL_KERNEL_LOCAL_MEM_SIZE 0x11B2
+#define CL_KERNEL_PREFERRED_WORK_GROUP_SIZE_MULTIPLE 0x11B3
+#define CL_KERNEL_PRIVATE_MEM_SIZE 0x11B4
+#define CL_KERNEL_GLOBAL_WORK_SIZE 0x11B5
+
+/* cl_kernel_sub_group_info */
+#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE 0x2033
+#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE 0x2034
+#define CL_KERNEL_LOCAL_SIZE_FOR_SUB_GROUP_COUNT 0x11B8
+
+/* cl_kernel_exec_info */
+#define CL_KERNEL_EXEC_INFO_SVM_PTRS 0x11B6
+#define CL_KERNEL_EXEC_INFO_SVM_FINE_GRAIN_SYSTEM 0x11B7
+
+/* cl_event_info */
+#define CL_EVENT_COMMAND_QUEUE 0x11D0
+#define CL_EVENT_COMMAND_TYPE 0x11D1
+#define CL_EVENT_REFERENCE_COUNT 0x11D2
+#define CL_EVENT_COMMAND_EXECUTION_STATUS 0x11D3
+#define CL_EVENT_CONTEXT 0x11D4
+
+/* cl_command_type */
+#define CL_COMMAND_NDRANGE_KERNEL 0x11F0
+#define CL_COMMAND_TASK 0x11F1
+#define CL_COMMAND_NATIVE_KERNEL 0x11F2
+#define CL_COMMAND_READ_BUFFER 0x11F3
+#define CL_COMMAND_WRITE_BUFFER 0x11F4
+#define CL_COMMAND_COPY_BUFFER 0x11F5
+#define CL_COMMAND_READ_IMAGE 0x11F6
+#define CL_COMMAND_WRITE_IMAGE 0x11F7
+#define CL_COMMAND_COPY_IMAGE 0x11F8
+#define CL_COMMAND_COPY_IMAGE_TO_BUFFER 0x11F9
+#define CL_COMMAND_COPY_BUFFER_TO_IMAGE 0x11FA
+#define CL_COMMAND_MAP_BUFFER 0x11FB
+#define CL_COMMAND_MAP_IMAGE 0x11FC
+#define CL_COMMAND_UNMAP_MEM_OBJECT 0x11FD
+#define CL_COMMAND_MARKER 0x11FE
+#define CL_COMMAND_ACQUIRE_GL_OBJECTS 0x11FF
+#define CL_COMMAND_RELEASE_GL_OBJECTS 0x1200
+#define CL_COMMAND_READ_BUFFER_RECT 0x1201
+#define CL_COMMAND_WRITE_BUFFER_RECT 0x1202
+#define CL_COMMAND_COPY_BUFFER_RECT 0x1203
+#define CL_COMMAND_USER 0x1204
+#define CL_COMMAND_BARRIER 0x1205
+#define CL_COMMAND_MIGRATE_MEM_OBJECTS 0x1206
+#define CL_COMMAND_FILL_BUFFER 0x1207
+#define CL_COMMAND_FILL_IMAGE 0x1208
+#define CL_COMMAND_SVM_FREE 0x1209
+#define CL_COMMAND_SVM_MEMCPY 0x120A
+#define CL_COMMAND_SVM_MEMFILL 0x120B
+#define CL_COMMAND_SVM_MAP 0x120C
+#define CL_COMMAND_SVM_UNMAP 0x120D
+
+/* command execution status */
+#define CL_COMPLETE 0x0
+#define CL_RUNNING 0x1
+#define CL_SUBMITTED 0x2
+#define CL_QUEUED 0x3
+
+/* cl_buffer_create_type */
+#define CL_BUFFER_CREATE_TYPE_REGION 0x1220
+
+/* cl_profiling_info */
+#define CL_PROFILING_COMMAND_QUEUED 0x1280
+#define CL_PROFILING_COMMAND_SUBMIT 0x1281
+#define CL_PROFILING_COMMAND_START 0x1282
+#define CL_PROFILING_COMMAND_END 0x1283
+#define CL_PROFILING_COMMAND_COMPLETE 0x1284
+
+/********************************************************************************************************/
+
+/* Platform API */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetPlatformIDs(cl_uint /* num_entries */,
+ cl_platform_id * /* platforms */,
+ cl_uint * /* num_platforms */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetPlatformInfo(cl_platform_id /* platform */,
+ cl_platform_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Device APIs */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceIDs(cl_platform_id /* platform */,
+ cl_device_type /* device_type */,
+ cl_uint /* num_entries */,
+ cl_device_id * /* devices */,
+ cl_uint * /* num_devices */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceInfo(cl_device_id /* device */,
+ cl_device_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clCreateSubDevices(cl_device_id /* in_device */,
+ const cl_device_partition_property * /* properties */,
+ cl_uint /* num_devices */,
+ cl_device_id * /* out_devices */,
+ cl_uint * /* num_devices_ret */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseDevice(cl_device_id /* device */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetDefaultDeviceCommandQueue(cl_context /* context */,
+ cl_device_id /* device */,
+ cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_2_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceAndHostTimer(cl_device_id /* device */,
+ cl_ulong* /* device_timestamp */,
+ cl_ulong* /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetHostTimer(cl_device_id /* device */,
+ cl_ulong * /* host_timestamp */) CL_API_SUFFIX__VERSION_2_1;
+
+
+/* Context APIs */
+extern CL_API_ENTRY cl_context CL_API_CALL
+clCreateContext(const cl_context_properties * /* properties */,
+ cl_uint /* num_devices */,
+ const cl_device_id * /* devices */,
+ void (CL_CALLBACK * /* pfn_notify */)(const char *, const void *, size_t, void *),
+ void * /* user_data */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_context CL_API_CALL
+clCreateContextFromType(const cl_context_properties * /* properties */,
+ cl_device_type /* device_type */,
+ void (CL_CALLBACK * /* pfn_notify*/ )(const char *, const void *, size_t, void *),
+ void * /* user_data */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseContext(cl_context /* context */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetContextInfo(cl_context /* context */,
+ cl_context_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Command Queue APIs */
+extern CL_API_ENTRY cl_command_queue CL_API_CALL
+clCreateCommandQueueWithProperties(cl_context /* context */,
+ cl_device_id /* device */,
+ const cl_queue_properties * /* properties */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseCommandQueue(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetCommandQueueInfo(cl_command_queue /* command_queue */,
+ cl_command_queue_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Memory Object APIs */
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateBuffer(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ size_t /* size */,
+ void * /* host_ptr */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateSubBuffer(cl_mem /* buffer */,
+ cl_mem_flags /* flags */,
+ cl_buffer_create_type /* buffer_create_type */,
+ const void * /* buffer_create_info */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateImage(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ const cl_image_format * /* image_format */,
+ const cl_image_desc * /* image_desc */,
+ void * /* host_ptr */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreatePipe(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ cl_uint /* pipe_packet_size */,
+ cl_uint /* pipe_max_packets */,
+ const cl_pipe_properties * /* properties */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseMemObject(cl_mem /* memobj */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetSupportedImageFormats(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ cl_mem_object_type /* image_type */,
+ cl_uint /* num_entries */,
+ cl_image_format * /* image_formats */,
+ cl_uint * /* num_image_formats */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetMemObjectInfo(cl_mem /* memobj */,
+ cl_mem_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetImageInfo(cl_mem /* image */,
+ cl_image_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetPipeInfo(cl_mem /* pipe */,
+ cl_pipe_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_2_0;
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetMemObjectDestructorCallback(cl_mem /* memobj */,
+ void (CL_CALLBACK * /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/),
+ void * /*user_data */ ) CL_API_SUFFIX__VERSION_1_1;
+
+/* SVM Allocation APIs */
+extern CL_API_ENTRY void * CL_API_CALL
+clSVMAlloc(cl_context /* context */,
+ cl_svm_mem_flags /* flags */,
+ size_t /* size */,
+ cl_uint /* alignment */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY void CL_API_CALL
+clSVMFree(cl_context /* context */,
+ void * /* svm_pointer */) CL_API_SUFFIX__VERSION_2_0;
+
+/* Sampler APIs */
+extern CL_API_ENTRY cl_sampler CL_API_CALL
+clCreateSamplerWithProperties(cl_context /* context */,
+ const cl_sampler_properties * /* normalized_coords */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseSampler(cl_sampler /* sampler */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetSamplerInfo(cl_sampler /* sampler */,
+ cl_sampler_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Program Object APIs */
+extern CL_API_ENTRY cl_program CL_API_CALL
+clCreateProgramWithSource(cl_context /* context */,
+ cl_uint /* count */,
+ const char ** /* strings */,
+ const size_t * /* lengths */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_program CL_API_CALL
+clCreateProgramWithBinary(cl_context /* context */,
+ cl_uint /* num_devices */,
+ const cl_device_id * /* device_list */,
+ const size_t * /* lengths */,
+ const unsigned char ** /* binaries */,
+ cl_int * /* binary_status */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_program CL_API_CALL
+clCreateProgramWithBuiltInKernels(cl_context /* context */,
+ cl_uint /* num_devices */,
+ const cl_device_id * /* device_list */,
+ const char * /* kernel_names */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_program CL_API_CALL
+clCreateProgramWithIL(cl_context /* context */,
+ const void* /* il */,
+ size_t /* length */,
+ cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseProgram(cl_program /* program */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clBuildProgram(cl_program /* program */,
+ cl_uint /* num_devices */,
+ const cl_device_id * /* device_list */,
+ const char * /* options */,
+ void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
+ void * /* user_data */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clCompileProgram(cl_program /* program */,
+ cl_uint /* num_devices */,
+ const cl_device_id * /* device_list */,
+ const char * /* options */,
+ cl_uint /* num_input_headers */,
+ const cl_program * /* input_headers */,
+ const char ** /* header_include_names */,
+ void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
+ void * /* user_data */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_program CL_API_CALL
+clLinkProgram(cl_context /* context */,
+ cl_uint /* num_devices */,
+ const cl_device_id * /* device_list */,
+ const char * /* options */,
+ cl_uint /* num_input_programs */,
+ const cl_program * /* input_programs */,
+ void (CL_CALLBACK * /* pfn_notify */)(cl_program /* program */, void * /* user_data */),
+ void * /* user_data */,
+ cl_int * /* errcode_ret */ ) CL_API_SUFFIX__VERSION_1_2;
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clUnloadPlatformCompiler(cl_platform_id /* platform */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetProgramInfo(cl_program /* program */,
+ cl_program_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetProgramBuildInfo(cl_program /* program */,
+ cl_device_id /* device */,
+ cl_program_build_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Kernel Object APIs */
+extern CL_API_ENTRY cl_kernel CL_API_CALL
+clCreateKernel(cl_program /* program */,
+ const char * /* kernel_name */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clCreateKernelsInProgram(cl_program /* program */,
+ cl_uint /* num_kernels */,
+ cl_kernel * /* kernels */,
+ cl_uint * /* num_kernels_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_kernel CL_API_CALL
+clCloneKernel(cl_kernel /* source_kernel */,
+ cl_int* /* errcode_ret */) CL_API_SUFFIX__VERSION_2_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseKernel(cl_kernel /* kernel */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetKernelArg(cl_kernel /* kernel */,
+ cl_uint /* arg_index */,
+ size_t /* arg_size */,
+ const void * /* arg_value */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetKernelArgSVMPointer(cl_kernel /* kernel */,
+ cl_uint /* arg_index */,
+ const void * /* arg_value */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetKernelExecInfo(cl_kernel /* kernel */,
+ cl_kernel_exec_info /* param_name */,
+ size_t /* param_value_size */,
+ const void * /* param_value */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelInfo(cl_kernel /* kernel */,
+ cl_kernel_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelArgInfo(cl_kernel /* kernel */,
+ cl_uint /* arg_indx */,
+ cl_kernel_arg_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelWorkGroupInfo(cl_kernel /* kernel */,
+ cl_device_id /* device */,
+ cl_kernel_work_group_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelSubGroupInfo(cl_kernel /* kernel */,
+ cl_device_id /* device */,
+ cl_kernel_sub_group_info /* param_name */,
+ size_t /* input_value_size */,
+ const void* /*input_value */,
+ size_t /* param_value_size */,
+ void* /* param_value */,
+ size_t* /* param_value_size_ret */ ) CL_API_SUFFIX__VERSION_2_1;
+
+
+/* Event Object APIs */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clWaitForEvents(cl_uint /* num_events */,
+ const cl_event * /* event_list */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetEventInfo(cl_event /* event */,
+ cl_event_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_event CL_API_CALL
+clCreateUserEvent(cl_context /* context */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clRetainEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clReleaseEvent(cl_event /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetUserEventStatus(cl_event /* event */,
+ cl_int /* execution_status */) CL_API_SUFFIX__VERSION_1_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetEventCallback( cl_event /* event */,
+ cl_int /* command_exec_callback_type */,
+ void (CL_CALLBACK * /* pfn_notify */)(cl_event, cl_int, void *),
+ void * /* user_data */) CL_API_SUFFIX__VERSION_1_1;
+
+/* Profiling APIs */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetEventProfilingInfo(cl_event /* event */,
+ cl_profiling_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Flush and Finish APIs */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clFlush(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clFinish(cl_command_queue /* command_queue */) CL_API_SUFFIX__VERSION_1_0;
+
+/* Enqueued Commands APIs */
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReadBuffer(cl_command_queue /* command_queue */,
+ cl_mem /* buffer */,
+ cl_bool /* blocking_read */,
+ size_t /* offset */,
+ size_t /* size */,
+ void * /* ptr */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReadBufferRect(cl_command_queue /* command_queue */,
+ cl_mem /* buffer */,
+ cl_bool /* blocking_read */,
+ const size_t * /* buffer_offset */,
+ const size_t * /* host_offset */,
+ const size_t * /* region */,
+ size_t /* buffer_row_pitch */,
+ size_t /* buffer_slice_pitch */,
+ size_t /* host_row_pitch */,
+ size_t /* host_slice_pitch */,
+ void * /* ptr */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueWriteBuffer(cl_command_queue /* command_queue */,
+ cl_mem /* buffer */,
+ cl_bool /* blocking_write */,
+ size_t /* offset */,
+ size_t /* size */,
+ const void * /* ptr */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueWriteBufferRect(cl_command_queue /* command_queue */,
+ cl_mem /* buffer */,
+ cl_bool /* blocking_write */,
+ const size_t * /* buffer_offset */,
+ const size_t * /* host_offset */,
+ const size_t * /* region */,
+ size_t /* buffer_row_pitch */,
+ size_t /* buffer_slice_pitch */,
+ size_t /* host_row_pitch */,
+ size_t /* host_slice_pitch */,
+ const void * /* ptr */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueFillBuffer(cl_command_queue /* command_queue */,
+ cl_mem /* buffer */,
+ const void * /* pattern */,
+ size_t /* pattern_size */,
+ size_t /* offset */,
+ size_t /* size */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyBuffer(cl_command_queue /* command_queue */,
+ cl_mem /* src_buffer */,
+ cl_mem /* dst_buffer */,
+ size_t /* src_offset */,
+ size_t /* dst_offset */,
+ size_t /* size */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyBufferRect(cl_command_queue /* command_queue */,
+ cl_mem /* src_buffer */,
+ cl_mem /* dst_buffer */,
+ const size_t * /* src_origin */,
+ const size_t * /* dst_origin */,
+ const size_t * /* region */,
+ size_t /* src_row_pitch */,
+ size_t /* src_slice_pitch */,
+ size_t /* dst_row_pitch */,
+ size_t /* dst_slice_pitch */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_1;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReadImage(cl_command_queue /* command_queue */,
+ cl_mem /* image */,
+ cl_bool /* blocking_read */,
+ const size_t * /* origin[3] */,
+ const size_t * /* region[3] */,
+ size_t /* row_pitch */,
+ size_t /* slice_pitch */,
+ void * /* ptr */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueWriteImage(cl_command_queue /* command_queue */,
+ cl_mem /* image */,
+ cl_bool /* blocking_write */,
+ const size_t * /* origin[3] */,
+ const size_t * /* region[3] */,
+ size_t /* input_row_pitch */,
+ size_t /* input_slice_pitch */,
+ const void * /* ptr */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueFillImage(cl_command_queue /* command_queue */,
+ cl_mem /* image */,
+ const void * /* fill_color */,
+ const size_t * /* origin[3] */,
+ const size_t * /* region[3] */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyImage(cl_command_queue /* command_queue */,
+ cl_mem /* src_image */,
+ cl_mem /* dst_image */,
+ const size_t * /* src_origin[3] */,
+ const size_t * /* dst_origin[3] */,
+ const size_t * /* region[3] */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyImageToBuffer(cl_command_queue /* command_queue */,
+ cl_mem /* src_image */,
+ cl_mem /* dst_buffer */,
+ const size_t * /* src_origin[3] */,
+ const size_t * /* region[3] */,
+ size_t /* dst_offset */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueCopyBufferToImage(cl_command_queue /* command_queue */,
+ cl_mem /* src_buffer */,
+ cl_mem /* dst_image */,
+ size_t /* src_offset */,
+ const size_t * /* dst_origin[3] */,
+ const size_t * /* region[3] */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY void * CL_API_CALL
+clEnqueueMapBuffer(cl_command_queue /* command_queue */,
+ cl_mem /* buffer */,
+ cl_bool /* blocking_map */,
+ cl_map_flags /* map_flags */,
+ size_t /* offset */,
+ size_t /* size */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY void * CL_API_CALL
+clEnqueueMapImage(cl_command_queue /* command_queue */,
+ cl_mem /* image */,
+ cl_bool /* blocking_map */,
+ cl_map_flags /* map_flags */,
+ const size_t * /* origin[3] */,
+ const size_t * /* region[3] */,
+ size_t * /* image_row_pitch */,
+ size_t * /* image_slice_pitch */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueUnmapMemObject(cl_command_queue /* command_queue */,
+ cl_mem /* memobj */,
+ void * /* mapped_ptr */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueMigrateMemObjects(cl_command_queue /* command_queue */,
+ cl_uint /* num_mem_objects */,
+ const cl_mem * /* mem_objects */,
+ cl_mem_migration_flags /* flags */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueNDRangeKernel(cl_command_queue /* command_queue */,
+ cl_kernel /* kernel */,
+ cl_uint /* work_dim */,
+ const size_t * /* global_work_offset */,
+ const size_t * /* global_work_size */,
+ const size_t * /* local_work_size */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueNativeKernel(cl_command_queue /* command_queue */,
+ void (CL_CALLBACK * /*user_func*/)(void *),
+ void * /* args */,
+ size_t /* cb_args */,
+ cl_uint /* num_mem_objects */,
+ const cl_mem * /* mem_list */,
+ const void ** /* args_mem_loc */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueMarkerWithWaitList(cl_command_queue /* command_queue */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueBarrierWithWaitList(cl_command_queue /* command_queue */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMFree(cl_command_queue /* command_queue */,
+ cl_uint /* num_svm_pointers */,
+ void *[] /* svm_pointers[] */,
+ void (CL_CALLBACK * /*pfn_free_func*/)(cl_command_queue /* queue */,
+ cl_uint /* num_svm_pointers */,
+ void *[] /* svm_pointers[] */,
+ void * /* user_data */),
+ void * /* user_data */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMMemcpy(cl_command_queue /* command_queue */,
+ cl_bool /* blocking_copy */,
+ void * /* dst_ptr */,
+ const void * /* src_ptr */,
+ size_t /* size */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMMemFill(cl_command_queue /* command_queue */,
+ void * /* svm_ptr */,
+ const void * /* pattern */,
+ size_t /* pattern_size */,
+ size_t /* size */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMMap(cl_command_queue /* command_queue */,
+ cl_bool /* blocking_map */,
+ cl_map_flags /* flags */,
+ void * /* svm_ptr */,
+ size_t /* size */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMUnmap(cl_command_queue /* command_queue */,
+ void * /* svm_ptr */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_2_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueSVMMigrateMem(cl_command_queue /* command_queue */,
+ cl_uint /* num_svm_pointers */,
+ const void ** /* svm_pointers */,
+ const size_t * /* sizes */,
+ cl_mem_migration_flags /* flags */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_2_1;
+
+
+/* Extension function access
+ *
+ * Returns the extension function address for the given function name,
+ * or NULL if a valid function can not be found. The client must
+ * check to make sure the address is not NULL, before using or
+ * calling the returned function address.
+ */
+extern CL_API_ENTRY void * CL_API_CALL
+clGetExtensionFunctionAddressForPlatform(cl_platform_id /* platform */,
+ const char * /* func_name */) CL_API_SUFFIX__VERSION_1_2;
+
+
+/* Deprecated OpenCL 1.1 APIs */
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
+clCreateImage2D(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ const cl_image_format * /* image_format */,
+ size_t /* image_width */,
+ size_t /* image_height */,
+ size_t /* image_row_pitch */,
+ void * /* host_ptr */,
+ cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
+clCreateImage3D(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ const cl_image_format * /* image_format */,
+ size_t /* image_width */,
+ size_t /* image_height */,
+ size_t /* image_depth */,
+ size_t /* image_row_pitch */,
+ size_t /* image_slice_pitch */,
+ void * /* host_ptr */,
+ cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
+clEnqueueMarker(cl_command_queue /* command_queue */,
+ cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
+clEnqueueWaitForEvents(cl_command_queue /* command_queue */,
+ cl_uint /* num_events */,
+ const cl_event * /* event_list */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
+clEnqueueBarrier(cl_command_queue /* command_queue */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_int CL_API_CALL
+clUnloadCompiler(void) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED void * CL_API_CALL
+clGetExtensionFunctionAddress(const char * /* func_name */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+
+/* Deprecated OpenCL 2.0 APIs */
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_command_queue CL_API_CALL
+clCreateCommandQueue(cl_context /* context */,
+ cl_device_id /* device */,
+ cl_command_queue_properties /* properties */,
+ cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
+
+
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_sampler CL_API_CALL
+clCreateSampler(cl_context /* context */,
+ cl_bool /* normalized_coords */,
+ cl_addressing_mode /* addressing_mode */,
+ cl_filter_mode /* filter_mode */,
+ cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
+
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_2_DEPRECATED cl_int CL_API_CALL
+clEnqueueTask(cl_command_queue /* command_queue */,
+ cl_kernel /* kernel */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_H */
+
diff --git a/third_party/opencl/include/CL/cl_d3d10.h b/third_party/opencl/include/CL/cl_d3d10.h
new file mode 100644
index 0000000000..d5960a43f7
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_d3d10.h
@@ -0,0 +1,131 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ * https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_CL_D3D10_H
+#define __OPENCL_CL_D3D10_H
+
+#include
+#include
+#include
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************
+ * cl_khr_d3d10_sharing */
+#define cl_khr_d3d10_sharing 1
+
+typedef cl_uint cl_d3d10_device_source_khr;
+typedef cl_uint cl_d3d10_device_set_khr;
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_INVALID_D3D10_DEVICE_KHR -1002
+#define CL_INVALID_D3D10_RESOURCE_KHR -1003
+#define CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR -1004
+#define CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR -1005
+
+/* cl_d3d10_device_source_nv */
+#define CL_D3D10_DEVICE_KHR 0x4010
+#define CL_D3D10_DXGI_ADAPTER_KHR 0x4011
+
+/* cl_d3d10_device_set_nv */
+#define CL_PREFERRED_DEVICES_FOR_D3D10_KHR 0x4012
+#define CL_ALL_DEVICES_FOR_D3D10_KHR 0x4013
+
+/* cl_context_info */
+#define CL_CONTEXT_D3D10_DEVICE_KHR 0x4014
+#define CL_CONTEXT_D3D10_PREFER_SHARED_RESOURCES_KHR 0x402C
+
+/* cl_mem_info */
+#define CL_MEM_D3D10_RESOURCE_KHR 0x4015
+
+/* cl_image_info */
+#define CL_IMAGE_D3D10_SUBRESOURCE_KHR 0x4016
+
+/* cl_command_type */
+#define CL_COMMAND_ACQUIRE_D3D10_OBJECTS_KHR 0x4017
+#define CL_COMMAND_RELEASE_D3D10_OBJECTS_KHR 0x4018
+
+/******************************************************************************/
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D10KHR_fn)(
+ cl_platform_id platform,
+ cl_d3d10_device_source_khr d3d_device_source,
+ void * d3d_object,
+ cl_d3d10_device_set_khr d3d_device_set,
+ cl_uint num_entries,
+ cl_device_id * devices,
+ cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10BufferKHR_fn)(
+ cl_context context,
+ cl_mem_flags flags,
+ ID3D10Buffer * resource,
+ cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture2DKHR_fn)(
+ cl_context context,
+ cl_mem_flags flags,
+ ID3D10Texture2D * resource,
+ UINT subresource,
+ cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D10Texture3DKHR_fn)(
+ cl_context context,
+ cl_mem_flags flags,
+ ID3D10Texture3D * resource,
+ UINT subresource,
+ cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D10ObjectsKHR_fn)(
+ cl_command_queue command_queue,
+ cl_uint num_objects,
+ const cl_mem * mem_objects,
+ cl_uint num_events_in_wait_list,
+ const cl_event * event_wait_list,
+ cl_event * event) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D10ObjectsKHR_fn)(
+ cl_command_queue command_queue,
+ cl_uint num_objects,
+ const cl_mem * mem_objects,
+ cl_uint num_events_in_wait_list,
+ const cl_event * event_wait_list,
+ cl_event * event) CL_API_SUFFIX__VERSION_1_0;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_D3D10_H */
+
diff --git a/third_party/opencl/include/CL/cl_d3d11.h b/third_party/opencl/include/CL/cl_d3d11.h
new file mode 100644
index 0000000000..39f9072398
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_d3d11.h
@@ -0,0 +1,131 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ * https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_CL_D3D11_H
+#define __OPENCL_CL_D3D11_H
+
+#include
+#include
+#include
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************
+ * cl_khr_d3d11_sharing */
+#define cl_khr_d3d11_sharing 1
+
+typedef cl_uint cl_d3d11_device_source_khr;
+typedef cl_uint cl_d3d11_device_set_khr;
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_INVALID_D3D11_DEVICE_KHR -1006
+#define CL_INVALID_D3D11_RESOURCE_KHR -1007
+#define CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR -1008
+#define CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR -1009
+
+/* cl_d3d11_device_source */
+#define CL_D3D11_DEVICE_KHR 0x4019
+#define CL_D3D11_DXGI_ADAPTER_KHR 0x401A
+
+/* cl_d3d11_device_set */
+#define CL_PREFERRED_DEVICES_FOR_D3D11_KHR 0x401B
+#define CL_ALL_DEVICES_FOR_D3D11_KHR 0x401C
+
+/* cl_context_info */
+#define CL_CONTEXT_D3D11_DEVICE_KHR 0x401D
+#define CL_CONTEXT_D3D11_PREFER_SHARED_RESOURCES_KHR 0x402D
+
+/* cl_mem_info */
+#define CL_MEM_D3D11_RESOURCE_KHR 0x401E
+
+/* cl_image_info */
+#define CL_IMAGE_D3D11_SUBRESOURCE_KHR 0x401F
+
+/* cl_command_type */
+#define CL_COMMAND_ACQUIRE_D3D11_OBJECTS_KHR 0x4020
+#define CL_COMMAND_RELEASE_D3D11_OBJECTS_KHR 0x4021
+
+/******************************************************************************/
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromD3D11KHR_fn)(
+ cl_platform_id platform,
+ cl_d3d11_device_source_khr d3d_device_source,
+ void * d3d_object,
+ cl_d3d11_device_set_khr d3d_device_set,
+ cl_uint num_entries,
+ cl_device_id * devices,
+ cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11BufferKHR_fn)(
+ cl_context context,
+ cl_mem_flags flags,
+ ID3D11Buffer * resource,
+ cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture2DKHR_fn)(
+ cl_context context,
+ cl_mem_flags flags,
+ ID3D11Texture2D * resource,
+ UINT subresource,
+ cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromD3D11Texture3DKHR_fn)(
+ cl_context context,
+ cl_mem_flags flags,
+ ID3D11Texture3D * resource,
+ UINT subresource,
+ cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireD3D11ObjectsKHR_fn)(
+ cl_command_queue command_queue,
+ cl_uint num_objects,
+ const cl_mem * mem_objects,
+ cl_uint num_events_in_wait_list,
+ const cl_event * event_wait_list,
+ cl_event * event) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseD3D11ObjectsKHR_fn)(
+ cl_command_queue command_queue,
+ cl_uint num_objects,
+ const cl_mem * mem_objects,
+ cl_uint num_events_in_wait_list,
+ const cl_event * event_wait_list,
+ cl_event * event) CL_API_SUFFIX__VERSION_1_2;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_D3D11_H */
+
diff --git a/third_party/opencl/include/CL/cl_dx9_media_sharing.h b/third_party/opencl/include/CL/cl_dx9_media_sharing.h
new file mode 100644
index 0000000000..2729e8b9e8
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_dx9_media_sharing.h
@@ -0,0 +1,132 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ * https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_CL_DX9_MEDIA_SHARING_H
+#define __OPENCL_CL_DX9_MEDIA_SHARING_H
+
+#include
+#include
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/******************************************************************************/
+/* cl_khr_dx9_media_sharing */
+#define cl_khr_dx9_media_sharing 1
+
+typedef cl_uint cl_dx9_media_adapter_type_khr;
+typedef cl_uint cl_dx9_media_adapter_set_khr;
+
+#if defined(_WIN32)
+#include
+typedef struct _cl_dx9_surface_info_khr
+{
+ IDirect3DSurface9 *resource;
+ HANDLE shared_handle;
+} cl_dx9_surface_info_khr;
+#endif
+
+
+/******************************************************************************/
+
+/* Error Codes */
+#define CL_INVALID_DX9_MEDIA_ADAPTER_KHR -1010
+#define CL_INVALID_DX9_MEDIA_SURFACE_KHR -1011
+#define CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR -1012
+#define CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR -1013
+
+/* cl_media_adapter_type_khr */
+#define CL_ADAPTER_D3D9_KHR 0x2020
+#define CL_ADAPTER_D3D9EX_KHR 0x2021
+#define CL_ADAPTER_DXVA_KHR 0x2022
+
+/* cl_media_adapter_set_khr */
+#define CL_PREFERRED_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2023
+#define CL_ALL_DEVICES_FOR_DX9_MEDIA_ADAPTER_KHR 0x2024
+
+/* cl_context_info */
+#define CL_CONTEXT_ADAPTER_D3D9_KHR 0x2025
+#define CL_CONTEXT_ADAPTER_D3D9EX_KHR 0x2026
+#define CL_CONTEXT_ADAPTER_DXVA_KHR 0x2027
+
+/* cl_mem_info */
+#define CL_MEM_DX9_MEDIA_ADAPTER_TYPE_KHR 0x2028
+#define CL_MEM_DX9_MEDIA_SURFACE_INFO_KHR 0x2029
+
+/* cl_image_info */
+#define CL_IMAGE_DX9_MEDIA_PLANE_KHR 0x202A
+
+/* cl_command_type */
+#define CL_COMMAND_ACQUIRE_DX9_MEDIA_SURFACES_KHR 0x202B
+#define CL_COMMAND_RELEASE_DX9_MEDIA_SURFACES_KHR 0x202C
+
+/******************************************************************************/
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetDeviceIDsFromDX9MediaAdapterKHR_fn)(
+ cl_platform_id platform,
+ cl_uint num_media_adapters,
+ cl_dx9_media_adapter_type_khr * media_adapter_type,
+ void * media_adapters,
+ cl_dx9_media_adapter_set_khr media_adapter_set,
+ cl_uint num_entries,
+ cl_device_id * devices,
+ cl_uint * num_devices) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromDX9MediaSurfaceKHR_fn)(
+ cl_context context,
+ cl_mem_flags flags,
+ cl_dx9_media_adapter_type_khr adapter_type,
+ void * surface_info,
+ cl_uint plane,
+ cl_int * errcode_ret) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireDX9MediaSurfacesKHR_fn)(
+ cl_command_queue command_queue,
+ cl_uint num_objects,
+ const cl_mem * mem_objects,
+ cl_uint num_events_in_wait_list,
+ const cl_event * event_wait_list,
+ cl_event * event) CL_API_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseDX9MediaSurfacesKHR_fn)(
+ cl_command_queue command_queue,
+ cl_uint num_objects,
+ const cl_mem * mem_objects,
+ cl_uint num_events_in_wait_list,
+ const cl_event * event_wait_list,
+ cl_event * event) CL_API_SUFFIX__VERSION_1_2;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_DX9_MEDIA_SHARING_H */
+
diff --git a/third_party/opencl/include/CL/cl_egl.h b/third_party/opencl/include/CL/cl_egl.h
new file mode 100644
index 0000000000..a765bd5266
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_egl.h
@@ -0,0 +1,136 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ * https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+#ifndef __OPENCL_CL_EGL_H
+#define __OPENCL_CL_EGL_H
+
+#ifdef __APPLE__
+
+#else
+#include
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/* Command type for events created with clEnqueueAcquireEGLObjectsKHR */
+#define CL_COMMAND_EGL_FENCE_SYNC_OBJECT_KHR 0x202F
+#define CL_COMMAND_ACQUIRE_EGL_OBJECTS_KHR 0x202D
+#define CL_COMMAND_RELEASE_EGL_OBJECTS_KHR 0x202E
+
+/* Error type for clCreateFromEGLImageKHR */
+#define CL_INVALID_EGL_OBJECT_KHR -1093
+#define CL_EGL_RESOURCE_NOT_ACQUIRED_KHR -1092
+
+/* CLeglImageKHR is an opaque handle to an EGLImage */
+typedef void* CLeglImageKHR;
+
+/* CLeglDisplayKHR is an opaque handle to an EGLDisplay */
+typedef void* CLeglDisplayKHR;
+
+/* CLeglSyncKHR is an opaque handle to an EGLSync object */
+typedef void* CLeglSyncKHR;
+
+/* properties passed to clCreateFromEGLImageKHR */
+typedef intptr_t cl_egl_image_properties_khr;
+
+
+#define cl_khr_egl_image 1
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromEGLImageKHR(cl_context /* context */,
+ CLeglDisplayKHR /* egldisplay */,
+ CLeglImageKHR /* eglimage */,
+ cl_mem_flags /* flags */,
+ const cl_egl_image_properties_khr * /* properties */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_mem (CL_API_CALL *clCreateFromEGLImageKHR_fn)(
+ cl_context context,
+ CLeglDisplayKHR egldisplay,
+ CLeglImageKHR eglimage,
+ cl_mem_flags flags,
+ const cl_egl_image_properties_khr * properties,
+ cl_int * errcode_ret);
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueAcquireEGLObjectsKHR(cl_command_queue /* command_queue */,
+ cl_uint /* num_objects */,
+ const cl_mem * /* mem_objects */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueAcquireEGLObjectsKHR_fn)(
+ cl_command_queue command_queue,
+ cl_uint num_objects,
+ const cl_mem * mem_objects,
+ cl_uint num_events_in_wait_list,
+ const cl_event * event_wait_list,
+ cl_event * event);
+
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReleaseEGLObjectsKHR(cl_command_queue /* command_queue */,
+ cl_uint /* num_objects */,
+ const cl_mem * /* mem_objects */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clEnqueueReleaseEGLObjectsKHR_fn)(
+ cl_command_queue command_queue,
+ cl_uint num_objects,
+ const cl_mem * mem_objects,
+ cl_uint num_events_in_wait_list,
+ const cl_event * event_wait_list,
+ cl_event * event);
+
+
+#define cl_khr_egl_event 1
+
+extern CL_API_ENTRY cl_event CL_API_CALL
+clCreateEventFromEGLSyncKHR(cl_context /* context */,
+ CLeglSyncKHR /* sync */,
+ CLeglDisplayKHR /* display */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_event (CL_API_CALL *clCreateEventFromEGLSyncKHR_fn)(
+ cl_context context,
+ CLeglSyncKHR sync,
+ CLeglDisplayKHR display,
+ cl_int * errcode_ret);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_EGL_H */
diff --git a/third_party/opencl/include/CL/cl_ext.h b/third_party/opencl/include/CL/cl_ext.h
new file mode 100644
index 0000000000..7941583895
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_ext.h
@@ -0,0 +1,391 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ * https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+/* $Revision: 11928 $ on $Date: 2010-07-13 09:04:56 -0700 (Tue, 13 Jul 2010) $ */
+
+/* cl_ext.h contains OpenCL extensions which don't have external */
+/* (OpenGL, D3D) dependencies. */
+
+#ifndef __CL_EXT_H
+#define __CL_EXT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __APPLE__
+ #include
+ #include
+#else
+ #include
+#endif
+
+/* cl_khr_fp16 extension - no extension #define since it has no functions */
+#define CL_DEVICE_HALF_FP_CONFIG 0x1033
+
+/* Memory object destruction
+ *
+ * Apple extension for use to manage externally allocated buffers used with cl_mem objects with CL_MEM_USE_HOST_PTR
+ *
+ * Registers a user callback function that will be called when the memory object is deleted and its resources
+ * freed. Each call to clSetMemObjectCallbackFn registers the specified user callback function on a callback
+ * stack associated with memobj. The registered user callback functions are called in the reverse order in
+ * which they were registered. The user callback functions are called and then the memory object is deleted
+ * and its resources freed. This provides a mechanism for the application (and libraries) using memobj to be
+ * notified when the memory referenced by host_ptr, specified when the memory object is created and used as
+ * the storage bits for the memory object, can be reused or freed.
+ *
+ * The application may not call CL api's with the cl_mem object passed to the pfn_notify.
+ *
+ * Please check for the "cl_APPLE_SetMemObjectDestructor" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
+ * before using.
+ */
+#define cl_APPLE_SetMemObjectDestructor 1
+cl_int CL_API_ENTRY clSetMemObjectDestructorAPPLE( cl_mem /* memobj */,
+ void (* /*pfn_notify*/)( cl_mem /* memobj */, void* /*user_data*/),
+ void * /*user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
+
+
+/* Context Logging Functions
+ *
+ * The next three convenience functions are intended to be used as the pfn_notify parameter to clCreateContext().
+ * Please check for the "cl_APPLE_ContextLoggingFunctions" extension using clGetDeviceInfo(CL_DEVICE_EXTENSIONS)
+ * before using.
+ *
+ * clLogMessagesToSystemLog fowards on all log messages to the Apple System Logger
+ */
+#define cl_APPLE_ContextLoggingFunctions 1
+extern void CL_API_ENTRY clLogMessagesToSystemLogAPPLE( const char * /* errstr */,
+ const void * /* private_info */,
+ size_t /* cb */,
+ void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
+
+/* clLogMessagesToStdout sends all log messages to the file descriptor stdout */
+extern void CL_API_ENTRY clLogMessagesToStdoutAPPLE( const char * /* errstr */,
+ const void * /* private_info */,
+ size_t /* cb */,
+ void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
+
+/* clLogMessagesToStderr sends all log messages to the file descriptor stderr */
+extern void CL_API_ENTRY clLogMessagesToStderrAPPLE( const char * /* errstr */,
+ const void * /* private_info */,
+ size_t /* cb */,
+ void * /* user_data */ ) CL_EXT_SUFFIX__VERSION_1_0;
+
+
+/************************
+* cl_khr_icd extension *
+************************/
+#define cl_khr_icd 1
+
+/* cl_platform_info */
+#define CL_PLATFORM_ICD_SUFFIX_KHR 0x0920
+
+/* Additional Error Codes */
+#define CL_PLATFORM_NOT_FOUND_KHR -1001
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clIcdGetPlatformIDsKHR(cl_uint /* num_entries */,
+ cl_platform_id * /* platforms */,
+ cl_uint * /* num_platforms */);
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clIcdGetPlatformIDsKHR_fn)(
+ cl_uint /* num_entries */,
+ cl_platform_id * /* platforms */,
+ cl_uint * /* num_platforms */);
+
+
+/* Extension: cl_khr_image2D_buffer
+ *
+ * This extension allows a 2D image to be created from a cl_mem buffer without a copy.
+ * The type associated with a 2D image created from a buffer in an OpenCL program is image2d_t.
+ * Both the sampler and sampler-less read_image built-in functions are supported for 2D images
+ * and 2D images created from a buffer. Similarly, the write_image built-ins are also supported
+ * for 2D images created from a buffer.
+ *
+ * When the 2D image from buffer is created, the client must specify the width,
+ * height, image format (i.e. channel order and channel data type) and optionally the row pitch
+ *
+ * The pitch specified must be a multiple of CL_DEVICE_IMAGE_PITCH_ALIGNMENT pixels.
+ * The base address of the buffer must be aligned to CL_DEVICE_IMAGE_BASE_ADDRESS_ALIGNMENT pixels.
+ */
+
+/*************************************
+ * cl_khr_initalize_memory extension *
+ *************************************/
+
+#define CL_CONTEXT_MEMORY_INITIALIZE_KHR 0x2030
+
+
+/**************************************
+ * cl_khr_terminate_context extension *
+ **************************************/
+
+#define CL_DEVICE_TERMINATE_CAPABILITY_KHR 0x2031
+#define CL_CONTEXT_TERMINATE_KHR 0x2032
+
+#define cl_khr_terminate_context 1
+extern CL_API_ENTRY cl_int CL_API_CALL clTerminateContextKHR(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clTerminateContextKHR_fn)(cl_context /* context */) CL_EXT_SUFFIX__VERSION_1_2;
+
+
+/*
+ * Extension: cl_khr_spir
+ *
+ * This extension adds support to create an OpenCL program object from a
+ * Standard Portable Intermediate Representation (SPIR) instance
+ */
+
+#define CL_DEVICE_SPIR_VERSIONS 0x40E0
+#define CL_PROGRAM_BINARY_TYPE_INTERMEDIATE 0x40E1
+
+
+/******************************************
+* cl_nv_device_attribute_query extension *
+******************************************/
+/* cl_nv_device_attribute_query extension - no extension #define since it has no functions */
+#define CL_DEVICE_COMPUTE_CAPABILITY_MAJOR_NV 0x4000
+#define CL_DEVICE_COMPUTE_CAPABILITY_MINOR_NV 0x4001
+#define CL_DEVICE_REGISTERS_PER_BLOCK_NV 0x4002
+#define CL_DEVICE_WARP_SIZE_NV 0x4003
+#define CL_DEVICE_GPU_OVERLAP_NV 0x4004
+#define CL_DEVICE_KERNEL_EXEC_TIMEOUT_NV 0x4005
+#define CL_DEVICE_INTEGRATED_MEMORY_NV 0x4006
+
+/*********************************
+* cl_amd_device_attribute_query *
+*********************************/
+#define CL_DEVICE_PROFILING_TIMER_OFFSET_AMD 0x4036
+
+/*********************************
+* cl_arm_printf extension
+*********************************/
+#define CL_PRINTF_CALLBACK_ARM 0x40B0
+#define CL_PRINTF_BUFFERSIZE_ARM 0x40B1
+
+#ifdef CL_VERSION_1_1
+ /***********************************
+ * cl_ext_device_fission extension *
+ ***********************************/
+ #define cl_ext_device_fission 1
+
+ extern CL_API_ENTRY cl_int CL_API_CALL
+ clReleaseDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+ typedef CL_API_ENTRY cl_int
+ (CL_API_CALL *clReleaseDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+ extern CL_API_ENTRY cl_int CL_API_CALL
+ clRetainDeviceEXT( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+ typedef CL_API_ENTRY cl_int
+ (CL_API_CALL *clRetainDeviceEXT_fn)( cl_device_id /*device*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+ typedef cl_ulong cl_device_partition_property_ext;
+ extern CL_API_ENTRY cl_int CL_API_CALL
+ clCreateSubDevicesEXT( cl_device_id /*in_device*/,
+ const cl_device_partition_property_ext * /* properties */,
+ cl_uint /*num_entries*/,
+ cl_device_id * /*out_devices*/,
+ cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+ typedef CL_API_ENTRY cl_int
+ ( CL_API_CALL * clCreateSubDevicesEXT_fn)( cl_device_id /*in_device*/,
+ const cl_device_partition_property_ext * /* properties */,
+ cl_uint /*num_entries*/,
+ cl_device_id * /*out_devices*/,
+ cl_uint * /*num_devices*/ ) CL_EXT_SUFFIX__VERSION_1_1;
+
+ /* cl_device_partition_property_ext */
+ #define CL_DEVICE_PARTITION_EQUALLY_EXT 0x4050
+ #define CL_DEVICE_PARTITION_BY_COUNTS_EXT 0x4051
+ #define CL_DEVICE_PARTITION_BY_NAMES_EXT 0x4052
+ #define CL_DEVICE_PARTITION_BY_AFFINITY_DOMAIN_EXT 0x4053
+
+ /* clDeviceGetInfo selectors */
+ #define CL_DEVICE_PARENT_DEVICE_EXT 0x4054
+ #define CL_DEVICE_PARTITION_TYPES_EXT 0x4055
+ #define CL_DEVICE_AFFINITY_DOMAINS_EXT 0x4056
+ #define CL_DEVICE_REFERENCE_COUNT_EXT 0x4057
+ #define CL_DEVICE_PARTITION_STYLE_EXT 0x4058
+
+ /* error codes */
+ #define CL_DEVICE_PARTITION_FAILED_EXT -1057
+ #define CL_INVALID_PARTITION_COUNT_EXT -1058
+ #define CL_INVALID_PARTITION_NAME_EXT -1059
+
+ /* CL_AFFINITY_DOMAINs */
+ #define CL_AFFINITY_DOMAIN_L1_CACHE_EXT 0x1
+ #define CL_AFFINITY_DOMAIN_L2_CACHE_EXT 0x2
+ #define CL_AFFINITY_DOMAIN_L3_CACHE_EXT 0x3
+ #define CL_AFFINITY_DOMAIN_L4_CACHE_EXT 0x4
+ #define CL_AFFINITY_DOMAIN_NUMA_EXT 0x10
+ #define CL_AFFINITY_DOMAIN_NEXT_FISSIONABLE_EXT 0x100
+
+ /* cl_device_partition_property_ext list terminators */
+ #define CL_PROPERTIES_LIST_END_EXT ((cl_device_partition_property_ext) 0)
+ #define CL_PARTITION_BY_COUNTS_LIST_END_EXT ((cl_device_partition_property_ext) 0)
+ #define CL_PARTITION_BY_NAMES_LIST_END_EXT ((cl_device_partition_property_ext) 0 - 1)
+
+/*********************************
+* cl_qcom_ext_host_ptr extension
+*********************************/
+
+#define CL_MEM_EXT_HOST_PTR_QCOM (1 << 29)
+
+#define CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM 0x40A0
+#define CL_DEVICE_PAGE_SIZE_QCOM 0x40A1
+#define CL_IMAGE_ROW_ALIGNMENT_QCOM 0x40A2
+#define CL_IMAGE_SLICE_ALIGNMENT_QCOM 0x40A3
+#define CL_MEM_HOST_UNCACHED_QCOM 0x40A4
+#define CL_MEM_HOST_WRITEBACK_QCOM 0x40A5
+#define CL_MEM_HOST_WRITETHROUGH_QCOM 0x40A6
+#define CL_MEM_HOST_WRITE_COMBINING_QCOM 0x40A7
+
+typedef cl_uint cl_image_pitch_info_qcom;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetDeviceImageInfoQCOM(cl_device_id device,
+ size_t image_width,
+ size_t image_height,
+ const cl_image_format *image_format,
+ cl_image_pitch_info_qcom param_name,
+ size_t param_value_size,
+ void *param_value,
+ size_t *param_value_size_ret);
+
+typedef struct _cl_mem_ext_host_ptr
+{
+ /* Type of external memory allocation. */
+ /* Legal values will be defined in layered extensions. */
+ cl_uint allocation_type;
+
+ /* Host cache policy for this external memory allocation. */
+ cl_uint host_cache_policy;
+
+} cl_mem_ext_host_ptr;
+
+/*********************************
+* cl_qcom_ion_host_ptr extension
+*********************************/
+
+#define CL_MEM_ION_HOST_PTR_QCOM 0x40A8
+
+typedef struct _cl_mem_ion_host_ptr
+{
+ /* Type of external memory allocation. */
+ /* Must be CL_MEM_ION_HOST_PTR_QCOM for ION allocations. */
+ cl_mem_ext_host_ptr ext_host_ptr;
+
+ /* ION file descriptor */
+ int ion_filedesc;
+
+ /* Host pointer to the ION allocated memory */
+ void* ion_hostptr;
+
+} cl_mem_ion_host_ptr;
+
+#endif /* CL_VERSION_1_1 */
+
+
+#ifdef CL_VERSION_2_0
+/*********************************
+* cl_khr_sub_groups extension
+*********************************/
+#define cl_khr_sub_groups 1
+
+typedef cl_uint cl_kernel_sub_group_info_khr;
+
+/* cl_khr_sub_group_info */
+#define CL_KERNEL_MAX_SUB_GROUP_SIZE_FOR_NDRANGE_KHR 0x2033
+#define CL_KERNEL_SUB_GROUP_COUNT_FOR_NDRANGE_KHR 0x2034
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetKernelSubGroupInfoKHR(cl_kernel /* in_kernel */,
+ cl_device_id /*in_device*/,
+ cl_kernel_sub_group_info_khr /* param_name */,
+ size_t /*input_value_size*/,
+ const void * /*input_value*/,
+ size_t /*param_value_size*/,
+ void* /*param_value*/,
+ size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
+
+typedef CL_API_ENTRY cl_int
+ ( CL_API_CALL * clGetKernelSubGroupInfoKHR_fn)(cl_kernel /* in_kernel */,
+ cl_device_id /*in_device*/,
+ cl_kernel_sub_group_info_khr /* param_name */,
+ size_t /*input_value_size*/,
+ const void * /*input_value*/,
+ size_t /*param_value_size*/,
+ void* /*param_value*/,
+ size_t* /*param_value_size_ret*/ ) CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED;
+#endif /* CL_VERSION_2_0 */
+
+#ifdef CL_VERSION_2_1
+/*********************************
+* cl_khr_priority_hints extension
+*********************************/
+#define cl_khr_priority_hints 1
+
+typedef cl_uint cl_queue_priority_khr;
+
+/* cl_command_queue_properties */
+#define CL_QUEUE_PRIORITY_KHR 0x1096
+
+/* cl_queue_priority_khr */
+#define CL_QUEUE_PRIORITY_HIGH_KHR (1<<0)
+#define CL_QUEUE_PRIORITY_MED_KHR (1<<1)
+#define CL_QUEUE_PRIORITY_LOW_KHR (1<<2)
+
+#endif /* CL_VERSION_2_1 */
+
+#ifdef CL_VERSION_2_1
+/*********************************
+* cl_khr_throttle_hints extension
+*********************************/
+#define cl_khr_throttle_hints 1
+
+typedef cl_uint cl_queue_throttle_khr;
+
+/* cl_command_queue_properties */
+#define CL_QUEUE_THROTTLE_KHR 0x1097
+
+/* cl_queue_throttle_khr */
+#define CL_QUEUE_THROTTLE_HIGH_KHR (1<<0)
+#define CL_QUEUE_THROTTLE_MED_KHR (1<<1)
+#define CL_QUEUE_THROTTLE_LOW_KHR (1<<2)
+
+#endif /* CL_VERSION_2_1 */
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* __CL_EXT_H */
diff --git a/third_party/opencl/include/CL/cl_ext_qcom.h b/third_party/opencl/include/CL/cl_ext_qcom.h
new file mode 100644
index 0000000000..6328a1cd93
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_ext_qcom.h
@@ -0,0 +1,255 @@
+/* Copyright (c) 2009-2017 Qualcomm Technologies, Inc. All Rights Reserved.
+ * Qualcomm Technologies Proprietary and Confidential.
+ */
+
+#ifndef __OPENCL_CL_EXT_QCOM_H
+#define __OPENCL_CL_EXT_QCOM_H
+
+// Needed by cl_khr_egl_event extension
+#include
+#include
+#include
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+/************************************
+ * cl_qcom_create_buffer_from_image *
+ ************************************/
+
+#define CL_BUFFER_FROM_IMAGE_ROW_PITCH_QCOM 0x40C0
+#define CL_BUFFER_FROM_IMAGE_SLICE_PITCH_QCOM 0x40C1
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateBufferFromImageQCOM(cl_mem image,
+ cl_mem_flags flags,
+ cl_int *errcode_ret);
+
+
+/************************************
+ * cl_qcom_limited_printf extension *
+ ************************************/
+
+/* Builtin printf function buffer size in bytes. */
+#define CL_DEVICE_PRINTF_BUFFER_SIZE_QCOM 0x1049
+
+
+/*************************************
+ * cl_qcom_extended_images extension *
+ *************************************/
+
+#define CL_CONTEXT_ENABLE_EXTENDED_IMAGES_QCOM 0x40AA
+#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_WIDTH_QCOM 0x40AB
+#define CL_DEVICE_EXTENDED_IMAGE2D_MAX_HEIGHT_QCOM 0x40AC
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_WIDTH_QCOM 0x40AD
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_HEIGHT_QCOM 0x40AE
+#define CL_DEVICE_EXTENDED_IMAGE3D_MAX_DEPTH_QCOM 0x40AF
+
+/*************************************
+ * cl_qcom_perf_hint extension *
+ *************************************/
+
+typedef cl_uint cl_perf_hint;
+
+#define CL_CONTEXT_PERF_HINT_QCOM 0x40C2
+
+/*cl_perf_hint*/
+#define CL_PERF_HINT_HIGH_QCOM 0x40C3
+#define CL_PERF_HINT_NORMAL_QCOM 0x40C4
+#define CL_PERF_HINT_LOW_QCOM 0x40C5
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clSetPerfHintQCOM(cl_context context,
+ cl_perf_hint perf_hint);
+
+// This extension is published at Khronos, so its definitions are made in cl_ext.h.
+// This duplication is for backward compatibility.
+
+#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
+
+/*********************************
+* cl_qcom_android_native_buffer_host_ptr extension
+*********************************/
+
+#define CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM 0x40C6
+
+
+typedef struct _cl_mem_android_native_buffer_host_ptr
+{
+ // Type of external memory allocation.
+ // Must be CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM for Android native buffers.
+ cl_mem_ext_host_ptr ext_host_ptr;
+
+ // Virtual pointer to the android native buffer
+ void* anb_ptr;
+
+} cl_mem_android_native_buffer_host_ptr;
+
+#endif //#ifndef CL_MEM_ANDROID_NATIVE_BUFFER_HOST_PTR_QCOM
+
+/***********************************
+* cl_img_egl_image extension *
+************************************/
+typedef void* CLeglImageIMG;
+typedef void* CLeglDisplayIMG;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromEGLImageIMG(cl_context context,
+ cl_mem_flags flags,
+ CLeglImageIMG image,
+ CLeglDisplayIMG display,
+ cl_int *errcode_ret);
+
+
+/*********************************
+* cl_qcom_other_image extension
+*********************************/
+
+// Extended flag for creating/querying QCOM non-standard images
+#define CL_MEM_OTHER_IMAGE_QCOM (1<<25)
+
+// cl_channel_type
+#define CL_QCOM_UNORM_MIPI10 0x4159
+#define CL_QCOM_UNORM_MIPI12 0x415A
+#define CL_QCOM_UNSIGNED_MIPI10 0x415B
+#define CL_QCOM_UNSIGNED_MIPI12 0x415C
+#define CL_QCOM_UNORM_INT10 0x415D
+#define CL_QCOM_UNORM_INT12 0x415E
+#define CL_QCOM_UNSIGNED_INT16 0x415F
+
+// cl_channel_order
+// Dedicate 0x4130-0x415F range for QCOM extended image formats
+// 0x4130 - 0x4132 range is assigned to pixel-oriented compressed format
+#define CL_QCOM_BAYER 0x414E
+
+#define CL_QCOM_NV12 0x4133
+#define CL_QCOM_NV12_Y 0x4134
+#define CL_QCOM_NV12_UV 0x4135
+
+#define CL_QCOM_TILED_NV12 0x4136
+#define CL_QCOM_TILED_NV12_Y 0x4137
+#define CL_QCOM_TILED_NV12_UV 0x4138
+
+#define CL_QCOM_P010 0x413C
+#define CL_QCOM_P010_Y 0x413D
+#define CL_QCOM_P010_UV 0x413E
+
+#define CL_QCOM_TILED_P010 0x413F
+#define CL_QCOM_TILED_P010_Y 0x4140
+#define CL_QCOM_TILED_P010_UV 0x4141
+
+
+#define CL_QCOM_TP10 0x4145
+#define CL_QCOM_TP10_Y 0x4146
+#define CL_QCOM_TP10_UV 0x4147
+
+#define CL_QCOM_TILED_TP10 0x4148
+#define CL_QCOM_TILED_TP10_Y 0x4149
+#define CL_QCOM_TILED_TP10_UV 0x414A
+
+/*********************************
+* cl_qcom_compressed_image extension
+*********************************/
+
+// Extended flag for creating/querying QCOM non-planar compressed images
+#define CL_MEM_COMPRESSED_IMAGE_QCOM (1<<27)
+
+// Extended image format
+// cl_channel_order
+#define CL_QCOM_COMPRESSED_RGBA 0x4130
+#define CL_QCOM_COMPRESSED_RGBx 0x4131
+
+#define CL_QCOM_COMPRESSED_NV12_Y 0x413A
+#define CL_QCOM_COMPRESSED_NV12_UV 0x413B
+
+#define CL_QCOM_COMPRESSED_P010 0x4142
+#define CL_QCOM_COMPRESSED_P010_Y 0x4143
+#define CL_QCOM_COMPRESSED_P010_UV 0x4144
+
+#define CL_QCOM_COMPRESSED_TP10 0x414B
+#define CL_QCOM_COMPRESSED_TP10_Y 0x414C
+#define CL_QCOM_COMPRESSED_TP10_UV 0x414D
+
+#define CL_QCOM_COMPRESSED_NV12_4R 0x414F
+#define CL_QCOM_COMPRESSED_NV12_4R_Y 0x4150
+#define CL_QCOM_COMPRESSED_NV12_4R_UV 0x4151
+/*********************************
+* cl_qcom_compressed_yuv_image_read extension
+*********************************/
+
+// Extended flag for creating/querying QCOM compressed images
+#define CL_MEM_COMPRESSED_YUV_IMAGE_QCOM (1<<28)
+
+// Extended image format
+#define CL_QCOM_COMPRESSED_NV12 0x10C4
+
+// Extended flag for setting ION buffer allocation type
+#define CL_MEM_ION_HOST_PTR_COMPRESSED_YUV_QCOM 0x40CD
+#define CL_MEM_ION_HOST_PTR_PROTECTED_COMPRESSED_YUV_QCOM 0x40CE
+
+/*********************************
+* cl_qcom_accelerated_image_ops
+*********************************/
+#define CL_MEM_OBJECT_WEIGHT_IMAGE_QCOM 0x4110
+#define CL_DEVICE_HOF_MAX_NUM_PHASES_QCOM 0x4111
+#define CL_DEVICE_HOF_MAX_FILTER_SIZE_X_QCOM 0x4112
+#define CL_DEVICE_HOF_MAX_FILTER_SIZE_Y_QCOM 0x4113
+#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_X_QCOM 0x4114
+#define CL_DEVICE_BLOCK_MATCHING_MAX_REGION_SIZE_Y_QCOM 0x4115
+
+//Extended flag for specifying weight image type
+#define CL_WEIGHT_IMAGE_SEPARABLE_QCOM (1<<0)
+
+// Box Filter
+typedef struct _cl_box_filter_size_qcom
+{
+ // Width of box filter on X direction.
+ float box_filter_width;
+
+ // Height of box filter on Y direction.
+ float box_filter_height;
+} cl_box_filter_size_qcom;
+
+// HOF Weight Image Desc
+typedef struct _cl_weight_desc_qcom
+{
+ /** Coordinate of the "center" point of the weight image,
+ based on the weight image's top-left corner as the origin. */
+ size_t center_coord_x;
+ size_t center_coord_y;
+ cl_bitfield flags;
+} cl_weight_desc_qcom;
+
+typedef struct _cl_weight_image_desc_qcom
+{
+ cl_image_desc image_desc;
+ cl_weight_desc_qcom weight_desc;
+} cl_weight_image_desc_qcom;
+
+/*************************************
+ * cl_qcom_protected_context extension *
+ *************************************/
+
+#define CL_CONTEXT_PROTECTED_QCOM 0x40C7
+#define CL_MEM_ION_HOST_PTR_PROTECTED_QCOM 0x40C8
+
+/*************************************
+ * cl_qcom_priority_hint extension *
+ *************************************/
+#define CL_PRIORITY_HINT_NONE_QCOM 0
+typedef cl_uint cl_priority_hint;
+
+#define CL_CONTEXT_PRIORITY_HINT_QCOM 0x40C9
+
+/*cl_priority_hint*/
+#define CL_PRIORITY_HINT_HIGH_QCOM 0x40CA
+#define CL_PRIORITY_HINT_NORMAL_QCOM 0x40CB
+#define CL_PRIORITY_HINT_LOW_QCOM 0x40CC
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_EXT_QCOM_H */
diff --git a/third_party/opencl/include/CL/cl_gl.h b/third_party/opencl/include/CL/cl_gl.h
new file mode 100644
index 0000000000..945daa83d7
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_gl.h
@@ -0,0 +1,167 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ * https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+#ifndef __OPENCL_CL_GL_H
+#define __OPENCL_CL_GL_H
+
+#ifdef __APPLE__
+#include
+#else
+#include
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef cl_uint cl_gl_object_type;
+typedef cl_uint cl_gl_texture_info;
+typedef cl_uint cl_gl_platform_info;
+typedef struct __GLsync *cl_GLsync;
+
+/* cl_gl_object_type = 0x2000 - 0x200F enum values are currently taken */
+#define CL_GL_OBJECT_BUFFER 0x2000
+#define CL_GL_OBJECT_TEXTURE2D 0x2001
+#define CL_GL_OBJECT_TEXTURE3D 0x2002
+#define CL_GL_OBJECT_RENDERBUFFER 0x2003
+#define CL_GL_OBJECT_TEXTURE2D_ARRAY 0x200E
+#define CL_GL_OBJECT_TEXTURE1D 0x200F
+#define CL_GL_OBJECT_TEXTURE1D_ARRAY 0x2010
+#define CL_GL_OBJECT_TEXTURE_BUFFER 0x2011
+
+/* cl_gl_texture_info */
+#define CL_GL_TEXTURE_TARGET 0x2004
+#define CL_GL_MIPMAP_LEVEL 0x2005
+#define CL_GL_NUM_SAMPLES 0x2012
+
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLBuffer(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ cl_GLuint /* bufobj */,
+ int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLTexture(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ cl_GLenum /* target */,
+ cl_GLint /* miplevel */,
+ cl_GLuint /* texture */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_2;
+
+extern CL_API_ENTRY cl_mem CL_API_CALL
+clCreateFromGLRenderbuffer(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ cl_GLuint /* renderbuffer */,
+ cl_int * /* errcode_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLObjectInfo(cl_mem /* memobj */,
+ cl_gl_object_type * /* gl_object_type */,
+ cl_GLuint * /* gl_object_name */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLTextureInfo(cl_mem /* memobj */,
+ cl_gl_texture_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueAcquireGLObjects(cl_command_queue /* command_queue */,
+ cl_uint /* num_objects */,
+ const cl_mem * /* mem_objects */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clEnqueueReleaseGLObjects(cl_command_queue /* command_queue */,
+ cl_uint /* num_objects */,
+ const cl_mem * /* mem_objects */,
+ cl_uint /* num_events_in_wait_list */,
+ const cl_event * /* event_wait_list */,
+ cl_event * /* event */) CL_API_SUFFIX__VERSION_1_0;
+
+
+/* Deprecated OpenCL 1.1 APIs */
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
+clCreateFromGLTexture2D(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ cl_GLenum /* target */,
+ cl_GLint /* miplevel */,
+ cl_GLuint /* texture */,
+ cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+
+extern CL_API_ENTRY CL_EXT_PREFIX__VERSION_1_1_DEPRECATED cl_mem CL_API_CALL
+clCreateFromGLTexture3D(cl_context /* context */,
+ cl_mem_flags /* flags */,
+ cl_GLenum /* target */,
+ cl_GLint /* miplevel */,
+ cl_GLuint /* texture */,
+ cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED;
+
+/* cl_khr_gl_sharing extension */
+
+#define cl_khr_gl_sharing 1
+
+typedef cl_uint cl_gl_context_info;
+
+/* Additional Error Codes */
+#define CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR -1000
+
+/* cl_gl_context_info */
+#define CL_CURRENT_DEVICE_FOR_GL_CONTEXT_KHR 0x2006
+#define CL_DEVICES_FOR_GL_CONTEXT_KHR 0x2007
+
+/* Additional cl_context_properties */
+#define CL_GL_CONTEXT_KHR 0x2008
+#define CL_EGL_DISPLAY_KHR 0x2009
+#define CL_GLX_DISPLAY_KHR 0x200A
+#define CL_WGL_HDC_KHR 0x200B
+#define CL_CGL_SHAREGROUP_KHR 0x200C
+
+extern CL_API_ENTRY cl_int CL_API_CALL
+clGetGLContextInfoKHR(const cl_context_properties * /* properties */,
+ cl_gl_context_info /* param_name */,
+ size_t /* param_value_size */,
+ void * /* param_value */,
+ size_t * /* param_value_size_ret */) CL_API_SUFFIX__VERSION_1_0;
+
+typedef CL_API_ENTRY cl_int (CL_API_CALL *clGetGLContextInfoKHR_fn)(
+ const cl_context_properties * properties,
+ cl_gl_context_info param_name,
+ size_t param_value_size,
+ void * param_value,
+ size_t * param_value_size_ret);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_GL_H */
diff --git a/third_party/opencl/include/CL/cl_gl_ext.h b/third_party/opencl/include/CL/cl_gl_ext.h
new file mode 100644
index 0000000000..e3c14c6408
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_gl_ext.h
@@ -0,0 +1,74 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ * https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+/* cl_gl_ext.h contains vendor (non-KHR) OpenCL extensions which have */
+/* OpenGL dependencies. */
+
+#ifndef __OPENCL_CL_GL_EXT_H
+#define __OPENCL_CL_GL_EXT_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __APPLE__
+ #include
+#else
+ #include
+#endif
+
+/*
+ * For each extension, follow this template
+ * cl_VEN_extname extension */
+/* #define cl_VEN_extname 1
+ * ... define new types, if any
+ * ... define new tokens, if any
+ * ... define new APIs, if any
+ *
+ * If you need GLtypes here, mirror them with a cl_GLtype, rather than including a GL header
+ * This allows us to avoid having to decide whether to include GL headers or GLES here.
+ */
+
+/*
+ * cl_khr_gl_event extension
+ * See section 9.9 in the OpenCL 1.1 spec for more information
+ */
+#define CL_COMMAND_GL_FENCE_SYNC_OBJECT_KHR 0x200D
+
+extern CL_API_ENTRY cl_event CL_API_CALL
+clCreateEventFromGLsyncKHR(cl_context /* context */,
+ cl_GLsync /* cl_GLsync */,
+ cl_int * /* errcode_ret */) CL_EXT_SUFFIX__VERSION_1_1;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_CL_GL_EXT_H */
diff --git a/third_party/opencl/include/CL/cl_platform.h b/third_party/opencl/include/CL/cl_platform.h
new file mode 100644
index 0000000000..4e334a2918
--- /dev/null
+++ b/third_party/opencl/include/CL/cl_platform.h
@@ -0,0 +1,1333 @@
+/**********************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ * https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ **********************************************************************************/
+
+/* $Revision: 11803 $ on $Date: 2010-06-25 10:02:12 -0700 (Fri, 25 Jun 2010) $ */
+
+#ifndef __CL_PLATFORM_H
+#define __CL_PLATFORM_H
+
+#ifdef __APPLE__
+ /* Contains #defines for AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER below */
+ #include
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#if defined(_WIN32)
+ #define CL_API_ENTRY
+ #define CL_API_CALL __stdcall
+ #define CL_CALLBACK __stdcall
+#else
+ #define CL_API_ENTRY
+ #define CL_API_CALL
+ #define CL_CALLBACK
+#endif
+
+/*
+ * Deprecation flags refer to the last version of the header in which the
+ * feature was not deprecated.
+ *
+ * E.g. VERSION_1_1_DEPRECATED means the feature is present in 1.1 without
+ * deprecation but is deprecated in versions later than 1.1.
+ */
+
+#ifdef __APPLE__
+ #define CL_EXTENSION_WEAK_LINK __attribute__((weak_import))
+ #define CL_API_SUFFIX__VERSION_1_0 AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
+ #define CL_EXT_SUFFIX__VERSION_1_0 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER
+ #define CL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+ #define GCL_API_SUFFIX__VERSION_1_1 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+ #define CL_EXT_SUFFIX__VERSION_1_1 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+ #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_6_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_7
+
+ #ifdef AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
+ #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
+ #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
+ #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_8_AND_LATER
+ #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
+ #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER_BUT_DEPRECATED_IN_MAC_OS_X_VERSION_10_8
+ #else
+ #warning This path should never happen outside of internal operating system development. AvailabilityMacros do not function correctly here!
+ #define CL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+ #define GCL_API_SUFFIX__VERSION_1_2 AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+ #define CL_EXT_SUFFIX__VERSION_1_2 CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+ #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED CL_EXTENSION_WEAK_LINK AVAILABLE_MAC_OS_X_VERSION_10_7_AND_LATER
+ #endif
+#else
+ #define CL_EXTENSION_WEAK_LINK
+ #define CL_API_SUFFIX__VERSION_1_0
+ #define CL_EXT_SUFFIX__VERSION_1_0
+ #define CL_API_SUFFIX__VERSION_1_1
+ #define CL_EXT_SUFFIX__VERSION_1_1
+ #define CL_API_SUFFIX__VERSION_1_2
+ #define CL_EXT_SUFFIX__VERSION_1_2
+ #define CL_API_SUFFIX__VERSION_2_0
+ #define CL_EXT_SUFFIX__VERSION_2_0
+ #define CL_API_SUFFIX__VERSION_2_1
+ #define CL_EXT_SUFFIX__VERSION_2_1
+
+ #ifdef __GNUC__
+ #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
+ #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
+ #else
+ #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED __attribute__((deprecated))
+ #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
+ #endif
+
+ #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
+ #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
+ #else
+ #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED __attribute__((deprecated))
+ #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
+ #endif
+
+ #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
+ #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
+ #else
+ #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED __attribute__((deprecated))
+ #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
+ #endif
+
+ #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
+ #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
+ #else
+ #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED __attribute__((deprecated))
+ #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
+ #endif
+ #elif _WIN32
+ #ifdef CL_USE_DEPRECATED_OPENCL_1_0_APIS
+ #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
+ #else
+ #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED __declspec(deprecated)
+ #endif
+
+ #ifdef CL_USE_DEPRECATED_OPENCL_1_1_APIS
+ #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
+ #else
+ #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED __declspec(deprecated)
+ #endif
+
+ #ifdef CL_USE_DEPRECATED_OPENCL_1_2_APIS
+ #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
+ #else
+ #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED __declspec(deprecated)
+ #endif
+
+ #ifdef CL_USE_DEPRECATED_OPENCL_2_0_APIS
+ #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
+ #else
+ #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED __declspec(deprecated)
+ #endif
+ #else
+ #define CL_EXT_SUFFIX__VERSION_1_0_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_0_DEPRECATED
+
+ #define CL_EXT_SUFFIX__VERSION_1_1_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_1_DEPRECATED
+
+ #define CL_EXT_SUFFIX__VERSION_1_2_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_1_2_DEPRECATED
+
+ #define CL_EXT_SUFFIX__VERSION_2_0_DEPRECATED
+ #define CL_EXT_PREFIX__VERSION_2_0_DEPRECATED
+ #endif
+#endif
+
+#if (defined (_WIN32) && defined(_MSC_VER))
+
+/* scalar types */
+typedef signed __int8 cl_char;
+typedef unsigned __int8 cl_uchar;
+typedef signed __int16 cl_short;
+typedef unsigned __int16 cl_ushort;
+typedef signed __int32 cl_int;
+typedef unsigned __int32 cl_uint;
+typedef signed __int64 cl_long;
+typedef unsigned __int64 cl_ulong;
+
+typedef unsigned __int16 cl_half;
+typedef float cl_float;
+typedef double cl_double;
+
+/* Macro names and corresponding values defined by OpenCL */
+#define CL_CHAR_BIT 8
+#define CL_SCHAR_MAX 127
+#define CL_SCHAR_MIN (-127-1)
+#define CL_CHAR_MAX CL_SCHAR_MAX
+#define CL_CHAR_MIN CL_SCHAR_MIN
+#define CL_UCHAR_MAX 255
+#define CL_SHRT_MAX 32767
+#define CL_SHRT_MIN (-32767-1)
+#define CL_USHRT_MAX 65535
+#define CL_INT_MAX 2147483647
+#define CL_INT_MIN (-2147483647-1)
+#define CL_UINT_MAX 0xffffffffU
+#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
+#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
+#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
+
+#define CL_FLT_DIG 6
+#define CL_FLT_MANT_DIG 24
+#define CL_FLT_MAX_10_EXP +38
+#define CL_FLT_MAX_EXP +128
+#define CL_FLT_MIN_10_EXP -37
+#define CL_FLT_MIN_EXP -125
+#define CL_FLT_RADIX 2
+#define CL_FLT_MAX 340282346638528859811704183484516925440.0f
+#define CL_FLT_MIN 1.175494350822287507969e-38f
+#define CL_FLT_EPSILON 0x1.0p-23f
+
+#define CL_DBL_DIG 15
+#define CL_DBL_MANT_DIG 53
+#define CL_DBL_MAX_10_EXP +308
+#define CL_DBL_MAX_EXP +1024
+#define CL_DBL_MIN_10_EXP -307
+#define CL_DBL_MIN_EXP -1021
+#define CL_DBL_RADIX 2
+#define CL_DBL_MAX 179769313486231570814527423731704356798070567525844996598917476803157260780028538760589558632766878171540458953514382464234321326889464182768467546703537516986049910576551282076245490090389328944075868508455133942304583236903222948165808559332123348274797826204144723168738177180919299881250404026184124858368.0
+#define CL_DBL_MIN 2.225073858507201383090e-308
+#define CL_DBL_EPSILON 2.220446049250313080847e-16
+
+#define CL_M_E 2.718281828459045090796
+#define CL_M_LOG2E 1.442695040888963387005
+#define CL_M_LOG10E 0.434294481903251816668
+#define CL_M_LN2 0.693147180559945286227
+#define CL_M_LN10 2.302585092994045901094
+#define CL_M_PI 3.141592653589793115998
+#define CL_M_PI_2 1.570796326794896557999
+#define CL_M_PI_4 0.785398163397448278999
+#define CL_M_1_PI 0.318309886183790691216
+#define CL_M_2_PI 0.636619772367581382433
+#define CL_M_2_SQRTPI 1.128379167095512558561
+#define CL_M_SQRT2 1.414213562373095145475
+#define CL_M_SQRT1_2 0.707106781186547572737
+
+#define CL_M_E_F 2.71828174591064f
+#define CL_M_LOG2E_F 1.44269502162933f
+#define CL_M_LOG10E_F 0.43429449200630f
+#define CL_M_LN2_F 0.69314718246460f
+#define CL_M_LN10_F 2.30258512496948f
+#define CL_M_PI_F 3.14159274101257f
+#define CL_M_PI_2_F 1.57079637050629f
+#define CL_M_PI_4_F 0.78539818525314f
+#define CL_M_1_PI_F 0.31830987334251f
+#define CL_M_2_PI_F 0.63661974668503f
+#define CL_M_2_SQRTPI_F 1.12837922573090f
+#define CL_M_SQRT2_F 1.41421353816986f
+#define CL_M_SQRT1_2_F 0.70710676908493f
+
+#define CL_NAN (CL_INFINITY - CL_INFINITY)
+#define CL_HUGE_VALF ((cl_float) 1e50)
+#define CL_HUGE_VAL ((cl_double) 1e500)
+#define CL_MAXFLOAT CL_FLT_MAX
+#define CL_INFINITY CL_HUGE_VALF
+
+#else
+
+#include
+
+/* scalar types */
+typedef int8_t cl_char;
+typedef uint8_t cl_uchar;
+typedef int16_t cl_short __attribute__((aligned(2)));
+typedef uint16_t cl_ushort __attribute__((aligned(2)));
+typedef int32_t cl_int __attribute__((aligned(4)));
+typedef uint32_t cl_uint __attribute__((aligned(4)));
+typedef int64_t cl_long __attribute__((aligned(8)));
+typedef uint64_t cl_ulong __attribute__((aligned(8)));
+
+typedef uint16_t cl_half __attribute__((aligned(2)));
+typedef float cl_float __attribute__((aligned(4)));
+typedef double cl_double __attribute__((aligned(8)));
+
+/* Macro names and corresponding values defined by OpenCL */
+#define CL_CHAR_BIT 8
+#define CL_SCHAR_MAX 127
+#define CL_SCHAR_MIN (-127-1)
+#define CL_CHAR_MAX CL_SCHAR_MAX
+#define CL_CHAR_MIN CL_SCHAR_MIN
+#define CL_UCHAR_MAX 255
+#define CL_SHRT_MAX 32767
+#define CL_SHRT_MIN (-32767-1)
+#define CL_USHRT_MAX 65535
+#define CL_INT_MAX 2147483647
+#define CL_INT_MIN (-2147483647-1)
+#define CL_UINT_MAX 0xffffffffU
+#define CL_LONG_MAX ((cl_long) 0x7FFFFFFFFFFFFFFFLL)
+#define CL_LONG_MIN ((cl_long) -0x7FFFFFFFFFFFFFFFLL - 1LL)
+#define CL_ULONG_MAX ((cl_ulong) 0xFFFFFFFFFFFFFFFFULL)
+
+#define CL_FLT_DIG 6
+#define CL_FLT_MANT_DIG 24
+#define CL_FLT_MAX_10_EXP +38
+#define CL_FLT_MAX_EXP +128
+#define CL_FLT_MIN_10_EXP -37
+#define CL_FLT_MIN_EXP -125
+#define CL_FLT_RADIX 2
+#define CL_FLT_MAX 0x1.fffffep127f
+#define CL_FLT_MIN 0x1.0p-126f
+#define CL_FLT_EPSILON 0x1.0p-23f
+
+#define CL_DBL_DIG 15
+#define CL_DBL_MANT_DIG 53
+#define CL_DBL_MAX_10_EXP +308
+#define CL_DBL_MAX_EXP +1024
+#define CL_DBL_MIN_10_EXP -307
+#define CL_DBL_MIN_EXP -1021
+#define CL_DBL_RADIX 2
+#define CL_DBL_MAX 0x1.fffffffffffffp1023
+#define CL_DBL_MIN 0x1.0p-1022
+#define CL_DBL_EPSILON 0x1.0p-52
+
+#define CL_M_E 2.718281828459045090796
+#define CL_M_LOG2E 1.442695040888963387005
+#define CL_M_LOG10E 0.434294481903251816668
+#define CL_M_LN2 0.693147180559945286227
+#define CL_M_LN10 2.302585092994045901094
+#define CL_M_PI 3.141592653589793115998
+#define CL_M_PI_2 1.570796326794896557999
+#define CL_M_PI_4 0.785398163397448278999
+#define CL_M_1_PI 0.318309886183790691216
+#define CL_M_2_PI 0.636619772367581382433
+#define CL_M_2_SQRTPI 1.128379167095512558561
+#define CL_M_SQRT2 1.414213562373095145475
+#define CL_M_SQRT1_2 0.707106781186547572737
+
+#define CL_M_E_F 2.71828174591064f
+#define CL_M_LOG2E_F 1.44269502162933f
+#define CL_M_LOG10E_F 0.43429449200630f
+#define CL_M_LN2_F 0.69314718246460f
+#define CL_M_LN10_F 2.30258512496948f
+#define CL_M_PI_F 3.14159274101257f
+#define CL_M_PI_2_F 1.57079637050629f
+#define CL_M_PI_4_F 0.78539818525314f
+#define CL_M_1_PI_F 0.31830987334251f
+#define CL_M_2_PI_F 0.63661974668503f
+#define CL_M_2_SQRTPI_F 1.12837922573090f
+#define CL_M_SQRT2_F 1.41421353816986f
+#define CL_M_SQRT1_2_F 0.70710676908493f
+
+#if defined( __GNUC__ )
+ #define CL_HUGE_VALF __builtin_huge_valf()
+ #define CL_HUGE_VAL __builtin_huge_val()
+ #define CL_NAN __builtin_nanf( "" )
+#else
+ #define CL_HUGE_VALF ((cl_float) 1e50)
+ #define CL_HUGE_VAL ((cl_double) 1e500)
+ float nanf( const char * );
+ #define CL_NAN nanf( "" )
+#endif
+#define CL_MAXFLOAT CL_FLT_MAX
+#define CL_INFINITY CL_HUGE_VALF
+
+#endif
+
+#include
+
+/* Mirror types to GL types. Mirror types allow us to avoid deciding which 87s to load based on whether we are using GL or GLES here. */
+typedef unsigned int cl_GLuint;
+typedef int cl_GLint;
+typedef unsigned int cl_GLenum;
+
+/*
+ * Vector types
+ *
+ * Note: OpenCL requires that all types be naturally aligned.
+ * This means that vector types must be naturally aligned.
+ * For example, a vector of four floats must be aligned to
+ * a 16 byte boundary (calculated as 4 * the natural 4-byte
+ * alignment of the float). The alignment qualifiers here
+ * will only function properly if your compiler supports them
+ * and if you don't actively work to defeat them. For example,
+ * in order for a cl_float4 to be 16 byte aligned in a struct,
+ * the start of the struct must itself be 16-byte aligned.
+ *
+ * Maintaining proper alignment is the user's responsibility.
+ */
+
+/* Define basic vector types */
+#if defined( __VEC__ )
+ #include /* may be omitted depending on compiler. AltiVec spec provides no way to detect whether the header is required. */
+ typedef vector unsigned char __cl_uchar16;
+ typedef vector signed char __cl_char16;
+ typedef vector unsigned short __cl_ushort8;
+ typedef vector signed short __cl_short8;
+ typedef vector unsigned int __cl_uint4;
+ typedef vector signed int __cl_int4;
+ typedef vector float __cl_float4;
+ #define __CL_UCHAR16__ 1
+ #define __CL_CHAR16__ 1
+ #define __CL_USHORT8__ 1
+ #define __CL_SHORT8__ 1
+ #define __CL_UINT4__ 1
+ #define __CL_INT4__ 1
+ #define __CL_FLOAT4__ 1
+#endif
+
+#if defined( __SSE__ )
+ #if defined( __MINGW64__ )
+ #include
+ #else
+ #include
+ #endif
+ #if defined( __GNUC__ )
+ typedef float __cl_float4 __attribute__((vector_size(16)));
+ #else
+ typedef __m128 __cl_float4;
+ #endif
+ #define __CL_FLOAT4__ 1
+#endif
+
+#if defined( __SSE2__ )
+ #if defined( __MINGW64__ )
+ #include
+ #else
+ #include
+ #endif
+ #if defined( __GNUC__ )
+ typedef cl_uchar __cl_uchar16 __attribute__((vector_size(16)));
+ typedef cl_char __cl_char16 __attribute__((vector_size(16)));
+ typedef cl_ushort __cl_ushort8 __attribute__((vector_size(16)));
+ typedef cl_short __cl_short8 __attribute__((vector_size(16)));
+ typedef cl_uint __cl_uint4 __attribute__((vector_size(16)));
+ typedef cl_int __cl_int4 __attribute__((vector_size(16)));
+ typedef cl_ulong __cl_ulong2 __attribute__((vector_size(16)));
+ typedef cl_long __cl_long2 __attribute__((vector_size(16)));
+ typedef cl_double __cl_double2 __attribute__((vector_size(16)));
+ #else
+ typedef __m128i __cl_uchar16;
+ typedef __m128i __cl_char16;
+ typedef __m128i __cl_ushort8;
+ typedef __m128i __cl_short8;
+ typedef __m128i __cl_uint4;
+ typedef __m128i __cl_int4;
+ typedef __m128i __cl_ulong2;
+ typedef __m128i __cl_long2;
+ typedef __m128d __cl_double2;
+ #endif
+ #define __CL_UCHAR16__ 1
+ #define __CL_CHAR16__ 1
+ #define __CL_USHORT8__ 1
+ #define __CL_SHORT8__ 1
+ #define __CL_INT4__ 1
+ #define __CL_UINT4__ 1
+ #define __CL_ULONG2__ 1
+ #define __CL_LONG2__ 1
+ #define __CL_DOUBLE2__ 1
+#endif
+
+#if defined( __MMX__ )
+ #include
+ #if defined( __GNUC__ )
+ typedef cl_uchar __cl_uchar8 __attribute__((vector_size(8)));
+ typedef cl_char __cl_char8 __attribute__((vector_size(8)));
+ typedef cl_ushort __cl_ushort4 __attribute__((vector_size(8)));
+ typedef cl_short __cl_short4 __attribute__((vector_size(8)));
+ typedef cl_uint __cl_uint2 __attribute__((vector_size(8)));
+ typedef cl_int __cl_int2 __attribute__((vector_size(8)));
+ typedef cl_ulong __cl_ulong1 __attribute__((vector_size(8)));
+ typedef cl_long __cl_long1 __attribute__((vector_size(8)));
+ typedef cl_float __cl_float2 __attribute__((vector_size(8)));
+ #else
+ typedef __m64 __cl_uchar8;
+ typedef __m64 __cl_char8;
+ typedef __m64 __cl_ushort4;
+ typedef __m64 __cl_short4;
+ typedef __m64 __cl_uint2;
+ typedef __m64 __cl_int2;
+ typedef __m64 __cl_ulong1;
+ typedef __m64 __cl_long1;
+ typedef __m64 __cl_float2;
+ #endif
+ #define __CL_UCHAR8__ 1
+ #define __CL_CHAR8__ 1
+ #define __CL_USHORT4__ 1
+ #define __CL_SHORT4__ 1
+ #define __CL_INT2__ 1
+ #define __CL_UINT2__ 1
+ #define __CL_ULONG1__ 1
+ #define __CL_LONG1__ 1
+ #define __CL_FLOAT2__ 1
+#endif
+
+#if defined( __AVX__ )
+ #if defined( __MINGW64__ )
+ #include
+ #else
+ #include
+ #endif
+ #if defined( __GNUC__ )
+ typedef cl_float __cl_float8 __attribute__((vector_size(32)));
+ typedef cl_double __cl_double4 __attribute__((vector_size(32)));
+ #else
+ typedef __m256 __cl_float8;
+ typedef __m256d __cl_double4;
+ #endif
+ #define __CL_FLOAT8__ 1
+ #define __CL_DOUBLE4__ 1
+#endif
+
+/* Define capabilities for anonymous struct members. */
+#if defined( __GNUC__) && ! defined( __STRICT_ANSI__ )
+#define __CL_HAS_ANON_STRUCT__ 1
+#define __CL_ANON_STRUCT__ __extension__
+#elif defined( _WIN32) && (_MSC_VER >= 1500)
+ /* Microsoft Developer Studio 2008 supports anonymous structs, but
+ * complains by default. */
+#define __CL_HAS_ANON_STRUCT__ 1
+#define __CL_ANON_STRUCT__
+ /* Disable warning C4201: nonstandard extension used : nameless
+ * struct/union */
+#pragma warning( push )
+#pragma warning( disable : 4201 )
+#else
+#define __CL_HAS_ANON_STRUCT__ 0
+#define __CL_ANON_STRUCT__
+#endif
+
+/* Define alignment keys */
+#if defined( __GNUC__ )
+ #define CL_ALIGNED(_x) __attribute__ ((aligned(_x)))
+#elif defined( _WIN32) && (_MSC_VER)
+ /* Alignment keys neutered on windows because MSVC can't swallow function arguments with alignment requirements */
+ /* http://msdn.microsoft.com/en-us/library/373ak2y1%28VS.71%29.aspx */
+ /* #include */
+ /* #define CL_ALIGNED(_x) _CRT_ALIGN(_x) */
+ #define CL_ALIGNED(_x)
+#else
+ #warning Need to implement some method to align data here
+ #define CL_ALIGNED(_x)
+#endif
+
+/* Indicate whether .xyzw, .s0123 and .hi.lo are supported */
+#if __CL_HAS_ANON_STRUCT__
+ /* .xyzw and .s0123...{f|F} are supported */
+ #define CL_HAS_NAMED_VECTOR_FIELDS 1
+ /* .hi and .lo are supported */
+ #define CL_HAS_HI_LO_VECTOR_FIELDS 1
+#endif
+
+/* Define cl_vector types */
+
+/* ---- cl_charn ---- */
+typedef union
+{
+ cl_char CL_ALIGNED(2) s[2];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_char x, y; };
+ __CL_ANON_STRUCT__ struct{ cl_char s0, s1; };
+ __CL_ANON_STRUCT__ struct{ cl_char lo, hi; };
+#endif
+#if defined( __CL_CHAR2__)
+ __cl_char2 v2;
+#endif
+}cl_char2;
+
+typedef union
+{
+ cl_char CL_ALIGNED(4) s[4];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3; };
+ __CL_ANON_STRUCT__ struct{ cl_char2 lo, hi; };
+#endif
+#if defined( __CL_CHAR2__)
+ __cl_char2 v2[2];
+#endif
+#if defined( __CL_CHAR4__)
+ __cl_char4 v4;
+#endif
+}cl_char4;
+
+/* cl_char3 is identical in size, alignment and behavior to cl_char4. See section 6.1.5. */
+typedef cl_char4 cl_char3;
+
+typedef union
+{
+ cl_char CL_ALIGNED(8) s[8];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7; };
+ __CL_ANON_STRUCT__ struct{ cl_char4 lo, hi; };
+#endif
+#if defined( __CL_CHAR2__)
+ __cl_char2 v2[4];
+#endif
+#if defined( __CL_CHAR4__)
+ __cl_char4 v4[2];
+#endif
+#if defined( __CL_CHAR8__ )
+ __cl_char8 v8;
+#endif
+}cl_char8;
+
+typedef union
+{
+ cl_char CL_ALIGNED(16) s[16];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_char x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+ __CL_ANON_STRUCT__ struct{ cl_char s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+ __CL_ANON_STRUCT__ struct{ cl_char8 lo, hi; };
+#endif
+#if defined( __CL_CHAR2__)
+ __cl_char2 v2[8];
+#endif
+#if defined( __CL_CHAR4__)
+ __cl_char4 v4[4];
+#endif
+#if defined( __CL_CHAR8__ )
+ __cl_char8 v8[2];
+#endif
+#if defined( __CL_CHAR16__ )
+ __cl_char16 v16;
+#endif
+}cl_char16;
+
+
+/* ---- cl_ucharn ---- */
+typedef union
+{
+ cl_uchar CL_ALIGNED(2) s[2];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_uchar x, y; };
+ __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1; };
+ __CL_ANON_STRUCT__ struct{ cl_uchar lo, hi; };
+#endif
+#if defined( __cl_uchar2__)
+ __cl_uchar2 v2;
+#endif
+}cl_uchar2;
+
+typedef union
+{
+ cl_uchar CL_ALIGNED(4) s[4];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3; };
+ __CL_ANON_STRUCT__ struct{ cl_uchar2 lo, hi; };
+#endif
+#if defined( __CL_UCHAR2__)
+ __cl_uchar2 v2[2];
+#endif
+#if defined( __CL_UCHAR4__)
+ __cl_uchar4 v4;
+#endif
+}cl_uchar4;
+
+/* cl_uchar3 is identical in size, alignment and behavior to cl_uchar4. See section 6.1.5. */
+typedef cl_uchar4 cl_uchar3;
+
+typedef union
+{
+ cl_uchar CL_ALIGNED(8) s[8];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7; };
+ __CL_ANON_STRUCT__ struct{ cl_uchar4 lo, hi; };
+#endif
+#if defined( __CL_UCHAR2__)
+ __cl_uchar2 v2[4];
+#endif
+#if defined( __CL_UCHAR4__)
+ __cl_uchar4 v4[2];
+#endif
+#if defined( __CL_UCHAR8__ )
+ __cl_uchar8 v8;
+#endif
+}cl_uchar8;
+
+typedef union
+{
+ cl_uchar CL_ALIGNED(16) s[16];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_uchar x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+ __CL_ANON_STRUCT__ struct{ cl_uchar s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+ __CL_ANON_STRUCT__ struct{ cl_uchar8 lo, hi; };
+#endif
+#if defined( __CL_UCHAR2__)
+ __cl_uchar2 v2[8];
+#endif
+#if defined( __CL_UCHAR4__)
+ __cl_uchar4 v4[4];
+#endif
+#if defined( __CL_UCHAR8__ )
+ __cl_uchar8 v8[2];
+#endif
+#if defined( __CL_UCHAR16__ )
+ __cl_uchar16 v16;
+#endif
+}cl_uchar16;
+
+
+/* ---- cl_shortn ---- */
+typedef union
+{
+ cl_short CL_ALIGNED(4) s[2];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_short x, y; };
+ __CL_ANON_STRUCT__ struct{ cl_short s0, s1; };
+ __CL_ANON_STRUCT__ struct{ cl_short lo, hi; };
+#endif
+#if defined( __CL_SHORT2__)
+ __cl_short2 v2;
+#endif
+}cl_short2;
+
+typedef union
+{
+ cl_short CL_ALIGNED(8) s[4];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3; };
+ __CL_ANON_STRUCT__ struct{ cl_short2 lo, hi; };
+#endif
+#if defined( __CL_SHORT2__)
+ __cl_short2 v2[2];
+#endif
+#if defined( __CL_SHORT4__)
+ __cl_short4 v4;
+#endif
+}cl_short4;
+
+/* cl_short3 is identical in size, alignment and behavior to cl_short4. See section 6.1.5. */
+typedef cl_short4 cl_short3;
+
+typedef union
+{
+ cl_short CL_ALIGNED(16) s[8];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7; };
+ __CL_ANON_STRUCT__ struct{ cl_short4 lo, hi; };
+#endif
+#if defined( __CL_SHORT2__)
+ __cl_short2 v2[4];
+#endif
+#if defined( __CL_SHORT4__)
+ __cl_short4 v4[2];
+#endif
+#if defined( __CL_SHORT8__ )
+ __cl_short8 v8;
+#endif
+}cl_short8;
+
+typedef union
+{
+ cl_short CL_ALIGNED(32) s[16];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_short x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+ __CL_ANON_STRUCT__ struct{ cl_short s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+ __CL_ANON_STRUCT__ struct{ cl_short8 lo, hi; };
+#endif
+#if defined( __CL_SHORT2__)
+ __cl_short2 v2[8];
+#endif
+#if defined( __CL_SHORT4__)
+ __cl_short4 v4[4];
+#endif
+#if defined( __CL_SHORT8__ )
+ __cl_short8 v8[2];
+#endif
+#if defined( __CL_SHORT16__ )
+ __cl_short16 v16;
+#endif
+}cl_short16;
+
+
+/* ---- cl_ushortn ---- */
+typedef union
+{
+ cl_ushort CL_ALIGNED(4) s[2];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_ushort x, y; };
+ __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1; };
+ __CL_ANON_STRUCT__ struct{ cl_ushort lo, hi; };
+#endif
+#if defined( __CL_USHORT2__)
+ __cl_ushort2 v2;
+#endif
+}cl_ushort2;
+
+typedef union
+{
+ cl_ushort CL_ALIGNED(8) s[4];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3; };
+ __CL_ANON_STRUCT__ struct{ cl_ushort2 lo, hi; };
+#endif
+#if defined( __CL_USHORT2__)
+ __cl_ushort2 v2[2];
+#endif
+#if defined( __CL_USHORT4__)
+ __cl_ushort4 v4;
+#endif
+}cl_ushort4;
+
+/* cl_ushort3 is identical in size, alignment and behavior to cl_ushort4. See section 6.1.5. */
+typedef cl_ushort4 cl_ushort3;
+
+typedef union
+{
+ cl_ushort CL_ALIGNED(16) s[8];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7; };
+ __CL_ANON_STRUCT__ struct{ cl_ushort4 lo, hi; };
+#endif
+#if defined( __CL_USHORT2__)
+ __cl_ushort2 v2[4];
+#endif
+#if defined( __CL_USHORT4__)
+ __cl_ushort4 v4[2];
+#endif
+#if defined( __CL_USHORT8__ )
+ __cl_ushort8 v8;
+#endif
+}cl_ushort8;
+
+typedef union
+{
+ cl_ushort CL_ALIGNED(32) s[16];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_ushort x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+ __CL_ANON_STRUCT__ struct{ cl_ushort s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+ __CL_ANON_STRUCT__ struct{ cl_ushort8 lo, hi; };
+#endif
+#if defined( __CL_USHORT2__)
+ __cl_ushort2 v2[8];
+#endif
+#if defined( __CL_USHORT4__)
+ __cl_ushort4 v4[4];
+#endif
+#if defined( __CL_USHORT8__ )
+ __cl_ushort8 v8[2];
+#endif
+#if defined( __CL_USHORT16__ )
+ __cl_ushort16 v16;
+#endif
+}cl_ushort16;
+
+/* ---- cl_intn ---- */
+typedef union
+{
+ cl_int CL_ALIGNED(8) s[2];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_int x, y; };
+ __CL_ANON_STRUCT__ struct{ cl_int s0, s1; };
+ __CL_ANON_STRUCT__ struct{ cl_int lo, hi; };
+#endif
+#if defined( __CL_INT2__)
+ __cl_int2 v2;
+#endif
+}cl_int2;
+
+typedef union
+{
+ cl_int CL_ALIGNED(16) s[4];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3; };
+ __CL_ANON_STRUCT__ struct{ cl_int2 lo, hi; };
+#endif
+#if defined( __CL_INT2__)
+ __cl_int2 v2[2];
+#endif
+#if defined( __CL_INT4__)
+ __cl_int4 v4;
+#endif
+}cl_int4;
+
+/* cl_int3 is identical in size, alignment and behavior to cl_int4. See section 6.1.5. */
+typedef cl_int4 cl_int3;
+
+typedef union
+{
+ cl_int CL_ALIGNED(32) s[8];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7; };
+ __CL_ANON_STRUCT__ struct{ cl_int4 lo, hi; };
+#endif
+#if defined( __CL_INT2__)
+ __cl_int2 v2[4];
+#endif
+#if defined( __CL_INT4__)
+ __cl_int4 v4[2];
+#endif
+#if defined( __CL_INT8__ )
+ __cl_int8 v8;
+#endif
+}cl_int8;
+
+typedef union
+{
+ cl_int CL_ALIGNED(64) s[16];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_int x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+ __CL_ANON_STRUCT__ struct{ cl_int s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+ __CL_ANON_STRUCT__ struct{ cl_int8 lo, hi; };
+#endif
+#if defined( __CL_INT2__)
+ __cl_int2 v2[8];
+#endif
+#if defined( __CL_INT4__)
+ __cl_int4 v4[4];
+#endif
+#if defined( __CL_INT8__ )
+ __cl_int8 v8[2];
+#endif
+#if defined( __CL_INT16__ )
+ __cl_int16 v16;
+#endif
+}cl_int16;
+
+
+/* ---- cl_uintn ---- */
+typedef union
+{
+ cl_uint CL_ALIGNED(8) s[2];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_uint x, y; };
+ __CL_ANON_STRUCT__ struct{ cl_uint s0, s1; };
+ __CL_ANON_STRUCT__ struct{ cl_uint lo, hi; };
+#endif
+#if defined( __CL_UINT2__)
+ __cl_uint2 v2;
+#endif
+}cl_uint2;
+
+typedef union
+{
+ cl_uint CL_ALIGNED(16) s[4];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3; };
+ __CL_ANON_STRUCT__ struct{ cl_uint2 lo, hi; };
+#endif
+#if defined( __CL_UINT2__)
+ __cl_uint2 v2[2];
+#endif
+#if defined( __CL_UINT4__)
+ __cl_uint4 v4;
+#endif
+}cl_uint4;
+
+/* cl_uint3 is identical in size, alignment and behavior to cl_uint4. See section 6.1.5. */
+typedef cl_uint4 cl_uint3;
+
+typedef union
+{
+ cl_uint CL_ALIGNED(32) s[8];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7; };
+ __CL_ANON_STRUCT__ struct{ cl_uint4 lo, hi; };
+#endif
+#if defined( __CL_UINT2__)
+ __cl_uint2 v2[4];
+#endif
+#if defined( __CL_UINT4__)
+ __cl_uint4 v4[2];
+#endif
+#if defined( __CL_UINT8__ )
+ __cl_uint8 v8;
+#endif
+}cl_uint8;
+
+typedef union
+{
+ cl_uint CL_ALIGNED(64) s[16];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_uint x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+ __CL_ANON_STRUCT__ struct{ cl_uint s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+ __CL_ANON_STRUCT__ struct{ cl_uint8 lo, hi; };
+#endif
+#if defined( __CL_UINT2__)
+ __cl_uint2 v2[8];
+#endif
+#if defined( __CL_UINT4__)
+ __cl_uint4 v4[4];
+#endif
+#if defined( __CL_UINT8__ )
+ __cl_uint8 v8[2];
+#endif
+#if defined( __CL_UINT16__ )
+ __cl_uint16 v16;
+#endif
+}cl_uint16;
+
+/* ---- cl_longn ---- */
+typedef union
+{
+ cl_long CL_ALIGNED(16) s[2];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_long x, y; };
+ __CL_ANON_STRUCT__ struct{ cl_long s0, s1; };
+ __CL_ANON_STRUCT__ struct{ cl_long lo, hi; };
+#endif
+#if defined( __CL_LONG2__)
+ __cl_long2 v2;
+#endif
+}cl_long2;
+
+typedef union
+{
+ cl_long CL_ALIGNED(32) s[4];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3; };
+ __CL_ANON_STRUCT__ struct{ cl_long2 lo, hi; };
+#endif
+#if defined( __CL_LONG2__)
+ __cl_long2 v2[2];
+#endif
+#if defined( __CL_LONG4__)
+ __cl_long4 v4;
+#endif
+}cl_long4;
+
+/* cl_long3 is identical in size, alignment and behavior to cl_long4. See section 6.1.5. */
+typedef cl_long4 cl_long3;
+
+typedef union
+{
+ cl_long CL_ALIGNED(64) s[8];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7; };
+ __CL_ANON_STRUCT__ struct{ cl_long4 lo, hi; };
+#endif
+#if defined( __CL_LONG2__)
+ __cl_long2 v2[4];
+#endif
+#if defined( __CL_LONG4__)
+ __cl_long4 v4[2];
+#endif
+#if defined( __CL_LONG8__ )
+ __cl_long8 v8;
+#endif
+}cl_long8;
+
+typedef union
+{
+ cl_long CL_ALIGNED(128) s[16];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_long x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+ __CL_ANON_STRUCT__ struct{ cl_long s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+ __CL_ANON_STRUCT__ struct{ cl_long8 lo, hi; };
+#endif
+#if defined( __CL_LONG2__)
+ __cl_long2 v2[8];
+#endif
+#if defined( __CL_LONG4__)
+ __cl_long4 v4[4];
+#endif
+#if defined( __CL_LONG8__ )
+ __cl_long8 v8[2];
+#endif
+#if defined( __CL_LONG16__ )
+ __cl_long16 v16;
+#endif
+}cl_long16;
+
+
+/* ---- cl_ulongn ---- */
+typedef union
+{
+ cl_ulong CL_ALIGNED(16) s[2];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_ulong x, y; };
+ __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1; };
+ __CL_ANON_STRUCT__ struct{ cl_ulong lo, hi; };
+#endif
+#if defined( __CL_ULONG2__)
+ __cl_ulong2 v2;
+#endif
+}cl_ulong2;
+
+typedef union
+{
+ cl_ulong CL_ALIGNED(32) s[4];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3; };
+ __CL_ANON_STRUCT__ struct{ cl_ulong2 lo, hi; };
+#endif
+#if defined( __CL_ULONG2__)
+ __cl_ulong2 v2[2];
+#endif
+#if defined( __CL_ULONG4__)
+ __cl_ulong4 v4;
+#endif
+}cl_ulong4;
+
+/* cl_ulong3 is identical in size, alignment and behavior to cl_ulong4. See section 6.1.5. */
+typedef cl_ulong4 cl_ulong3;
+
+typedef union
+{
+ cl_ulong CL_ALIGNED(64) s[8];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7; };
+ __CL_ANON_STRUCT__ struct{ cl_ulong4 lo, hi; };
+#endif
+#if defined( __CL_ULONG2__)
+ __cl_ulong2 v2[4];
+#endif
+#if defined( __CL_ULONG4__)
+ __cl_ulong4 v4[2];
+#endif
+#if defined( __CL_ULONG8__ )
+ __cl_ulong8 v8;
+#endif
+}cl_ulong8;
+
+typedef union
+{
+ cl_ulong CL_ALIGNED(128) s[16];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_ulong x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+ __CL_ANON_STRUCT__ struct{ cl_ulong s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+ __CL_ANON_STRUCT__ struct{ cl_ulong8 lo, hi; };
+#endif
+#if defined( __CL_ULONG2__)
+ __cl_ulong2 v2[8];
+#endif
+#if defined( __CL_ULONG4__)
+ __cl_ulong4 v4[4];
+#endif
+#if defined( __CL_ULONG8__ )
+ __cl_ulong8 v8[2];
+#endif
+#if defined( __CL_ULONG16__ )
+ __cl_ulong16 v16;
+#endif
+}cl_ulong16;
+
+
+/* --- cl_floatn ---- */
+
+typedef union
+{
+ cl_float CL_ALIGNED(8) s[2];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_float x, y; };
+ __CL_ANON_STRUCT__ struct{ cl_float s0, s1; };
+ __CL_ANON_STRUCT__ struct{ cl_float lo, hi; };
+#endif
+#if defined( __CL_FLOAT2__)
+ __cl_float2 v2;
+#endif
+}cl_float2;
+
+typedef union
+{
+ cl_float CL_ALIGNED(16) s[4];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3; };
+ __CL_ANON_STRUCT__ struct{ cl_float2 lo, hi; };
+#endif
+#if defined( __CL_FLOAT2__)
+ __cl_float2 v2[2];
+#endif
+#if defined( __CL_FLOAT4__)
+ __cl_float4 v4;
+#endif
+}cl_float4;
+
+/* cl_float3 is identical in size, alignment and behavior to cl_float4. See section 6.1.5. */
+typedef cl_float4 cl_float3;
+
+typedef union
+{
+ cl_float CL_ALIGNED(32) s[8];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7; };
+ __CL_ANON_STRUCT__ struct{ cl_float4 lo, hi; };
+#endif
+#if defined( __CL_FLOAT2__)
+ __cl_float2 v2[4];
+#endif
+#if defined( __CL_FLOAT4__)
+ __cl_float4 v4[2];
+#endif
+#if defined( __CL_FLOAT8__ )
+ __cl_float8 v8;
+#endif
+}cl_float8;
+
+typedef union
+{
+ cl_float CL_ALIGNED(64) s[16];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_float x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+ __CL_ANON_STRUCT__ struct{ cl_float s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+ __CL_ANON_STRUCT__ struct{ cl_float8 lo, hi; };
+#endif
+#if defined( __CL_FLOAT2__)
+ __cl_float2 v2[8];
+#endif
+#if defined( __CL_FLOAT4__)
+ __cl_float4 v4[4];
+#endif
+#if defined( __CL_FLOAT8__ )
+ __cl_float8 v8[2];
+#endif
+#if defined( __CL_FLOAT16__ )
+ __cl_float16 v16;
+#endif
+}cl_float16;
+
+/* --- cl_doublen ---- */
+
+typedef union
+{
+ cl_double CL_ALIGNED(16) s[2];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_double x, y; };
+ __CL_ANON_STRUCT__ struct{ cl_double s0, s1; };
+ __CL_ANON_STRUCT__ struct{ cl_double lo, hi; };
+#endif
+#if defined( __CL_DOUBLE2__)
+ __cl_double2 v2;
+#endif
+}cl_double2;
+
+typedef union
+{
+ cl_double CL_ALIGNED(32) s[4];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3; };
+ __CL_ANON_STRUCT__ struct{ cl_double2 lo, hi; };
+#endif
+#if defined( __CL_DOUBLE2__)
+ __cl_double2 v2[2];
+#endif
+#if defined( __CL_DOUBLE4__)
+ __cl_double4 v4;
+#endif
+}cl_double4;
+
+/* cl_double3 is identical in size, alignment and behavior to cl_double4. See section 6.1.5. */
+typedef cl_double4 cl_double3;
+
+typedef union
+{
+ cl_double CL_ALIGNED(64) s[8];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w; };
+ __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7; };
+ __CL_ANON_STRUCT__ struct{ cl_double4 lo, hi; };
+#endif
+#if defined( __CL_DOUBLE2__)
+ __cl_double2 v2[4];
+#endif
+#if defined( __CL_DOUBLE4__)
+ __cl_double4 v4[2];
+#endif
+#if defined( __CL_DOUBLE8__ )
+ __cl_double8 v8;
+#endif
+}cl_double8;
+
+typedef union
+{
+ cl_double CL_ALIGNED(128) s[16];
+#if __CL_HAS_ANON_STRUCT__
+ __CL_ANON_STRUCT__ struct{ cl_double x, y, z, w, __spacer4, __spacer5, __spacer6, __spacer7, __spacer8, __spacer9, sa, sb, sc, sd, se, sf; };
+ __CL_ANON_STRUCT__ struct{ cl_double s0, s1, s2, s3, s4, s5, s6, s7, s8, s9, sA, sB, sC, sD, sE, sF; };
+ __CL_ANON_STRUCT__ struct{ cl_double8 lo, hi; };
+#endif
+#if defined( __CL_DOUBLE2__)
+ __cl_double2 v2[8];
+#endif
+#if defined( __CL_DOUBLE4__)
+ __cl_double4 v4[4];
+#endif
+#if defined( __CL_DOUBLE8__ )
+ __cl_double8 v8[2];
+#endif
+#if defined( __CL_DOUBLE16__ )
+ __cl_double16 v16;
+#endif
+}cl_double16;
+
+/* Macro to facilitate debugging
+ * Usage:
+ * Place CL_PROGRAM_STRING_DEBUG_INFO on the line before the first line of your source.
+ * The first line ends with: CL_PROGRAM_STRING_DEBUG_INFO \"
+ * Each line thereafter of OpenCL C source must end with: \n\
+ * The last line ends in ";
+ *
+ * Example:
+ *
+ * const char *my_program = CL_PROGRAM_STRING_DEBUG_INFO "\
+ * kernel void foo( int a, float * b ) \n\
+ * { \n\
+ * // my comment \n\
+ * *b[ get_global_id(0)] = a; \n\
+ * } \n\
+ * ";
+ *
+ * This should correctly set up the line, (column) and file information for your source
+ * string so you can do source level debugging.
+ */
+#define __CL_STRINGIFY( _x ) # _x
+#define _CL_STRINGIFY( _x ) __CL_STRINGIFY( _x )
+#define CL_PROGRAM_STRING_DEBUG_INFO "#line " _CL_STRINGIFY(__LINE__) " \"" __FILE__ "\" \n\n"
+
+#ifdef __cplusplus
+}
+#endif
+
+#undef __CL_HAS_ANON_STRUCT__
+#undef __CL_ANON_STRUCT__
+#if defined( _WIN32) && (_MSC_VER >= 1500)
+#pragma warning( pop )
+#endif
+
+#endif /* __CL_PLATFORM_H */
diff --git a/third_party/opencl/include/CL/opencl.h b/third_party/opencl/include/CL/opencl.h
new file mode 100644
index 0000000000..9855cd75e7
--- /dev/null
+++ b/third_party/opencl/include/CL/opencl.h
@@ -0,0 +1,59 @@
+/*******************************************************************************
+ * Copyright (c) 2008-2015 The Khronos Group Inc.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and/or associated documentation files (the
+ * "Materials"), to deal in the Materials without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Materials, and to
+ * permit persons to whom the Materials are furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Materials.
+ *
+ * MODIFICATIONS TO THIS FILE MAY MEAN IT NO LONGER ACCURATELY REFLECTS
+ * KHRONOS STANDARDS. THE UNMODIFIED, NORMATIVE VERSIONS OF KHRONOS
+ * SPECIFICATIONS AND HEADER INFORMATION ARE LOCATED AT
+ * https://www.khronos.org/registry/
+ *
+ * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+ * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+ * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+ * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+ * MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
+ ******************************************************************************/
+
+/* $Revision: 11708 $ on $Date: 2010-06-13 23:36:24 -0700 (Sun, 13 Jun 2010) $ */
+
+#ifndef __OPENCL_H
+#define __OPENCL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __APPLE__
+
+#include
+#include
+#include
+#include
+
+#else
+
+#include
+#include
+#include
+#include
+
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __OPENCL_H */
+
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index b79d046fca..d4cfc67280 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -57,9 +57,11 @@ base_frameworks = qt_env['FRAMEWORKS']
base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
if arch == "Darwin":
+ base_frameworks.append('OpenCL')
base_frameworks.append('QtCharts')
base_frameworks.append('QtSerialBus')
else:
+ base_libs.append('OpenCL')
base_libs.append('Qt5Charts')
base_libs.append('Qt5SerialBus')
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index f428e9972a..5c2131d4bf 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -58,6 +58,9 @@ function install_ubuntu_common_requirements() {
libzmq3-dev \
libzstd-dev \
libsqlite3-dev \
+ opencl-headers \
+ ocl-icd-libopencl1 \
+ ocl-icd-opencl-dev \
portaudio19-dev \
qttools5-dev-tools \
libqt5svg5-dev \
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 698ab9885d..136c4119f6 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -6,6 +6,11 @@ replay_env['CCFLAGS'] += ['-Wno-deprecated-declarations']
base_frameworks = []
base_libs = [common, messaging, cereal, visionipc, 'm', 'ssl', 'crypto', 'pthread']
+if arch == "Darwin":
+ base_frameworks.append('OpenCL')
+else:
+ base_libs.append('OpenCL')
+
replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc",
"route.cc", "util.cc", "seg_mgr.cc", "timeline.cc", "api.cc"]
if arch != "Darwin":
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 6abbc47935..67ad2cc8cb 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -10,6 +10,10 @@ What's needed:
## Setup openpilot
- Follow [this readme](../README.md) to install and build the requirements
+- Install OpenCL Driver (Ubuntu)
+```
+sudo apt install pocl-opencl-icd
+```
## Connect the hardware
- Connect the camera first
From db8cd9f411f08d75696b36c5fd0fa6b6cb0bfb2d Mon Sep 17 00:00:00 2001
From: Trey Moen <50057480+greatgitsby@users.noreply.github.com>
Date: Sat, 7 Feb 2026 12:52:28 -0700
Subject: [PATCH 079/150] fix: route fetch metadata when first log isnt
uploaded (#37114)
* fix: route fetch metadata when first log isnt uploaded
* default
* simple
---------
Co-authored-by: Trey Moen
---
tools/clip/run.py | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/tools/clip/run.py b/tools/clip/run.py
index 855ac6fea3..d338f097d6 100755
--- a/tools/clip/run.py
+++ b/tools/clip/run.py
@@ -208,7 +208,10 @@ class FrameQueue:
def load_route_metadata(route):
from openpilot.common.params import Params, UnknownKeyName
- lr = LogReader(route.log_paths()[0])
+ path = next((item for item in route.log_paths() if item), None)
+ if not path:
+ raise Exception('error getting route metadata: cannot find any uploaded logs')
+ lr = LogReader(path)
init_data, car_params = lr.first('initData'), lr.first('carParams')
params = Params()
From 0ce28803eccb443a4f90eceaaf1037776366293a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh
Date: Sat, 7 Feb 2026 12:20:34 -0800
Subject: [PATCH 080/150] gitignore .context/
---
.gitignore | 1 +
1 file changed, 1 insertion(+)
diff --git a/.gitignore b/.gitignore
index e2a30fb70a..1fef0a1255 100644
--- a/.gitignore
+++ b/.gitignore
@@ -97,5 +97,6 @@ Pipfile
.ionide
.claude/
+.context/
PLAN.md
TASK.md
From bcb13a7229d6c583da7c6f0fdd52785c5cfa993c Mon Sep 17 00:00:00 2001
From: David <49467229+TheSecurityDev@users.noreply.github.com>
Date: Sat, 7 Feb 2026 16:19:08 -0600
Subject: [PATCH 081/150] ui diff replay: remove unused frame_data list for
individual frame display (#37117)
Remove unused base64 encoding and simplify frame data handling in diff video report
---
selfdrive/ui/tests/diff/diff.py | 19 ++++---------------
1 file changed, 4 insertions(+), 15 deletions(-)
diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py
index be7af5438a..a581f68747 100755
--- a/selfdrive/ui/tests/diff/diff.py
+++ b/selfdrive/ui/tests/diff/diff.py
@@ -3,7 +3,6 @@ import os
import sys
import subprocess
import tempfile
-import base64
import webbrowser
import argparse
from pathlib import Path
@@ -25,12 +24,6 @@ def compare_frames(frame1_path, frame2_path):
return result.returncode == 0
-def frame_to_data_url(frame_path):
- with open(frame_path, 'rb') as f:
- data = f.read()
- return f"data:image/png;base64,{base64.b64encode(data).decode()}"
-
-
def create_diff_video(video1, video2, output_path):
"""Create a diff video using ffmpeg blend filter with difference mode."""
print("Creating diff video...")
@@ -60,20 +53,16 @@ def find_differences(video1, video2):
print(f"Comparing {len(frames1)} frames...")
different_frames = []
- frame_data = []
for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
is_different = not compare_frames(f1, f2)
if is_different:
different_frames.append(i)
- if i < 10 or i >= len(frames1) - 10 or is_different:
- frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
-
- return different_frames, frame_data, len(frames1)
+ return different_frames, len(frames1)
-def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames):
+def generate_html_report(video1, video2, basedir, different_frames, total_frames):
chunks = []
if different_frames:
current_chunk = [different_frames[0]]
@@ -177,14 +166,14 @@ def main():
diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
create_diff_video(args.video1, args.video2, diff_video_path)
- different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
+ different_frames, total_frames = find_differences(args.video1, args.video2)
if different_frames is None:
sys.exit(1)
print()
print("Generating HTML report...")
- html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames)
+ html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, total_frames)
with open(DIFF_OUT_DIR / args.output, 'w') as f:
f.write(html)
From ac17c35cfe898681f7b5cf9e57b98c4a844d7459 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh
Date: Sat, 7 Feb 2026 15:18:00 -0800
Subject: [PATCH 082/150] bridge: move ZMQ handling over (#37118)
---
cereal/SConscript | 2 +-
cereal/messaging/bridge.cc | 8 +-
cereal/messaging/bridge_zmq.cc | 170 ++++++++++++++++++++++++++++++++
cereal/messaging/bridge_zmq.h | 72 ++++++++++++++
cereal/messaging/msgq_to_zmq.cc | 10 +-
cereal/messaging/msgq_to_zmq.h | 9 +-
6 files changed, 256 insertions(+), 15 deletions(-)
create mode 100644 cereal/messaging/bridge_zmq.cc
create mode 100644 cereal/messaging/bridge_zmq.h
diff --git a/cereal/SConscript b/cereal/SConscript
index a58a9490ce..73dc61844b 100644
--- a/cereal/SConscript
+++ b/cereal/SConscript
@@ -13,7 +13,7 @@ cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
# Build messaging
services_h = env.Command(['services.h'], ['services.py'], 'python3 ' + cereal_dir.path + '/services.py > $TARGET')
-env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc'], LIBS=[msgq, common, 'pthread'])
+env.Program('messaging/bridge', ['messaging/bridge.cc', 'messaging/msgq_to_zmq.cc', 'messaging/bridge_zmq.cc'], LIBS=[msgq, common, 'pthread'])
socketmaster = env.Library('socketmaster', ['messaging/socketmaster.cc'])
diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc
index fb92c575c9..2eb3de32c0 100644
--- a/cereal/messaging/bridge.cc
+++ b/cereal/messaging/bridge.cc
@@ -25,14 +25,14 @@ void msgq_to_zmq(const std::vector &endpoints, const std::string &i
}
void zmq_to_msgq(const std::vector &endpoints, const std::string &ip) {
- auto poller = std::make_unique();
+ auto poller = std::make_unique();
auto pub_context = std::make_unique();
- auto sub_context = std::make_unique();
- std::map sub2pub;
+ auto sub_context = std::make_unique();
+ std::map sub2pub;
for (auto endpoint : endpoints) {
auto pub_sock = new MSGQPubSocket();
- auto sub_sock = new ZMQSubSocket();
+ auto sub_sock = new BridgeZmqSubSocket();
size_t queue_size = services.at(endpoint).queue_size;
pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
sub_sock->connect(sub_context.get(), endpoint, ip, false);
diff --git a/cereal/messaging/bridge_zmq.cc b/cereal/messaging/bridge_zmq.cc
new file mode 100644
index 0000000000..5c56673b47
--- /dev/null
+++ b/cereal/messaging/bridge_zmq.cc
@@ -0,0 +1,170 @@
+#include "cereal/messaging/bridge_zmq.h"
+
+#include
+#include
+#include
+
+static size_t fnv1a_hash(const std::string &str) {
+ const size_t fnv_prime = 0x100000001b3;
+ size_t hash_value = 0xcbf29ce484222325;
+ for (char c : str) {
+ hash_value ^= (unsigned char)c;
+ hash_value *= fnv_prime;
+ }
+ return hash_value;
+}
+
+// FIXME: This is a hack to get the port number from the socket name, might have collisions.
+static int get_port(std::string endpoint) {
+ size_t hash_value = fnv1a_hash(endpoint);
+ int start_port = 8023;
+ int max_port = 65535;
+ return start_port + (hash_value % (max_port - start_port));
+}
+
+BridgeZmqContext::BridgeZmqContext() {
+ context = zmq_ctx_new();
+}
+
+BridgeZmqContext::~BridgeZmqContext() {
+ if (context != nullptr) {
+ zmq_ctx_term(context);
+ }
+}
+
+void BridgeZmqMessage::init(size_t sz) {
+ size = sz;
+ data = new char[size];
+}
+
+void BridgeZmqMessage::init(char *d, size_t sz) {
+ size = sz;
+ data = new char[size];
+ memcpy(data, d, size);
+}
+
+void BridgeZmqMessage::close() {
+ if (size > 0) {
+ delete[] data;
+ }
+ data = nullptr;
+ size = 0;
+}
+
+BridgeZmqMessage::~BridgeZmqMessage() {
+ close();
+}
+
+int BridgeZmqSubSocket::connect(BridgeZmqContext *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint) {
+ sock = zmq_socket(context->getRawContext(), ZMQ_SUB);
+ if (sock == nullptr) {
+ return -1;
+ }
+
+ zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0);
+
+ if (conflate) {
+ int arg = 1;
+ zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int));
+ }
+
+ int reconnect_ivl = 500;
+ zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl));
+
+ full_endpoint = "tcp://" + address + ":";
+ if (check_endpoint) {
+ full_endpoint += std::to_string(get_port(endpoint));
+ } else {
+ full_endpoint += endpoint;
+ }
+
+ return zmq_connect(sock, full_endpoint.c_str());
+}
+
+void BridgeZmqSubSocket::setTimeout(int timeout) {
+ zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int));
+}
+
+Message *BridgeZmqSubSocket::receive(bool non_blocking) {
+ zmq_msg_t msg;
+ assert(zmq_msg_init(&msg) == 0);
+
+ int flags = non_blocking ? ZMQ_DONTWAIT : 0;
+ int rc = zmq_msg_recv(&msg, sock, flags);
+
+ Message *ret = nullptr;
+ if (rc >= 0) {
+ ret = new BridgeZmqMessage;
+ ret->init((char *)zmq_msg_data(&msg), zmq_msg_size(&msg));
+ }
+
+ zmq_msg_close(&msg);
+ return ret;
+}
+
+BridgeZmqSubSocket::~BridgeZmqSubSocket() {
+ if (sock != nullptr) {
+ zmq_close(sock);
+ }
+}
+
+int BridgeZmqPubSocket::connect(BridgeZmqContext *context, std::string endpoint, bool check_endpoint) {
+ sock = zmq_socket(context->getRawContext(), ZMQ_PUB);
+ if (sock == nullptr) {
+ return -1;
+ }
+
+ full_endpoint = "tcp://*:";
+ if (check_endpoint) {
+ full_endpoint += std::to_string(get_port(endpoint));
+ } else {
+ full_endpoint += endpoint;
+ }
+
+ // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same.
+ pid = getpid();
+
+ return zmq_bind(sock, full_endpoint.c_str());
+}
+
+int BridgeZmqPubSocket::sendMessage(Message *message) {
+ assert(pid == getpid());
+ return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
+}
+
+int BridgeZmqPubSocket::send(char *data, size_t size) {
+ assert(pid == getpid());
+ return zmq_send(sock, data, size, ZMQ_DONTWAIT);
+}
+
+BridgeZmqPubSocket::~BridgeZmqPubSocket() {
+ if (sock != nullptr) {
+ zmq_close(sock);
+ }
+}
+
+void BridgeZmqPoller::registerSocket(BridgeZmqSubSocket *socket) {
+ assert(num_polls + 1 < (sizeof(polls) / sizeof(polls[0])));
+ polls[num_polls].socket = socket->getRawSocket();
+ polls[num_polls].events = ZMQ_POLLIN;
+
+ sockets.push_back(socket);
+ num_polls++;
+}
+
+std::vector