void init(){
grabber.init(pa("-i"));
bool c_arg = pa("-c");
gui << Draw().handle("draw").label("input image")
<< Image().handle("cropped").label("cropped")
<< ( VBox().maxSize(c_arg ? 0 : 12,99).minSize(c_arg ? 0 : 12,1)
<< Button("save as ..").handle("saveAs")
<< Button("overwrite input").handle("overwrite")
<< Combo("0,90,180,270").handle("rot").label("rotation")
<< CheckBox("rectangular",!pa("-r")).handle("rect")
<< Button("Batch crop...").handle("batch")
<< ( HBox().label("rectification size")
<< Spinner(1,4096,640).handle("s1")
<< Label(":")
<< Spinner(1,4096,480).handle("s2")
)
<< (HBox()
<< Fps().handle("fps")
<< CamCfg()
)
)
<< Show();
if(!c_arg){
gui["batch"].registerCallback(batch_crop);
}
const ImgBase *image = grabber.grab();
if(!c_arg){
mouse_1 = new Mouse1(image->getSize());
gui["draw"].install(mouse_1);
}
mouse_2 = new Mouse2(image->getSize());
gui["draw"].install(mouse_2);
DrawHandle draw = gui["draw"];
draw->setImageInfoIndicatorEnabled(false);
if(!c_arg){
gui["rect"].registerCallback(rectangular_changed);
rectangular_changed();
if(*pa("-i",0) != "file" || FileList(*pa("-i",1)).size() != 1){
gui["overwrite"].disable();
}else{
gui["overwrite"].registerCallback(overwrite);
}
gui["saveAs"].registerCallback(save_as);
}
}
void MainMenu()
{
func = -1;
while (!stop_button())
{
funcLast = func;
func = ScaleKnob(1, 27);
if (FDispMenu(1, "Calibrate Lookdown")) CalibrateLookdown();
if (FDispMenu(2, "Compete!")) Compete();
if (FDispMenu(3, "Placebo")) Placebo();
if (FDispMenu(4, "Dance!")) Chop(10);
if (FDispMenu(5, "Calibrate Soft")) CalibrateSoft();
if (FDispMenu(6, "Calibrate Hard")) CalibrateHard();
if (FDispMenu(7, "Speed Calibration")) CalibrateSpeed();
if (FDispMenu(8, "Lookdown Test")) LookdownTest();
if (FDispMenu(9, "Orientation")) Orient();
if (FDispMenu(10, "Straight 1000")) Move(1000,1000);
if (FDispMenu(11, "Left 90 Soft")) Soft(90, 1);
if (FDispMenu(12, "Left 90 Hard")) Hard(90);
if (FDispMenu(13, "Find Line")) FindLine();
if (FDispMenu(14, "Line Follow")) LineFollower();
if (FDispMenu(15, "Record"))
RecordMove(WSetting("Record move", 0, 9));
if (FDispMenu(16, "Playback"))
PlayMove(WSetting("Play move", 0, 9));
/* hbtest.c functions */
if (FDispMenu(17, "Servo Test")) ServoTest();
if (FDispMenu(18, "Calibrate Gate")) CalibrateGate();
if (FDispMenu(19, "Soft Turn Test")) SoftTest();
if (FDispMenu(20, "Hard Turn Test")) HardTest();
if (FDispMenu(21, "Spin Test!")) Spinner();
if (FDispMenu(22, "Shake Test!")) Shaker();
if (FDispMenu(23, "Bump Test")) BumpTest();
if (FDispMenu(24, "Test Motors")) testmotors();
if (FDispMenu(25, "Test Digitals")) testdigitals();
if (FDispMenu(26, "Test Analogs")) testanalogs();
if (FDispMenu(27, "Assert Enable")) AssertEnable();
}
}
void CL_PingPong::Start(unsigned int num_runs, const std::vector<int> options) {
int ret = 0;
int wg = 256;
auto tid = this_thread::get_id();
std::cout << DASH50 << "\n Ping Pong Test\n";
// decode options
uint16_t power;
if (options.size() > 0) {
power = options[0];
} else {
cout << "Power of numbers to swap?: (0 for default)" << std::endl;
power = promptValidated<int, int>("Power: ", [](int i) { return (i >= 0 && i <= 256); });
}
if (power == 0) {
power = DEFAULTPOWER;
}
// load a pointelss kernel
auto prog = cl::load_program("hello.cl", ctx, CtxDevices);
cl_kernel kernel = clCreateKernel(prog, "pointless", &ret);
assert(ret == CL_SUCCESS);
/* Create Random Numbers */
cl_uint maxN = 1 << power;
size_t szPC = maxN * sizeof(cl_uint);
cl_uint *rndData = new cl_uint[maxN];
// create buffers
cl_mem buf1 = clCreateBuffer(ctx, CL_MEM_READ_WRITE, szPC, NULL, &ret);
cl_mem buf2 = clCreateBuffer(ctx, CL_MEM_READ_WRITE, szPC, NULL, &ret);
// try to place on correct gpus, broken AF
// clEnqueueMigrateMemObjects(cq[0], 1, &buf1, CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED, NULL,
// NULL, NULL);
// clEnqueueMigrateMemObjects(cq[1], 1, &buf2, CL_MIGRATE_MEM_OBJECT_CONTENT_UNDEFINED, NULL,
// NULL, NULL);
// send data to buf 1
ret = clEnqueueWriteBuffer(cq[0], buf1, CL_TRUE, 0, szPC, &rndData[0], 0, NULL, NULL); // blocking
ret = clFinish(cq[0]); // Wait untill all commands executed.
assert(ret == CL_SUCCESS);
unsigned int runs = 0;
running = true;
should_run = true;
ResultFile r;
r.name = "CLPingPong" + to_string(maxN);
r.headdings = {"A to B", "B to A"};
while (ShouldRun() && runs < num_runs) {
vector<unsigned long long> times;
unsigned int percentDone = (unsigned int)(floor(((float)runs / (float)num_runs) * 100.0f));
cout << "\r" << Spinner(runs) << "\t" << runs << "\tPercent Done: " << percentDone << "%"
<< std::flush;
// make new numbers
for (cl_uint i = 0; i < maxN; i++) {
cl_uint x = (cl_uint)0;
rndData[i] = (x << 14) | ((cl_uint)rand() & 0x3FFF);
rndData[i] = (x << 14) | ((cl_uint)rand() & 0x3FFF);
}
Timer time_swap_a;
ret = clEnqueueWriteBuffer(cq[1], buf2, CL_TRUE, 0, szPC, buf1, 0, NULL, NULL); // blocking
for (auto q : cq) {
ret = clFinish(q); // Wait untill all commands executed.
assert(ret == CL_SUCCESS);
}
ret = clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)(&buf2));
assert(ret == CL_SUCCESS);
size_t global_work_size[1] = {maxN};
ret = clEnqueueNDRangeKernel(cq[1], kernel,
1, // work_dim
0, // global_work_offset
global_work_size, // global_work_size
NULL, // local_work_size
0, // num_events_in_wait_list
NULL, // event_wait_list
NULL // event
);
for (auto q : cq) {
ret = clFinish(q); // Wait untill all commands executed.
assert(ret == CL_SUCCESS);
}
time_swap_a.Stop();
times.push_back(time_swap_a.Duration_NS());
Timer time_swap_b;
ret = clEnqueueWriteBuffer(cq[0], buf1, CL_TRUE, 0, szPC, buf2, 0, NULL, NULL); // blocking
for (auto q : cq) {
ret = clFinish(q); // Wait untill all commands executed.
assert(ret == CL_SUCCESS);
}
ret = clSetKernelArg(kernel, 0, sizeof(cl_mem), (void *)(&buf1));
assert(ret == CL_SUCCESS);
ret = clEnqueueNDRangeKernel(cq[0], kernel,
1, // work_dim
0, // global_work_offset
global_work_size, // global_work_size
NULL, // local_work_size
0, // num_events_in_wait_list
NULL, // event_wait_list
NULL // event
);
for (auto q : cq) {
ret = clFinish(q); // Wait untill all commands executed.
assert(ret == CL_SUCCESS);
}
time_swap_b.Stop();
times.push_back(time_swap_b.Duration_NS());
r.times.push_back(times);
++runs;
}
delete[] rndData;
r.CalcAvg();
r.PrintToCSV(r.name);
cout << "\n PingPong finished\n";
running = false;
};
