~DriversHelper() {
for (unsigned int i=0; i<delegates.size(); i++) {
if (delegates[i]==NULL) continue;
delete delegates[i];
}
delegates.clear();
}
bool add(const char *name, yarp::os::Searchable& config) {
//printf("ADDING %s\n", config.toString().c_str());
PolyDriver *pd = new PolyDriver();
YARP_ASSERT (pd!=NULL);
bool result = pd->open(config);
if (!result) {
delete pd;
return false;
}
drivers.push_back(pd);
names.push_back(ConstString(name));
IService *service = NULL;
pd->view(service);
bool backgrounded = true;
if (service!=NULL) {
backgrounded = service->startService();
if (backgrounded) {
// we don't need to poll this, so forget about the
// service interface
printf("group: service backgrounded\n");
service = NULL;
}
}
needDrive.push_back(!backgrounded);
needDriveSummary = needDriveSummary || (!backgrounded);
Drivers::factory().add(new DriverLinkCreator(name,*pd));
return true;
}
void OCLSample::initOpenCL() {
cl_int result;
// First, select an OpenCL platform
typedef std::vector<cl::Platform> PlatformVector;
PlatformVector platforms;
result = cl::Platform::get(&platforms);
assert(result == CL_SUCCESS && "Failed to retrieve OpenCL platform");
assert(platforms.size() > 0 && "No OpenCL platforms found");
// For now, just blindly select the first platform.
// @TODO: Implement a check here for the NVidia OpenCL platform.
platform_ = platforms[0];
// Create an OpenCL context.
cl_context_properties cps[] = { CL_CONTEXT_PLATFORM,
(cl_context_properties)(platform_)(), 0 };
context_ = cl::Context(CL_DEVICE_TYPE_GPU, cps, NULL, NULL, &result);
assert(result == CL_SUCCESS && "Failed to create OpenCL context");
// Retrieve the available OpenCL devices.
typedef std::vector<cl::Device> DeviceVector;
DeviceVector devices;
devices = context_.getInfo<CL_CONTEXT_DEVICES>();
assert(devices.size() > 0 && "No OpenCL devices found");
// For now, just blindly select the first device.
// @TODO: Implement some sort of device check here.
device_ = devices[0];
// Create a command queue
queue_ = cl::CommandQueue(context_, device_, CL_QUEUE_PROFILING_ENABLE, &result);
assert(result == CL_SUCCESS && "Failed to create command queue");
}
CLContext::CLContext() {
cl_int result;
PlatformVector allPlatforms;
result = cl::Platform::get(&allPlatforms);
throwOnError("cl::Platform::get", result);
if(allPlatforms.size() == 0) {
throw std::runtime_error("No platforms available");
}
platform_ = allPlatforms[0];
//printValue("Platform", platform_.getInfo<CL_PLATFORM_NAME>());
// Create context
cl_context_properties cps[3] = {
CL_CONTEXT_PLATFORM,
(cl_context_properties)(platform_)(),
0
};
context_ = cl::Context(CL_DEVICE_TYPE_GPU, cps, NULL, NULL, &result);
throwOnError("cl::Context", result);
DeviceVector allDevices = context_.getInfo<CL_CONTEXT_DEVICES>();
if(allDevices.size() == 0) {
throw std::runtime_error("No devices available");
}
device_ = allDevices[0];
//printValue("Device", device_.getInfo<CL_DEVICE_NAME>());
}
DriverCreator *find(const char *name) {
for (unsigned int i=0; i<delegates.size(); i++) {
if (delegates[i]==NULL) continue;
ConstString s = delegates[i]->toString();
if (s==name) {
return delegates[i];
}
}
return load(name);
}
bool remove(const char *name) {
for (unsigned int i=0; i<delegates.size(); i++) {
if (delegates[i]==NULL) continue;
ConstString s = delegates[i]->toString();
if (s==name) {
delete delegates[i];
delegates[i] = NULL;
}
}
return false;
}
void clear() {
mutex.wait();
PlatformVector<PolyDriver *>& lst = drivers;
for (unsigned int i=0; i<lst.size(); i++) {
printf("*** Removing %s\n",names[i].c_str());
Drivers::factory().remove(names[i].c_str());
//printf("*** removed %s\n",names[i].c_str());
delete lst[i];
//printf("*** deleted %s\n",names[i].c_str());
}
lst.clear();
names.clear();
mutex.post();
}
ConstString toString() {
ConstString s;
Property done;
for (unsigned int i=0; i<delegates.size(); i++) {
if (delegates[i]==NULL) continue;
ConstString name = delegates[i]->getName();
done.put(name,1);
ConstString wrapper = delegates[i]->getWrapper();
s += "Device \"";
s += delegates[i]->getName();
s += "\"";
s += ",";
s += " C++ class ";
s += delegates[i]->getCode();
s += ", ";
if (wrapper=="") {
s += "has no network wrapper";
} else if (wrapper!=name) {
s += "wrapped by \"";
s += delegates[i]->getWrapper();
s += "\"";
} else {
s += "is a network wrapper.";
}
s += "\n";
}
scan();
Bottle lst = getSelectedPlugins();
for (int i=0; i<lst.size(); i++) {
Value& prop = lst.get(i);
ConstString name = prop.check("name",Value("untitled")).asString();
if (done.check(name)) continue;
SharedLibraryFactory lib;
YarpPluginSettings settings;
settings.setSelector(*this);
settings.readFromSearchable(prop,name);
settings.open(lib);
ConstString location = lib.getName().c_str();
if (location=="") continue;
ConstString cxx = prop.check("cxx",Value("unknown")).asString();
ConstString wrapper = prop.check("wrapper",Value("unknown")).asString();
s += "Device \"";
s += name;
s += "\"";
s += ",";
s += " available on request (found in ";
s += location;
s += " library)";
if (cxx!="unknown") {
s += ", C++ class ";
s += cxx;
s += " ";
}
if (wrapper=="") {
s += "no network wrapper known";
} else if (wrapper=="unknown") {
//s += "network wrapper unknown";
} else if (wrapper!=name) {
s += "wrapped by \"";
s += delegates[i]->getWrapper();
s += "\"";
} else {
s += "is a network wrapper.";
}
s += "\n";
}
return s;
}
void add(DriverCreator *creator) {
if (creator!=NULL) {
delegates.push_back(creator);
}
}
