int main()
{
printf("\n");
printf("\n");
printf("\n");
printf(" HPMPC -- Library for High-Performance implementation of solvers for MPC.\n");
printf(" Copyright (C) 2014 by Technical University of Denmark. All rights reserved.\n");
printf("\n");
printf(" HPMPC is distributed in the hope that it will be useful,\n");
printf(" but WITHOUT ANY WARRANTY; without even the implied warranty of\n");
printf(" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\n");
printf(" See the GNU Lesser General Public License for more details.\n");
printf("\n");
printf("\n");
printf("\n");
#if defined(TARGET_X64_AVX2) || defined(TARGET_X64_AVX) || defined(TARGET_X64_SSE3) || defined(TARGET_X86_ATOM) || defined(TARGET_AMD_SSE3)
/* printf("\nflush subnormals to zero\n\n");*/
_MM_SET_FLUSH_ZERO_MODE(_MM_FLUSH_ZERO_ON); // flush to zero subnormals !!! works only with one thread !!!
#endif
int ii, jj, idx;
int rep, nrep=NREP;
int nx = NX; // number of states (it has to be even for the mass-spring system test problem)
int nu = NU; // number of inputs (controllers) (it has to be at least 1 and at most nx/2 for the mass-spring system test problem)
int N = NN; // horizon lenght
int nb = NB; // number of box constrained inputs and states
printf(" Test problem: mass-spring system with %d masses and %d controls.\n", nx/2, nu);
printf("\n");
printf(" MPC problem size: %d states, %d inputs, %d horizon length, %d two-sided box constraints.\n", nx, nu, N, nb);
printf("\n");
printf(" ADMM method parameters: single precision, %d maximum iterations, %5.1e exit tolerance in primal and duality measure (edit file test_admm_ip_box.c to change them).\n", K_MAX_ADMM, TOL);
int info = 0;
const int bs = S_MR; //d_get_mr();
const int ncl = S_NCL;
const int nal = bs*ncl; // number of doubles per cache line
const int nz = nx+nu+1;
const int pnz = bs*((nz+bs-1)/bs);
const int pnx = bs*((nx+bs-1)/bs);
const int cnz = ncl*((nx+nu+1+ncl-1)/ncl);
const int cnx = ncl*((nx+ncl-1)/ncl);
const int pnb = bs*((2*nb+bs-1)/bs); // packed number of box constraints
const int anz = nal*((nz+nal-1)/nal);
const int anx = nal*((nx+nal-1)/nal);
const int anb = nal*((2*nb+nal-1)/nal); // cache aligned number of box constraints
const int pad = (ncl-nx%ncl)%ncl; // packing between BAbtL & P
const int cnl = cnz<cnx+ncl ? nx+pad+cnx+ncl : nx+pad+cnz;
/************************************************
* dynamical system
************************************************/
double *A; d_zeros(&A, nx, nx); // states update matrix
double *B; d_zeros(&B, nx, nu); // inputs matrix
double *b; d_zeros(&b, nx, 1); // states offset
double *x0; d_zeros(&x0, nx, 1); // initial state
double Ts = 0.5; // sampling time
mass_spring_system(Ts, nx, nu, N, A, B, b, x0);
for(jj=0; jj<nx; jj++)
b[jj] = 0.1;
for(jj=0; jj<nx; jj++)
x0[jj] = 0;
x0[0] = 3.5;
x0[1] = 3.5;
// d_print_mat(nx, nx, A, nx);
// d_print_mat(nx, nu, B, nx);
// d_print_mat(nx, 1, b, nx);
// d_print_mat(nx, 1, x0, nx);
/* packed */
/* double *BAb; d_zeros(&BAb, nx, nz);*/
/* dmcopy(nx, nu, B, nx, BAb, nx);*/
/* dmcopy(nx, nx, A, nx, BAb+nu*nx, nx);*/
/* dmcopy(nx, 1 , b, nx, BAb+(nu+nx)*nx, nx);*/
/* transposed */
/* double *BAbt; d_zeros_align(&BAbt, pnz, pnz);*/
/* for(ii=0; ii<nx; ii++)*/
/* for(jj=0; jj<nz; jj++)*/
/* {*/
/* BAbt[jj+pnz*ii] = BAb[ii+nx*jj];*/
/* }*/
/* packed into contiguous memory */
float *pBAbt; s_zeros_align(&pBAbt, pnz, cnx);
/* d_cvt_mat2pmat(nz, nx, 0, bs, BAbt, pnz, pBAbt, cnx);*/
/* d_cvt_tran_mat2pmat(nx, nz, 0, bs, BAb, nx, pBAbt, cnx);*/
cvt_tran_d2s_mat2pmat(nx, nu, 0, bs, B, nx, pBAbt, cnx);
cvt_tran_d2s_mat2pmat(nx, nx, nu, bs, A, nx, pBAbt+nu/bs*cnx*bs+nu%bs, cnx);
for (jj = 0; jj<nx; jj++)
pBAbt[(nx+nu)/bs*cnx*bs+(nx+nu)%bs+jj*bs] = (float) b[jj];
/* s_print_pmat (nz, nx, bs, pBAbt, cnx);*/
/* exit(1);*/
/************************************************
* box constraints
************************************************/
/* double *db; d_zeros_align(&db, 2*nb, 1);*/
/* for(jj=0; jj<2*nu; jj++)*/
/* db[jj] = - 0.5; // umin*/
/* for(; jj<2*nb; jj++)*/
/* db[jj] = - 4.0; // xmin*/
float *lb; s_zeros_align(&lb, nx+nu, 1);
for(jj=0; jj<nu; jj++)
lb[jj] = - 0.5; // umin
for(; jj<nu+nx; jj++)
lb[jj] = - 4.0; // xmin
float *ub; s_zeros_align(&ub, nx+nu, 1);
for(jj=0; jj<nu; jj++)
ub[jj] = 0.5; // uman
for(; jj<nu+nx; jj++)
ub[jj] = 4.0; // xman
/************************************************
* cost function
************************************************/
float *Q; s_zeros_align(&Q, pnz, pnz);
for(ii=0; ii<nu; ii++) Q[ii*(pnz+1)] = 2.0;
for(; ii<pnz; ii++) Q[ii*(pnz+1)] = 1.0;
for(ii=0; ii<nz; ii++) Q[nx+nu+ii*pnz] = 0.1;
/* Q[(nx+nu)*(pnz+1)] = 1e35; // large enough (not needed any longer) */
/* packed into contiguous memory */
float *pQ; s_zeros_align(&pQ, pnz, cnz);
s_cvt_mat2pmat(nz, nz, 0, bs, Q, pnz, pQ, cnz);
/************************************************
* matrices series
************************************************/
float *(hpQ[N+1]);
float *(hq[N+1]);
float *(hux[N+1]);
float *(hpi[N+1]);
float *(hlam[N+1]);
float *(ht[N+1]);
float *(hpBAbt[N]);
float *(hlb[N+1]);
float *(hub[N+1]);
float *(hrb[N]);
float *(hrq[N+1]);
float *(hrd[N+1]);
float *(hux_v[N+1]);
float *(hux_w[N+1]);
for(jj=0; jj<N; jj++)
{
s_zeros_align(&hpQ[jj], pnz, cnz);
}
s_zeros_align(&hpQ[N], pnz, pnz);
for(jj=0; jj<N; jj++)
{
s_zeros_align(&hq[jj], anz, 1);
s_zeros_align(&hux[jj], anz, 1);
s_zeros_align(&hpi[jj], anx, 1);
s_zeros_align(&hlam[jj],anb, 1); // TODO pnb
s_zeros_align(&ht[jj], anb, 1); // TODO pnb
hpBAbt[jj] = pBAbt;
hlb[jj] = lb;
hub[jj] = ub;
s_zeros_align(&hrb[jj], anx, 1);
s_zeros_align(&hrq[jj], anz, 1);
s_zeros_align(&hrd[jj], anb, 1); // TODO pnb
s_zeros_align(&hux_v[jj], anz, 1);
s_zeros_align(&hux_w[jj], anz, 1);
}
s_zeros_align(&hq[N], anz, 1);
s_zeros_align(&hux[N], anz, 1);
s_zeros_align(&hpi[N], anx, 1);
s_zeros_align(&hlam[N], anb, 1); // TODO pnb
s_zeros_align(&ht[N], anb, 1); // TODO pnb
hlb[N] = lb;
hub[N] = ub;
s_zeros_align(&hrq[N], anz, 1);
s_zeros_align(&hrd[N], anb, 1); // TODO pnb
s_zeros_align(&hux_v[N], anz, 1);
s_zeros_align(&hux_w[N], anz, 1);
// starting guess
// for(jj=0; jj<nx; jj++) hux[0][nu+jj]=x0[jj];
/************************************************
* riccati-like iteration
************************************************/
float *work; s_zeros_align(&work, (N+1)*(pnz*cnl + 4*anz + 2*anx) + 3*anz, 1); // work space
int kk = 0; // acutal number of iterations
/* char prec = PREC; // double/single precision*/
/* float sp_thr = SP_THR; // threshold to switch between double and single precision*/
int k_max = K_MAX_ADMM; // maximum number of iterations in the ADMM method
float tol = TOL*sqrt(N*(nx+nu));//TOL; // tolerance in the duality measure
/* float sigma[] = {0.4, 0.3, 0.01}; // control primal-dual IP behaviour*/
float rho = 2.0; // penalty parameter
float alpha = 1.5; // relaxation parameter
float *stat; s_zeros(&stat, 5, k_max); // stats from the ADMM routine
int compute_mult = COMPUTE_MULT_ADMM;
int warm_start = 0;//WARM_START;
/* float mu = -1.0;*/
/* initizile the cost function */
for(ii=0; ii<N; ii++)
{
for(jj=0; jj<pnz*cnz; jj++) hpQ[ii][jj]=pQ[jj];
}
for(jj=0; jj<pnz*cnz; jj++) hpQ[N][jj]=pQ[jj];
// initial states
float xx0[] = {3.5, 3.5, 3.66465, 2.15833, 1.81327, -0.94207, 1.86531, -2.35760, 2.91534, 1.79890, -1.49600, -0.76600, -2.60268, 1.92456, 1.66630, -2.28522, 3.12038, 1.83830, 1.93519, -1.87113};
/* warm up */
// initialize states and inputs
for(ii=0; ii<=N; ii++)
for(jj=0; jj<nx+nu; jj++)
hux[ii][jj] = 0;
hux[0][nu+0] = xx0[0];
hux[0][nu+1] = xx0[1];
// call the ADMM solver
// if(FREE_X0==0)
// {
s_admm_box_mpc(&kk, k_max, tol, tol, warm_start, 1, rho, alpha, stat, nx, nu, N, hpBAbt, hpQ, hlb, hub, hux, hux_v, hux_w, compute_mult, hpi, work);
// }
// else
// {
///* d_ip_box_mhe(&kk, k_max, tol, warm_start, sigma, stat, nx, nu, N, nb, hpBAbt, hpQ, hdb, hux, compute_mult, hpi, hlam, ht, work);*/
// }
int kk_avg = 0;
/* timing */
struct timeval tv0, tv1;
gettimeofday(&tv0, NULL); // start
for(rep=0; rep<nrep; rep++)
{
idx = rep%10;
x0[0] = xx0[2*idx];
x0[1] = xx0[2*idx+1];
// initialize states and inputs
for(ii=0; ii<=N; ii++)
for(jj=0; jj<nx+nu; jj++)
hux[ii][jj] = 0;
hux[0][nu+0] = xx0[2*idx];
hux[0][nu+1] = xx0[2*idx+1];
// call the ADMM solver
// if(FREE_X0==0)
// {
s_admm_box_mpc(&kk, k_max, tol, tol, warm_start, 0, rho, alpha, stat, nx, nu, N, hpBAbt, hpQ, hlb, hub, hux, hux_v, hux_w, compute_mult, hpi, work);
// }
// else
// {
///* d_ip_box_mhe(&kk, k_max, tol, warm_start, sigma, stat, nx, nu, N, nb, hpBAbt, hpQ, hdb, hux, compute_mult, hpi, hlam, ht, work);*/
// }
kk_avg += kk;
}
gettimeofday(&tv1, NULL); // stop
float time = (tv1.tv_sec-tv0.tv_sec)/(nrep+0.0)+(tv1.tv_usec-tv0.tv_usec)/(nrep*1e6);
/* printf("\nnx\tnu\tN\tkernel\n\n");*/
/* printf("\n%d\t%d\t%d\t%e\n\n", nx, nu, N, time);*/
printf("\n");
printf(" Average number of iterations over %d runs: %5.1f\n", nrep, kk_avg / (float) nrep);
/* printf(" Average number of iterations over %d runs: %d\n", nrep, kk);*/
printf("\n");
printf(" Average solution time over %d runs: %5.2e seconds\n", nrep, time);
printf("\n");
// restore linear part of cost function
for(ii=0; ii<N; ii++)
{
for(jj=0; jj<nx+nu; jj++) hq[ii][jj] = Q[nx+nu+pnz*jj];
}
for(jj=0; jj<nx+nu; jj++) hq[N][jj] = Q[nx+nu+pnz*jj];
// residuals computation
/* if(FREE_X0==0)*/
/* d_res_ip_box_mpc(nx, nu, N, nb, hpBAbt, hpQ, hq, hux, hdb, hpi, hlam, ht, hrq, hrb, hrd, &mu);*/
/* else*/
/* d_res_ip_box_mhe(nx, nu, N, nb, hpBAbt, hpQ, hq, hux, hdb, hpi, hlam, ht, hrq, hrb, hrd, &mu);*/
if(PRINTSTAT==1)
{
printf("\n");
printf("\n");
printf(" Print ADMM statistics of the last run\n");
printf("\n");
for(jj=0; jj<kk; jj++)
printf("k = %d\t\tp_res = %f\td_res = %f\n", jj, stat[5*jj], stat[5*jj+1]);
printf("\n");
}
if(PRINTRES==1)
{
printf("\n");
printf("\n");
printf(" Print solution\n");
printf("\n");
printf("\nu = \n\n");
for(ii=0; ii<N; ii++)
s_print_mat(1, nu, hux[ii], 1);
}
if(0 && PRINTRES==1 && COMPUTE_MULT_ADMM==1)
{
// print result
// print result
printf("\n");
printf("\n");
printf(" Print residuals\n\n");
printf("\n");
printf("\n");
printf("rq = \n\n");
// if(FREE_X0==0)
// {
s_print_mat(1, nu, hrq[0], 1);
for(ii=1; ii<=N; ii++)
/* s_print_mat_e(1, nx+nu, hrq[ii], 1);*/
s_print_mat(1, nx+nu, hrq[ii], 1);
// }
// else
// {
// for(ii=0; ii<=N; ii++)
///* s_print_mat_e(1, nx+nu, hrq[ii], 1);*/
// s_print_mat(1, nx+nu, hrq[ii], 1);
// }
printf("\n");
printf("\n");
printf("rb = \n\n");
for(ii=0; ii<N; ii++)
/* s_print_mat_e(1, nx, hrb[ii], 1);*/
s_print_mat(1, nx, hrb[ii], 1);
printf("\n");
printf("\n");
printf("rd = \n\n");
for(ii=0; ii<=N; ii++)
/* s_print_mat_e(1, 2*nb, hrd[ii], 1);*/
s_print_mat(1, 2*nb, hrd[ii], 1);
printf("\n");
printf("\n");
/* printf("mu = %e\n\n", mu);*/
}
/* printf("\nnx\tnu\tN\tkernel\n\n");*/
/* printf("\n%d\t%d\t%d\t%e\n\n", nx, nu, N, time);*/
/************************************************
* free memory and return
************************************************/
free(A);
free(B);
free(b);
free(x0);
/* free(BAb);*/
/* free(BAbt);*/
free(pBAbt);
free(lb);
free(ub);
free(Q);
free(pQ);
free(work);
free(stat);
for(jj=0; jj<N; jj++)
{
free(hpQ[jj]);
free(hq[jj]);
free(hux[jj]);
free(hpi[jj]);
free(hlam[jj]);
free(ht[jj]);
free(hrb[jj]);
free(hrq[jj]);
free(hrd[jj]);
free(hux_v[jj]);
free(hux_w[jj]);
}
free(hpQ[N]);
free(hq[N]);
free(hux[N]);
free(hpi[N]);
free(hlam[N]);
free(ht[N]);
free(hrq[N]);
free(hrd[N]);
free(hux_v[N]);
free(hux_w[N]);
return 0;
}
int main()
{
printf("\n");
printf("\n");
printf("\n");
printf(" HPMPC -- Library for High-Performance implementation of solvers for MPC.\n");
printf(" Copyright (C) 2014 by Technical University of Denmark. All rights reserved.\n");
printf("\n");
printf(" HPMPC is distributed in the hope that it will be useful,\n");
printf(" but WITHOUT ANY WARRANTY; without even the implied warranty of\n");
printf(" MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\n");
printf(" See the GNU Lesser General Public License for more details.\n");
printf("\n");
printf("\n");
printf("\n");
printf("BLAS performance test - single precision\n");
printf("\n");
// maximum frequency of the processor
const float GHz_max = GHZ_MAX;
printf("Frequency used to compute theoretical peak: %5.1f GHz (edit test_param.h to modify this value).\n", GHz_max);
printf("\n");
// maximum flops per cycle, single precision
#if defined(TARGET_X64_AVX2)
const float flops_max = 32;
printf("Testing BLAS version for AVX2 & FMA3 instruction sets, 64 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_X64_AVX)
const float flops_max = 16;
printf("Testing BLAS version for AVX instruction set, 64 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_X64_SSE3) || defined(TARGET_AMD_SSE3)
const float flops_max = 8;
printf("Testing BLAS version for SSE3 instruction set, 64 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_CORTEX_A15)
const float flops_max = 8;
printf("Testing solvers for ARMv7a NEON instruction set, oprimized for Cortex A15: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_CORTEX_A9)
const float flops_max = 4;
printf("Testing solvers for ARMv7a NEON instruction set, oprimized for Cortex A9: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_CORTEX_A7)
const float flops_max = 2;
printf("Testing solvers for ARMv7a NEON instruction set, oprimized for Cortex A7: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_X86_ATOM)
const float flops_max = 4;
printf("Testing BLAS version for SSE3 instruction set, 32 bit, optimized for Intel Atom: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_POWERPC_G2)
const float flops_max = 2;
printf("Testing BLAS version for POWERPC instruction set, 32 bit: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_C99_4X4)
const float flops_max = 2;
printf("Testing reference BLAS version, 4x4 kernel: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#elif defined(TARGET_C99_2X2)
const float flops_max = 2;
printf("Testing reference BLAS version, 2x2 kernel: theoretical peak %5.1f Gflops\n", flops_max*GHz_max);
#endif
printf("\n");
printf("\n");
printf("\n");
FILE *f;
f = fopen("./test_problems/results/test_blas.m", "w"); // a
#if defined(TARGET_X64_AVX2)
fprintf(f, "C = 's_x64_avx2';\n");
fprintf(f, "\n");
#elif defined(TARGET_X64_AVX)
fprintf(f, "C = 's_x64_avx';\n");
fprintf(f, "\n");
#elif defined(TARGET_X64_SSE3)
fprintf(f, "C = 's_x64_sse3';\n");
fprintf(f, "\n");
#elif defined(TARGET_CORTEX_A15)
fprintf(f, "C = 's_ARM_cortex_A15';\n");
fprintf(f, "\n");
#elif defined(TARGET_CORTEX_A9)
fprintf(f, "C = 's_ARM_cortex_A9';\n");
fprintf(f, "\n");
#elif defined(TARGET_CORTEX_A7)
fprintf(f, "C = 's_ARM_cortex_A7';\n");
fprintf(f, "\n");
#elif defined(TARGET_X86_ATOM)
fprintf(f, "C = 's_x86_atom';\n");
fprintf(f, "\n");
#elif defined(TARGET_POWERPC_G2)
fprintf(f, "C = 's_PowerPC_G2';\n");
fprintf(f, "\n");
#elif defined(TARGET_C99_4X4)
fprintf(f, "C = 's_c99_2x2';\n");
fprintf(f, "\n");
#elif defined(TARGET_C99_2X2)
fprintf(f, "C = 's_c99_4x4';\n");
fprintf(f, "\n");
#endif
fprintf(f, "A = [%f %f];\n", GHz_max, flops_max);
fprintf(f, "\n");
fprintf(f, "B = [\n");
int i, j, rep, ll;
const int bsd = D_MR; //d_get_mr();
const int bss = S_MR; //s_get_mr();
/* int info = 0;*/
printf("\nn\tGflops dgemm %%\tGflops dsyrk %%\tGflops dtrmm %%\tGflops dpotrf %%\tGflops dgemv_n%%\tGflops dgemv_t%%\tGflops dsymv %%\tGflops dtrmv_n%%\tGflops dtrmv_t%%\tGflops dmvmv%%\n\n");
int nn[] = {4, 8, 12, 16, 20, 24, 28, 32, 36, 40, 44, 48, 52, 56, 60, 64, 68, 72, 76, 80, 84, 88, 92, 96, 100, 104, 108, 112, 116, 120, 124, 128, 132, 136, 140, 144, 148, 152, 156, 160, 164, 168, 172, 176, 180, 184, 188, 192, 196, 200, 204, 208, 212, 216, 220, 224, 228, 232, 236, 240, 244, 248, 252, 256, 260, 264, 268, 272, 276, 280, 284, 288, 292, 296, 300, 304, 308, 312, 316, 320, 324, 328, 332};
int nnrep[] = {10000, 10000, 10000, 10000, 10000, 10000, 10000, 10000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 1000, 400, 400, 400, 400, 400, 200, 200, 200, 200, 200, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100, 100};
for(ll=0; ll<75; ll++)
{
int n = nn[ll];
int nrep = nnrep[ll];
double *A; d_zeros(&A, n, n);
double *B; d_zeros(&B, n, n);
double *C; d_zeros(&C, n, n);
float *sA; s_zeros(&sA, n, n);
float *sB; s_zeros(&sB, n, n);
float *sC; s_zeros(&sC, n, n);
for(i=0; i<n*n; i++)
A[i] = i;
for(i=0; i<n; i++)
B[i*(n+1)] = 1;
for(i=0; i<n*n; i++)
sA[i] = i;
for(i=0; i<n; i++)
sB[i*(n+1)] = 1;
int pns = ((n+bss-1)/bss)*bss;
int cns = ((n+S_NCL-1)/S_NCL)*S_NCL;
int cns2 = ((2*n+S_NCL-1)/S_NCL)*S_NCL;
float *pA; s_zeros_align(&pA, pns, cns);
float *pB; s_zeros_align(&pB, pns, cns);
float *pC; s_zeros_align(&pC, pns, cns);
float *pD; s_zeros_align(&pD, pns, cns);
float *pE; s_zeros_align(&pE, pns, cns2);
float *pF; s_zeros_align(&pF, 2*pns, cns);
float *pL; s_zeros_align(&pL, pns, cns);
float *x; s_zeros_align(&x, pns, 1);
float *y; s_zeros_align(&y, pns, 1);
float *x2; s_zeros_align(&x2, 2*pns, 1);
float *y2; s_zeros_align(&y2, 2*pns, 1);
float *diag; s_zeros_align(&diag, pns, 1);
s_cvt_mat2pmat(n, n, 0, bss, sA, n, pA, cns);
s_cvt_mat2pmat(n, n, 0, bss, sB, n, pB, cns);
s_cvt_mat2pmat(n, n, 0, bss, sB, n, pD, cns);
s_cvt_mat2pmat(n, n, 0, bss, sA, n, pE, cns2);
for(i=0; i<pns*cns; i++) pC[i] = -1;
for(i=0; i<pns; i++) x[i] = 1;
for(i=0; i<pns; i++) x2[i] = 1;
/* timing */
struct timeval tv0, tv1, tv2, tv3, tv4, tv5, tv6, tv7, tv8, tv9, tv10, tv11, tv12;
/* warm up */
for(rep=0; rep<nrep; rep++)
{
sgemm_nt_lib(n, n, n, pA, cns, pB, cns, pC, cns, 0);
}
gettimeofday(&tv0, NULL); // start
for(rep=0; rep<nrep; rep++)
{
sgemm_nt_lib(n, n, n, pA, cns, pB, cns, pC, cns, 0);
}
gettimeofday(&tv1, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
ssyrk_spotrf_lib(n, n, n, pE, cns2, pD, cns, diag);
}
gettimeofday(&tv2, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
strmm_lib(n, n, pA, cns, pB, cns, pC, cns);
}
gettimeofday(&tv3, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
strtr_l_lib(n, 0, pA, cns, pC, cns); // triangualr matrix transpose
}
gettimeofday(&tv4, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
sgemv_n_lib(n, n, pA, cns, x, y, 0);
}
gettimeofday(&tv5, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
sgemv_t_lib(n, n, 0, pA, cns, x, y, 0);
}
gettimeofday(&tv6, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
strmv_u_n_lib(n, pA, cns, x, y, 0);
}
gettimeofday(&tv7, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
strmv_u_t_lib(n, pA, cns, x, y, 0);
}
gettimeofday(&tv8, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
strsv_sgemv_n_lib(n, 2*n, pF, cns, x2);
}
gettimeofday(&tv9, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
strsv_sgemv_t_lib(n, 2*n, pF, cns, x2);
}
gettimeofday(&tv10, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
ssymv_lib(n, 0, pA, cns, x, y, 0);
}
gettimeofday(&tv11, NULL); // stop
for(rep=0; rep<nrep; rep++)
{
smvmv_lib(n, n, 0, pA, cns, x, y, x2, y2, 0);
}
gettimeofday(&tv12, NULL); // stop
float Gflops_max = flops_max * GHz_max;
float time_dgemm = (float) (tv1.tv_sec-tv0.tv_sec)/(nrep+0.0)+(tv1.tv_usec-tv0.tv_usec)/(nrep*1e6);
float flop_dgemm = 2.0*n*n*n;
float Gflops_dgemm = 1e-9*flop_dgemm/time_dgemm;
float time_dsyrk_dpotrf = (float) (tv2.tv_sec-tv1.tv_sec)/(nrep+0.0)+(tv2.tv_usec-tv1.tv_usec)/(nrep*1e6);
float flop_dsyrk_dpotrf = 1.0*n*n*n + 1.0/3.0*n*n*n;
float Gflops_dsyrk_dpotrf = 1e-9*flop_dsyrk_dpotrf/time_dsyrk_dpotrf;
float time_dtrmm = (float) (tv3.tv_sec-tv2.tv_sec)/(nrep+0.0)+(tv3.tv_usec-tv2.tv_usec)/(nrep*1e6);
float flop_dtrmm = 1.0*n*n*n;
float Gflops_dtrmm = 1e-9*flop_dtrmm/time_dtrmm;
float time_dtrtr = (float) (tv4.tv_sec-tv3.tv_sec)/(nrep+0.0)+(tv4.tv_usec-tv3.tv_usec)/(nrep*1e6);
float flop_dtrtr = 0.5*n*n; // 0.5*n*n elements
float Gflops_dtrtr = 1e-9*flop_dtrtr/time_dtrtr;
float time_dgemv_n = (float) (tv5.tv_sec-tv4.tv_sec)/(nrep+0.0)+(tv5.tv_usec-tv4.tv_usec)/(nrep*1e6);
float flop_dgemv_n = 2.0*n*n;
float Gflops_dgemv_n = 1e-9*flop_dgemv_n/time_dgemv_n;
float time_dgemv_t = (float) (tv6.tv_sec-tv5.tv_sec)/(nrep+0.0)+(tv6.tv_usec-tv5.tv_usec)/(nrep*1e6);
float flop_dgemv_t = 2.0*n*n;
float Gflops_dgemv_t = 1e-9*flop_dgemv_t/time_dgemv_t;
float time_dtrmv_n = (float) (tv7.tv_sec-tv6.tv_sec)/(nrep+0.0)+(tv7.tv_usec-tv6.tv_usec)/(nrep*1e6);
float flop_dtrmv_n = 1.0*n*n;
float Gflops_dtrmv_n = 1e-9*flop_dtrmv_n/time_dtrmv_n;
float time_dtrmv_t = (float) (tv8.tv_sec-tv7.tv_sec)/(nrep+0.0)+(tv8.tv_usec-tv7.tv_usec)/(nrep*1e6);
float flop_dtrmv_t = 1.0*n*n;
float Gflops_dtrmv_t = 1e-9*flop_dtrmv_t/time_dtrmv_t;
float time_dtrsv_n = (float) (tv9.tv_sec-tv8.tv_sec)/(nrep+0.0)+(tv9.tv_usec-tv8.tv_usec)/(nrep*1e6);
float flop_dtrsv_n = 3.0*n*n;
float Gflops_dtrsv_n = 1e-9*flop_dtrsv_n/time_dtrsv_n;
float time_dtrsv_t = (float) (tv10.tv_sec-tv9.tv_sec)/(nrep+0.0)+(tv10.tv_usec-tv9.tv_usec)/(nrep*1e6);
float flop_dtrsv_t = 3.0*n*n;
float Gflops_dtrsv_t = 1e-9*flop_dtrsv_t/time_dtrsv_t;
float time_dsymv = (float) (tv11.tv_sec-tv10.tv_sec)/(nrep+0.0)+(tv11.tv_usec-tv10.tv_usec)/(nrep*1e6);
float flop_dsymv = 2.0*n*n;
float Gflops_dsymv = 1e-9*flop_dsymv/time_dsymv;
float time_dmvmv = (float) (tv12.tv_sec-tv11.tv_sec)/(nrep+0.0)+(tv12.tv_usec-tv11.tv_usec)/(nrep*1e6);
float flop_dmvmv = 4.0*n*n;
float Gflops_dmvmv = 1e-9*flop_dmvmv/time_dmvmv;
printf("%d\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\n", n, Gflops_dgemm, 100.0*Gflops_dgemm/Gflops_max, Gflops_dsyrk_dpotrf, 100.0*Gflops_dsyrk_dpotrf/Gflops_max, Gflops_dtrmm, 100.0*Gflops_dtrmm/Gflops_max, Gflops_dtrtr, 100.0*Gflops_dtrtr/Gflops_max, Gflops_dgemv_n, 100.0*Gflops_dgemv_n/Gflops_max, Gflops_dgemv_t, 100.0*Gflops_dgemv_t/Gflops_max, Gflops_dtrmv_n, 100.0*Gflops_dtrmv_n/Gflops_max, Gflops_dtrmv_t, 100.0*Gflops_dtrmv_t/Gflops_max, Gflops_dtrsv_n, 100.0*Gflops_dtrsv_n/Gflops_max, Gflops_dtrsv_t, 100.0*Gflops_dtrsv_t/Gflops_max, Gflops_dsymv, 100.0*Gflops_dsymv/Gflops_max, Gflops_dmvmv, 100.0*Gflops_dmvmv/Gflops_max);
fprintf(f, "%d\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\t%7.2f\n", n, Gflops_dgemm, 100.0*Gflops_dgemm/Gflops_max, Gflops_dsyrk_dpotrf, 100.0*Gflops_dsyrk_dpotrf/Gflops_max, Gflops_dtrmm, 100.0*Gflops_dtrmm/Gflops_max, Gflops_dtrtr, 100.0*Gflops_dtrtr/Gflops_max, Gflops_dgemv_n, 100.0*Gflops_dgemv_n/Gflops_max, Gflops_dgemv_t, 100.0*Gflops_dgemv_t/Gflops_max, Gflops_dtrmv_n, 100.0*Gflops_dtrmv_n/Gflops_max, Gflops_dtrmv_t, 100.0*Gflops_dtrmv_t/Gflops_max, Gflops_dtrsv_n, 100.0*Gflops_dtrsv_n/Gflops_max, Gflops_dtrsv_t, 100.0*Gflops_dtrsv_t/Gflops_max, Gflops_dsymv, 100.0*Gflops_dsymv/Gflops_max, Gflops_dmvmv, 100.0*Gflops_dmvmv/Gflops_max);
free(A);
free(B);
free(pA);
free(pB);
free(pC);
free(pD);
free(pE);
free(pF);
free(pL);
free(x);
free(y);
free(x2);
free(y2);
}
printf("\n");
fprintf(f, "];\n");
fclose(f);
return 0;
}
int main()
{
int i, j, rep;
const int bs = D_MR; //d_get_mr();
const int bss = S_MR; //s_get_mr();
printf("\nbs = %d\n\n", bss);
int n = 16;
int nrep = 1000000;
double *A; d_zeros(&A, n, n);
double *B; d_zeros(&B, n, n);
double *C; d_zeros(&C, n, n);
double *L; d_zeros(&L, n, n);
float *sA; s_zeros(&sA, n, n);
float *sB; s_zeros(&sB, n, n);
for(i=0; i<n*n; i++)
{
A[i] = i;
sA[i] = i;
}
B[0] = 2;
/* B[1] = 1;*/
sB[0] = 2;
/* sB[1] = 1;*/
for(i=1; i<n-1; i++)
{
/* B[i*(n+1)-1] = 1;*/
B[i*(n+1)+0] = 2;
/* B[i*(n+1)+1] = 1;*/
/* sB[i*(n+1)-1] = 1;*/
sB[i*(n+1)+0] = 2;
/* sB[i*(n+1)+1] = 1;*/
}
/* B[n*n-2] = 1;*/
B[n*n-1] = 2;
/* sB[n*n-2] = 1;*/
sB[n*n-1] = 2;
for(i=0; i<n; i++)
C[i*(n+1)] = 2;
for(i=0; i<n-1; i++)
C[1+i*(n+1)] = 1;
/*sB[1*(n+1)] = 2;*/
/* d_print_mat(n, n, C, n);*/
int pn = ((n+bs-1)/bs)*bs;//+4;
int pns = ((n+bss-1)/bss)*bss;//+4;
int cns = ((n+S_NCL-1)/S_NCL)*S_NCL;//+4;
int cns2 = ((2*n+S_NCL-1)/S_NCL)*S_NCL;
double *pA; d_zeros_align(&pA, pn, pn);
double *pB; d_zeros_align(&pB, pn, pn);
double *pC; d_zeros_align(&pC, pn, pn);
double *pL; d_zeros_align(&pL, pn, pn);
float *spA; s_zeros_align(&spA, pns, cns);
float *spB; s_zeros_align(&spB, pns, cns);
float *spC; s_zeros_align(&spC, pns, cns);
float *spD; s_zeros_align(&spD, pns, cns);
float *spE; s_zeros_align(&spE, pns, cns2);
float *diag; s_zeros_align(&diag, pns, 1);
d_cvt_mat2pmat(n, n, 0, bs, A, n, pA, pn);
d_cvt_mat2pmat(n, n, 0, bs, B, n, pB, pn);
s_cvt_mat2pmat(n, n, 0, bss, sA, n, spA, cns);
s_cvt_mat2pmat(n, n, 0, bss, sB, n, spB, cns);
s_cvt_mat2pmat(n, n, 0, bss, sB, n, spC, cns);
s_cvt_mat2pmat(n, n, 0, bss, sB, n, spD, cns);
s_cvt_mat2pmat(n, n, 0, bss, sA, n, spE, cns2);
double *x; d_zeros_align(&x, n, 1);
double *y; d_zeros_align(&y, n, 1);
x[2] = 1;
/* for(i=0; i<pn*pn; i++) pC[i] = -1;*/
/* for(i=0; i<pn*pn; i++) spC[i] = -1;*/
// d_print_pmat(pn, pn, bs, pA, pn);
// d_print_pmat(pn, pn, bs, pB, pn);
// d_print_pmat(pn, pn, bs, pC, pn);
// d_print_mat(n, n, B, n);
// double *x; d_zeros_align(&x, pn, 1);
// double *y; d_zeros_align(&y, pn, 1);
// x[3] = 1.0;
/* d_cvt_mat2pmat(n, n, bs-n%bs, bs, C, n, pC+((bs-n%bs))%bs*(bs+1), pn);*/
/* d_print_pmat(pn, pn, bs, pC, pn);*/
/* s_print_pmat(n, n, bss, spD, cns);*/
/* s_print_pmat(n, n+4, bss, spE, cns2);*/
/* timing */
struct timeval tv0, tv1;
gettimeofday(&tv0, NULL); // start
/* d_print_pmat(n, n, bs, pC, pn);*/
for(rep=0; rep<nrep; rep++)
{
/* sgemm_nt_lib(n, n, n, spA, cns, spB, cns, spC, cns, 0);*/
ssyrk_spotrf_lib(n, n, n, spE, cns2, spD, cns, diag);
/* strtr_l_lib(11, 3, spA+3, cns, spC, cns);*/
/* sgemm_nt_lib(n, n, n, spB, pns, spA, pns, spC, pns, 0);*/
/* dgemm_nt_lib(n, n, n, pA, pn, pB, pn, pC, pn, 0);*/
/* dgemm_nt_lib(n, n, n, pB, pn, pA, pn, pC, pn, 0);*/
/* dtrmm_pup_nn_lib(n, n, pA, pn, B, n, pC, pn);*/
/* dsyrk_ppp_lib(n, n, pA, pn, pC, pn);*/
/* dgemm_ppp_nt_lib(n, n, n, pA, pn, pA, pn, pB, pn, 0);*/
/* dtrmm_ppp_lib(n, n, 0, pA, pn, pB, pn, pC, pn);*/
/* dpotrf_dcopy_lib(n, 0, pC, pn, pL, pn);*/
/* dgemm_pup_nn_lib(n, n, n, pA, pn, B, n, pC, pn, 0);*/
/* dgemm_ppp_nt_lib(n, n, n, pA, pn, pA, pn, pC+(bs-n)*(bs+1), pn, 1);*/
/* d_print_pmat(pn, pn, bs, pC, pn);*/
/* dpotrf_p_dcopy_u_lib(n, (bs-n%bs)%bs, pC+((bs-n%bs))%bs*(bs+1), pn, L, n);*/
/* d_print_pmat(pn, pn, bs, pC, pn);*/
/* d_print_mat(n, n, L, n);*/
/* exit(2);*/
// dgemm_nt_lib(n, n, n, A, n, B, n, C, n, 0);
// dgemm_nt_lib_asm(n, n, n, pA, pn, pB, pn, pC, pn, 0);
// sgemm_nt_lib_neon(n, n, n, spA, pns, spB, pns, spC, pns, 0);
// dsymm_nt_lib(n, n, A, n, B, n, C, n);
// dpotrf_lib(n, B, n);
// dgemm_nt_lib2(n, pB, pA, pC, pn);
// dgemv_n_lib(n-1, n, 1, pn, pA+1, x, y);
// dtrmv_n_lib(n-1, 1, pA+1, pn, x, y);
/* dtrmv_t_lib(n-1, 1, pA+1, pn, x, y);*/
}
gettimeofday(&tv1, NULL); // stop
float time = (float) (tv1.tv_sec-tv0.tv_sec)/(nrep+0.0)+(tv1.tv_usec-tv0.tv_usec)/(nrep*1e6);
float flop = 2.0*n*n*n;
/* float flop = 1.0*n*n;*/
// float flop = 1.0/3.0*n*n*n;
float Gflops = 1e-9*flop/time;
float Gflops_max = 1*1;
printf("\nn\tGflops\t\t%%\n%d\t%f\t%f\n\n", n, Gflops, 100.0*Gflops/Gflops_max);
if(n<=24)
{
// d_print_pmat(pn, pn, bs, pC, pn);
// d_print_pmat(n, n, bs, pB, pn);
/* d_print_pmat(n, n, bs, pA, pn);*/
/* d_print_mat(n, n, B, n);*/
/* d_print_pmat(n, n, bs, pB, pn);*/
/* d_print_pmat(n, n, bs, pC, pn);*/
/* d_print_pmat(n, n, bs, pL, pn);*/
s_print_pmat(n, n, bss, spA, cns);
s_print_pmat(n, n, bss, spB, cns);
/* s_print_pmat(n, n, bss, spC, cns);*/
s_print_pmat(n, n, bss, spE+n*bss, cns2);
/* d_print_mat(n, 1, y, pn);*/
}
return 0;
}