Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 1 | /* |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 2 | * Copyright (c) 2019-2021 Arm Limited. All rights reserved. |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 3 | * |
| 4 | * SPDX-License-Identifier: Apache-2.0 |
| 5 | * |
| 6 | * Licensed under the Apache License, Version 2.0 (the License); you may |
| 7 | * not use this file except in compliance with the License. |
| 8 | * You may obtain a copy of the License at |
| 9 | * |
| 10 | * www.apache.org/licenses/LICENSE-2.0 |
| 11 | * |
| 12 | * Unless required by applicable law or agreed to in writing, software |
| 13 | * distributed under the License is distributed on an AS IS BASIS, WITHOUT |
| 14 | * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 15 | * See the License for the specific language governing permissions and |
| 16 | * limitations under the License. |
| 17 | */ |
| 18 | |
| 19 | /**************************************************************************** |
| 20 | * Includes |
| 21 | ****************************************************************************/ |
| 22 | |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 23 | #include "FreeRTOS.h" |
| 24 | #include "queue.h" |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 25 | #include "semphr.h" |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 26 | #include "task.h" |
| 27 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 28 | #include <inttypes.h> |
| 29 | #include <stdio.h> |
| 30 | #include <vector> |
| 31 | |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 32 | #include "inference_process.hpp" |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 33 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 34 | // Model data (Defined & changable by modifiying compile definition in CMakeLists.txt) |
| 35 | #include "input.h" |
| 36 | #include "model.h" |
| 37 | #include "output.h" |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 38 | |
| 39 | using namespace std; |
| 40 | using namespace InferenceProcess; |
| 41 | |
| 42 | /**************************************************************************** |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 43 | * Defines |
| 44 | ****************************************************************************/ |
| 45 | |
| 46 | // Nr. of tasks to process inferences with. Task reserves driver & runs inference (Normally 1 per NPU, but not a must) |
| 47 | #define NUM_INFERENCE_TASKS 1 |
| 48 | // Nr. of tasks to create jobs and recieve responses |
| 49 | #define NUM_JOB_TASKS 1 |
| 50 | // Nr. of jobs to create per job task |
| 51 | #define NUM_JOBS_PER_TASK 1 |
| 52 | |
| 53 | // Tensor arena size |
| 54 | #ifdef TENSOR_ARENA_SIZE // If defined in model.h |
| 55 | #define TENSOR_ARENA_SIZE_PER_INFERENCE TENSOR_ARENA_SIZE |
| 56 | #else // If not defined, use maximum available |
| 57 | #define TENSOR_ARENA_SIZE_PER_INFERENCE 2000000 / NUM_INFERENCE_TASKS |
| 58 | #endif |
| 59 | |
| 60 | /**************************************************************************** |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 61 | * InferenceJob |
| 62 | ****************************************************************************/ |
| 63 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 64 | struct ProcessTaskParams { |
| 65 | ProcessTaskParams() {} |
| 66 | ProcessTaskParams(QueueHandle_t _queue, uint8_t *_tensorArena, size_t _arenaSize) : |
| 67 | queueHandle(_queue), tensorArena(_tensorArena), arenaSize(_arenaSize) {} |
Anton Moberg | 1a679c4 | 2021-02-10 08:45:39 +0100 | [diff] [blame] | 68 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 69 | QueueHandle_t queueHandle; |
| 70 | uint8_t *tensorArena; |
| 71 | size_t arenaSize; |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 72 | }; |
| 73 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 74 | // Number of total completed jobs, needed to exit application correctly if NUM_JOB_TASKS > 1 |
| 75 | static int totalCompletedJobs = 0; |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 76 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 77 | // TensorArena static initialisation |
| 78 | static const size_t arenaSize = TENSOR_ARENA_SIZE_PER_INFERENCE; |
| 79 | __attribute__((section(".bss.tensor_arena"), aligned(16))) |
| 80 | uint8_t inferenceProcessTensorArena[NUM_INFERENCE_TASKS][arenaSize]; |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 81 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 82 | // Wrapper around InferenceProcess::InferenceJob. Adds responseQueue and status for FreeRTOS multi-tasking purposes. |
| 83 | struct xInferenceJob : public InferenceJob { |
| 84 | QueueHandle_t responseQueue; |
| 85 | bool status; |
| 86 | |
| 87 | xInferenceJob() : InferenceJob(), responseQueue(nullptr), status(false) {} |
| 88 | xInferenceJob(const string &_name, |
| 89 | const DataPtr &_networkModel, |
| 90 | const vector<DataPtr> &_input, |
| 91 | const vector<DataPtr> &_output, |
| 92 | const vector<DataPtr> &_expectedOutput, |
| 93 | const size_t _numBytesToPrint, |
| 94 | const vector<uint8_t> &_pmuEventConfig, |
| 95 | const uint32_t _pmuCycleCounterEnable, |
| 96 | QueueHandle_t _queue) : |
| 97 | InferenceJob(_name, |
| 98 | _networkModel, |
| 99 | _input, |
| 100 | _output, |
| 101 | _expectedOutput, |
| 102 | _numBytesToPrint, |
| 103 | _pmuEventConfig, |
| 104 | _pmuCycleCounterEnable), |
| 105 | responseQueue(_queue), status(false) {} |
| 106 | }; |
| 107 | |
| 108 | /**************************************************************************** |
| 109 | * Mutex & Semaphore |
| 110 | * Overrides weak-linked symbols in ethosu_driver.c to implement thread handling |
| 111 | ****************************************************************************/ |
| 112 | |
| 113 | extern "C" { |
| 114 | |
| 115 | void *ethosu_mutex_create(void) { |
| 116 | return xSemaphoreCreateMutex(); |
| 117 | } |
| 118 | |
| 119 | void ethosu_mutex_lock(void *mutex) { |
| 120 | SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(mutex); |
| 121 | xSemaphoreTake(handle, portMAX_DELAY); |
| 122 | } |
| 123 | |
| 124 | void ethosu_mutex_unlock(void *mutex) { |
| 125 | SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(mutex); |
| 126 | xSemaphoreGive(handle); |
| 127 | } |
| 128 | |
| 129 | void *ethosu_semaphore_create(void) { |
| 130 | return xSemaphoreCreateBinary(); |
| 131 | } |
| 132 | |
| 133 | void ethosu_semaphore_take(void *sem) { |
| 134 | SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(sem); |
| 135 | xSemaphoreTake(handle, portMAX_DELAY); |
| 136 | } |
| 137 | |
| 138 | void ethosu_semaphore_give(void *sem) { |
| 139 | SemaphoreHandle_t handle = reinterpret_cast<SemaphoreHandle_t>(sem); |
| 140 | xSemaphoreGive(handle); |
| 141 | } |
| 142 | } |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 143 | |
| 144 | /**************************************************************************** |
| 145 | * Functions |
| 146 | ****************************************************************************/ |
| 147 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 148 | // inferenceProcessTask - Run jobs from queue with available driver |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 149 | void inferenceProcessTask(void *pvParameters) { |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 150 | ProcessTaskParams params = *reinterpret_cast<ProcessTaskParams *>(pvParameters); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 151 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 152 | class InferenceProcess inferenceProcess(params.tensorArena, params.arenaSize); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 153 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 154 | for (;;) { |
| 155 | xInferenceJob *xJob; |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 156 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 157 | xQueueReceive(params.queueHandle, &xJob, portMAX_DELAY); |
| 158 | bool status = inferenceProcess.runJob(*xJob); |
| 159 | xJob->status = status; |
| 160 | xQueueSend(xJob->responseQueue, &xJob, portMAX_DELAY); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 161 | } |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 162 | vTaskDelete(nullptr); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 163 | } |
| 164 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 165 | // inferenceSenderTask - Creates NUM_INFERNECE_JOBS jobs, queues them, and then listens for completion status |
| 166 | void inferenceSenderTask(void *pvParameters) { |
| 167 | int ret = 0; |
| 168 | |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 169 | QueueHandle_t inferenceProcessQueue = reinterpret_cast<QueueHandle_t>(pvParameters); |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 170 | xInferenceJob jobs[NUM_JOBS_PER_TASK]; |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 171 | |
| 172 | // Create queue for response messages |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 173 | QueueHandle_t senderQueue = xQueueCreate(NUM_JOBS_PER_TASK, sizeof(xInferenceJob *)); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 174 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 175 | // Create and queue the jobs |
| 176 | for (int n = 0; n < NUM_JOBS_PER_TASK; n++) { |
| 177 | // Create job |
| 178 | xInferenceJob *job = &jobs[n]; |
| 179 | job->name = string(modelName); |
| 180 | job->networkModel = DataPtr(networkModelData, sizeof(networkModelData)); |
| 181 | job->input.push_back(DataPtr(inputData, sizeof(inputData))); |
| 182 | job->expectedOutput.push_back(DataPtr(expectedOutputData, sizeof(expectedOutputData))); |
| 183 | job->responseQueue = senderQueue; |
| 184 | // Send job |
| 185 | printf("Sending inference job: job=%p, name=%s\n", job, job->name.c_str()); |
| 186 | xQueueSend(inferenceProcessQueue, &job, portMAX_DELAY); |
| 187 | } |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 188 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 189 | // Listen for completion status |
| 190 | do { |
| 191 | xInferenceJob *pSendJob; |
| 192 | xQueueReceive(senderQueue, &pSendJob, portMAX_DELAY); |
| 193 | printf("inferenceSenderTask: received response for job: %s, status = %u\n", |
| 194 | pSendJob->name.c_str(), |
| 195 | pSendJob->status); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 196 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 197 | totalCompletedJobs++; |
| 198 | ret = (pSendJob->status); |
| 199 | if (pSendJob->status != 0) { |
| 200 | break; |
| 201 | } |
| 202 | } while (totalCompletedJobs < NUM_JOBS_PER_TASK * NUM_JOB_TASKS); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 203 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 204 | vQueueDelete(senderQueue); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 205 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 206 | printf("FreeRTOS application returning %d.\n", ret); |
| 207 | exit(ret); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 208 | } |
| 209 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 210 | /**************************************************************************** |
| 211 | * Application |
| 212 | ****************************************************************************/ |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 213 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 214 | // Declare variables in global scope to avoid stack since FreeRTOS resets stack when the scheduler is started |
| 215 | static QueueHandle_t inferenceProcessQueue; |
| 216 | static ProcessTaskParams taskParams[NUM_INFERENCE_TASKS]; |
Per Åstrand | 4d61275 | 2021-02-22 09:50:54 +0100 | [diff] [blame] | 217 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 218 | // FreeRTOS application. NOTE: Additional tasks may require increased heap size. |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 219 | int main() { |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 220 | BaseType_t ret; |
| 221 | inferenceProcessQueue = xQueueCreate(NUM_JOBS_PER_TASK, sizeof(xInferenceJob *)); |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 222 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 223 | // inferenceSender tasks to create and queue the jobs |
| 224 | for (int n = 0; n < NUM_JOB_TASKS; n++) { |
| 225 | ret = xTaskCreate(inferenceSenderTask, "inferenceSenderTask", 2 * 1024, inferenceProcessQueue, 2, nullptr); |
| 226 | if (ret != pdPASS) { |
| 227 | printf("FreeRTOS: Failed to create 'inferenceSenderTask%i'\n", n); |
| 228 | exit(1); |
| 229 | } |
| 230 | } |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 231 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 232 | // Create inferenceProcess tasks to process the queued jobs |
| 233 | for (int n = 0; n < NUM_INFERENCE_TASKS; n++) { |
| 234 | taskParams[n] = ProcessTaskParams(inferenceProcessQueue, inferenceProcessTensorArena[n], arenaSize); |
| 235 | ret = xTaskCreate(inferenceProcessTask, "inferenceProcessTask", 3 * 1024, &taskParams[n], 3, nullptr); |
| 236 | if (ret != pdPASS) { |
| 237 | printf("FreeRTOS: Failed to create 'inferenceProcessTask%i'\n", n); |
| 238 | exit(1); |
| 239 | } |
| 240 | } |
| 241 | |
| 242 | // Start Scheduler |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 243 | vTaskStartScheduler(); |
| 244 | |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 245 | printf("FreeRTOS application failed to initialise \n"); |
| 246 | exit(1); |
| 247 | |
Kristofer Jonsson | 43ce491 | 2020-11-20 09:42:53 +0100 | [diff] [blame] | 248 | return 0; |
Anton Moberg | 6a7703e | 2021-03-02 15:14:29 +0100 | [diff] [blame] | 249 | } |