Hexagon DSP系列记录(二)——写Hexagon DSP程序流程

小咪咪 2022-11-29 12:49 373阅读 0赞

### 写Hexagon DSP程序流程 ###

In general the developer follows these steps:

1.  Define an API in IDL that will perform their computation
2.  Compile IDL into a header and Android library
3.  Call the API directly from their application
4.  Results are returned just like a normal function call and it appears to the application as if the work was performed locally.

以Hexagon\_SDK\\3.5.2\\examples\\fastcv\\cornerApp为例子讲解:  
cornerApp例子主要是对输入图像做高斯滤波并检测fast角点，具体图像算法部分使用的是高通自带的fastcv SDK。  
首先定义idl接口文件inc/cornerApp.idl

#ifndef CORNER_APP_IDL
    #define CORNER_APP_IDL
    
    #include "AEEStdDef.idl"
    
    interface cornerApp{
        
       AEEResult filterGaussianAndCornerFastQ(in sequence<uint8> src,
                                  in uint32 srcWidth,
                                  in uint32 srcHeight,
                                  rout sequence <uint8> dst,
                                  in int32 blurBorder,
                                  in uint32 srcStride,
                                  in int32 barrier, 
                                  in uint32 border, 
                                  rout sequence <uint32> xy,
                                  in uint32 nCornersMax, 
                                  rout uint32 nCorners,
                                  rout sequence <uint32> renderBuffer);
                                  
    };
    
    #endif CORNER_APP_IDL

经过QAIC IDL Compiler后会生成cornerApp.h/cornerApp\_stub.c/cornerApp\_skel.c，我们只关注cornerApp.h，因为它对应idl文件的c接口，截取cornerApp.h关键部分如下

#ifdef __cplusplus
    extern "C" {
        
    #endif
    __QAIC_HEADER_EXPORT AEEResult __QAIC_HEADER(cornerApp_filterGaussianAndCornerFastQ)(
    	const uint8* src, int srcLen, //所有的sequence<xxx>被解析为const xxx*指针，srcLen代表xxx的个数
    	uint32 srcWidth, 
    	uint32 srcHeight, 
    	uint8* dst, int dstLen, 
    	int32 blurBorder, 
    	uint32 srcStride, 
    	int32 barrier, 
    	uint32 border, 
    	uint32* xy, int xyLen, 
    	uint32 nCornersMax, 
    	uint32* nCorners, //rout uint32 nCorners, 输出被解析为指针，用于将值传出
    	uint32* renderBuffer, int renderBufferLen
    	) __QAIC_HEADER_ATTRIBUTE;
    #ifdef __cplusplus
    }
    #endif

接下来开发者需要做的就是写cornerApp.h文件接口对应的实现src/cornerApp\_imp.c：

#include "fastcv.h"  // 高通fastcv SDK头文件
    #include "cornerApp.h"
    #include "AEEStdErr.h"
    
    /*===========================================================================
        REMOTED FUNCTION
    ===========================================================================*/
    /*-------------------------------begin corner detection app functions---------------------------------------------------------------------*/
    
    AEEResult cornerApp_filterGaussianAndCornerFastQ(const uint8* src,
    		int srcLen, uint32 srcWidth, uint32 srcHeight, uint8* dst, int dstLen, int32 blurBorder,
    		uint32 srcStride, int32 barrier, uint32 border, uint32* xy, int xylen, uint32 nCornersMax,
    		uint32* nCorners,uint32* renderBuffer, int renderBufferLen)
    {
        
    	// Perform color conversion from YUV to RGB. Output renderBuffer is the original 
        // buffer after conversion to RGB, upon which the caller of this function must draw 
        // the corners detected in the desired manner. 
    	fcvColorYUV420toRGB565u8(src, srcWidth, srcHeight, renderBuffer);// 高通fastcv SDK提供的函数
    
    	// Gaussian blur the image and then detect corners using Fast9 detection algorithm.
        // Return the list of corners for application to draw upon the rendered image.
    	fcvFilterGaussian3x3u8(src, srcWidth, srcHeight, dst, blurBorder);// 高通fastcv SDK提供的函数
    
        fcvCornerFast9u8(dst, srcWidth, srcHeight, srcStride, barrier, border, xy, nCornersMax, nCorners);// 高通fastcv SDK提供的函数
    
    	return AEE_SUCCESS;
    }

fastcv提供的所有接口请参考下载的Hexagon\_SDK路径： file:///E:/Qualcomm/Hexagon\_SDK/3.5.2/docs/FastCV/Applications\_Computer%20Vision.html\#FastCV%20Library  
最后，开发者写应用(如main函数)调用上面接口，参考src/cornerApp.c  
下面代码截取关键部分并注释

int test_main_start(int argc, char* argv[]);
    int main(int argc, char* argv[])
    {
        
        return test_main_start(argc, argv);
    }
    
    static uint8_t *dataBuf = NULL;
    static uint8_t *blurredImgBuf = NULL;
    static uint32_t *corners = NULL;
    static uint32_t *renderBuf = NULL;
    
    void deinitQ6(void)
    {
        
    	int nErr = 0;
    	if (dataBuf) rpcmem_free(dataBuf);
    	if (corners) rpcmem_free(corners);
    	if (blurredImgBuf) rpcmem_free(blurredImgBuf);
    	if (renderBuf) rpcmem_free(renderBuf);
    
    	VERIFY(0 == dspCV_deinitQ6());
    	return;
    
    	bail:
    	if(nErr) {
        
    		printf("error in deinitQ6: %d\n", nErr);
    	}
    }
    int initQ6(uint32_t srcHeight, uint32_t srcWidth)
    {
        
    	int nErr = 0;
    
        dspCV_Attribute attrib[] =
        {
        
        	// Slightly more MCPS than are available on current targets
            {
        DSP_TOTAL_MCPS, 1000}, 
            // drive the clock to MAX on known targets
            {
        DSP_MCPS_PER_THREAD, 500}, 
            // 12 GB/sec is slightly higher than the max realistic max BW on existing targets.
            {
        PEAK_BUS_BANDWIDTH_MBPS, 12000},
            // This app is non-real time, and constantly reading/writing memory
            {
        BUS_USAGE_PERCENT, 100},               
        };
    
    	nErr = dspCV_initQ6_with_attributes(attrib, sizeof(attrib)/sizeof(attrib[0]));
        if (nErr){
        
    		printf("error in dspCV_initQ6: %d\n", nErr);
            return(1);
    	}
    
    	// allocate ion buffers
    	VERIFY(0 != (dataBuf = (uint8_t*)rpcmem_alloc(ION_HEAP_ID_SYSTEM, RPCMEM_DEFAULT_FLAGS, 
    												srcWidth*srcHeight*3/2)));
    	VERIFY(0 != (blurredImgBuf = (uint8_t*)rpcmem_alloc(ION_HEAP_ID_SYSTEM, RPCMEM_DEFAULT_FLAGS, 
    												srcWidth*srcHeight)));
    	VERIFY(0 != (renderBuf = (uint32_t*)rpcmem_alloc(ION_HEAP_ID_SYSTEM, RPCMEM_DEFAULT_FLAGS, 
    												srcWidth*srcHeight * 3 / 2 *sizeof(uint32_t))));
    	VERIFY(0 != (corners = (uint32_t*)rpcmem_alloc(ION_HEAP_ID_SYSTEM, RPCMEM_DEFAULT_FLAGS, 
    												XY_SIZE*sizeof(uint32_t))));
    
    	return 0;
    
    	bail:
    	printf("out of memory in initQ6: %d\n", nErr);
        deinitQ6();
    	return 2;
    }
    
    void compareResults(int arg1, int arg2, const char* compareStr)
    {
        
    	printf("%s\t Expected: %d\tGot: %d\n", compareStr, arg2, arg1);
    	return;
    }
    
    int test_main_start(int argc, char* argv[]) {
        
    	uint32_t srcWidth;
    	uint32_t srcHeight;
    	int retVal, i;
    
    	uint32_t numCornersDetected = 0;        // DSP handle
    	uint32_t cornerThreshold = 20;
    
    	//FastRPC机制(fast remote procedure calls, docs/Technologies_FastRPC.html)
    	//将计算任务从CPU发送到DSP。数据传输涉及ION memory。
    	//FastRPC主要接口：rpcmem_init/rpcmem_alloc/rpcmem_free/rpcmem_deinit
    	//FastRPC申请的内存为ION共享内存
    	rpcmem_init();
    
    	srcWidth = 800;
    	srcHeight = 480;
    
        // call dspCV_initQ6_with_attributes() to bump up Q6 clock frequency
        // Since this app is not real-time, and can fully load the DSP clock & bus resources 
        // throughout its lifetime, vote for the maximum available MIPS & BW.
        // lligen add NOTE 1: The dspCV library in ${HEXAGON_SDK_ROOT}/lib/fastcv/dspCV aims to 
        // abstract as much of the DSP runtime environment as possible, to reduce effort in 
        // offloading compute processing to the DSP. It offers API's to perform such functions as 
        // clock/power voting, multi-threaded callbacks, concurrency checking, and HVX resource 
        // management.
        // lligen add NOTE 2: using dspCV remote API's is no longer recommended from SDM660 forward. 
        // They are still supported for backward compatibility.
    	retVal = initQ6(srcHeight, srcWidth);
        if (retVal)
        {
        
            printf("init failed!! status %d\n",retVal);
            rpcmem_deinit();
            return retVal;
        }
        printf("initq6 done...\n");
        if (retVal)
        {
        
            printf("init failed!! status %d\n",retVal);
            rpcmem_deinit();
            return retVal;
        }
    	// 图像数据复制到ION内存，DSP运行时会直接使用ION内存数据
    	memcpy(dataBuf, tmpcorner_test2, srcWidth * srcHeight);
    
    	unsigned long long t1 = GetTime();
        int anyFailures = 0;
        for (i = 0; i < LOOPS; i++)
        {
        
        	// 调用之前写好的接口
    	    retVal = cornerApp_filterGaussianAndCornerFastQ(
    			dataBuf, srcWidth*srcHeight * 3/2, //输入图片格式为YUV420
    			srcWidth,
    			srcHeight,
    			blurredImgBuf, srcWidth * srcHeight,
    			0,	// blurBorder (fcvFilterGaussian)
    			srcWidth,  // srcStride (fcvCornerFast)
    			cornerThreshold,
    			7,
    			(uint32*)corners, XY_SIZE,
    			MAX_NUM_CORNERS,
    			(uint32*)&numCornersDetected,
    			(uint32*)renderBuf, srcWidth * srcHeight / 2);
    
                anyFailures |= retVal;
        }
        unsigned long long t2 = GetTime();
    
        if (AEE_SUCCESS != retVal)
        {
        
            printf("corner detection returned error code %d\n", retVal);
        }
        else
        {
        
    #if 0
            uint32_t *cornerPtr = corners;
            for (i = 0; i < numCornersDetected; i++)
            {
        
                uint32_t x = *(cornerPtr++);
                uint32_t y = *(cornerPtr++);
                printf("corner #:%d \t (x,y): %d, %d\n", i, (int)x, (int)y);
            }
    #endif
            printf("Num corners detected: %d. Expected: 60 \n", (int)numCornersDetected);
            anyFailures |= (numCornersDetected != 60);
        }
        
    #ifdef __hexagon__
        printf("run time of corner detection: %llu PCycles (from %llu-%llu) for %d iterations\n", 
        		t2-t1, t1, t2, LOOPS);
    #else
    	printf("run time of corner detection: %llu microseconds for %d iterations\n", t2-t1, LOOPS);
    #endif
    
    	// free ion buffers
    	deinitQ6();
    	rpcmem_deinit();
        printf("deinit done...\n");
    
        if (anyFailures != 0) printf ("cornerApp FAILED!!!\n");
        else printf ("cornerApp SUCCESS\n");
        return anyFailures;
    }

编译运行可以选择使用Hexagon\_SDK提供的脚本cornerApp\_walkthrough.py

cd E:\Qualcomm\Hexagon_SDK\3.5.2\examples\fastcv\cornerApp
    python .\cornerApp_walkthrough.py -T sm8150

尝试自己一步步编译运行。

cd E:\Qualcomm\Hexagon_SDK\3.5.2\examples\fastcv\cornerApp
    $make V=android_Debug_aarch64 tree CDSP_FLAG=1
    $make V=hexagon_Debug_dynamic_toolv83_v66 tree
    adb push android_Debug_aarch64/ship/cornerApp /vendor/bin
    adb shell chmod 777 /vendor/bin/cornerApp
    adb shell mkdir /vendor/lib/rfsa/dsp/sdk
    adb push hexagon_Debug_dynamic_toolv83_v66/ship/libcornerApp_skel.so /vendor/lib/rfsa/dsp/sdk/
    adb push android_Debug_aarch64/ship/libcornerApp.so /vendor/lib64/
    // 依赖的libfastcvadsp.so/libdspCV_skel.so 手机自带， 在/vendor/lib/rfsa/adsp，如果没有，那也需要adb push
    // 执行前，每台手机需要先Generate testsig，参考上一篇文章的**编译与运行calculator实例**部分
    adb shell export LD_LIBRARY_PATH=/vendor/lib64/:$LD_LIBRARY_PATH ADSP_LIBRARY_PATH="/vendor/lib/rfsa/dsp/sdk\;/vendor/lib/rfsa/dsp/testsig;" /vendor/bin/cornerApp
    initq6 done...
    Num corners detected: 60. Expected: 60
    run time of corner detection: 227263 microseconds for 100 iterations
    deinit done...
    cornerApp SUCCESS

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