mini-era/main.c at cb_dev_00 · akothen/mini-era

Repository navigation

History

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

156

157

158

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

186

187

188

189

190

191

192

193

194

195

196

197

198

199

200

201

202

203

204

205

206

207

208

209

210

211

212

213

214

215

216

217

218

219

220

221

222

223

224

225

226

227

228

229

230

231

232

233

234

235

236

237

238

239

240

241

242

243

244

245

246

247

248

249

250

251

252

253

254

255

256

257

258

259

260

261

262

263

264

265

266

267

268

269

270

271

272

273

274

275

276

277

278

279

280

281

282

283

284

285

286

287

288

289

290

291

292

293

294

295

296

297

298

299

300

301

302

303

304

305

306

307

308

309

310

311

312

313

314

315

316

317

318

319

320

321

322

323

324

325

326

327

328

329

330

331

332

333

334

335

336

337

338

339

340

341

342

343

344

345

346

347

348

349

350

351

352

353

354

355

356

357

358

359

360

361

362

363

364

365

366

367

368

369

370

371

372

373

374

375

376

377

378

379

380

381

382

383

384

385

386

387

388

389

390

391

392

393

394

395

396

397

398

399

400

401

402

403

404

405

406

407

408

409

410

411

412

413

414

415

416

417

418

419

420

421

422

423

424

425

426

427

428

429

430

431

432

433

434

435

436

437

438

439

440

441

442

443

444

445

446

447

448

449

450

451

452

453

454

455

456

457

458

459

460

461

462

463

464

* This program is free software: you can redistribute it and/or modify

* it under the terms of the GNU General Public License as published by

* the Free Software Foundation, either version 3 of the License, or

* (at your option) any later version.

* This program is distributed in the hope that it will be useful,

* but WITHOUT ANY WARRANTY; without even the implied warranty of

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

* GNU General Public License for more details.

* You should have received a copy of the GNU General Public License

* along with this program. If not, see <http://www.gnu.org/licenses/>.

#include <stdio.h>

#include <string.h>

#include <stdlib.h>

#include <sys/time.h>

#include <unistd.h>

#include <getopt.h>

#include "kernels_api.h"

#include "sim_environs.h"

#define TIME

#ifdef INT_TIME

extern uint64_t bitrev_sec;

extern uint64_t bitrev_usec;

extern uint64_t fft_sec;

extern uint64_t fft_usec;

extern uint64_t cdfmcw_sec;

extern uint64_t cdfmcw_usec;

extern uint64_t dodec_sec;

extern uint64_t dodec_usec;

extern uint64_t depunc_sec;

extern uint64_t depunc_usec;

#endif

char cv_dict[256];

char rad_dict[256];

char vit_dict[256];

//char * cv_dict = "traces/objects_dictionary.dfn";

//char * rad_dict = "traces/radar_dictionary.dfn";

//char * vit_dict = "traces/vit_dictionary.dfn";

bool_t all_obstacle_lanes_mode = false;

unsigned time_step;

void print_usage(char * pname) {

printf("Usage: %s <OPTIONS>\n", pname);

printf(" OPTIONS:\n");

printf(" -h : print this helpfule usage info\n");

printf(" -o : print the Visualizer output traace information during the run\n");

printf(" -R <file> : defines the input Radar dictionary file <file> to use\n");

printf(" -V <file> : defines the input Viterbi dictionary file <file> to use\n");

printf(" -C <file> : defines the input CV/CNN dictionary file <file> to use\n");

#ifdef USE_SIM_ENVIRON

printf(" -s <N> : Sets the max number of time steps to simulate\n");

printf(" -r <N> : Sets the rand random number seed to N\n");

printf(" -A : Allow obstacle vehciles in All lanes (otherwise not in left or right hazard lanes)\n");

printf(" -W <wfile> : defines the world environment parameters description file <wfile> to use\n");

#else

printf(" -t <trace> : defines the input trace file <trace> to use\n");

#endif

printf(" -f <N> : defines Log2 number of FFT samples\n");

printf(" : 14 = 2^14 = 16k samples (default); 10 = 1k samples\n");

printf(" -v <N> : defines Viterbi messaging behavior:\n");

printf(" : 0 = One short message per time step\n");

printf(" : 1 = One long message per time step\n");

printf(" : 2 = One short message per obstacle per time step\n");

printf(" : 3 = One long message per obstacle per time step\n");

printf(" : 4 = One short msg per obstacle + 1 per time step\n");

printf(" : 5 = One long msg per obstacle + 1 per time step\n");

}

int main(int argc, char *argv[])

{

vehicle_state_t vehicle_state;

label_t label;

distance_t distance;

message_t message;

#ifdef USE_SIM_ENVIRON

char* world_desc_file_name = "default_world.desc";

#else

char* trace_file;

#endif

int opt;

rad_dict[0] = '\0';

vit_dict[0] = '\0';

cv_dict[0] = '\0';

// put ':' in the starting of the

// string so that program can

// distinguish between '?' and ':'

while((opt = getopt(argc, argv, ":hAot:v:s:r:W:R:V:C:f:")) != -1) {

switch(opt) {

case 'h':

print_usage(argv[0]);

exit(0);

case 'A':

all_obstacle_lanes_mode = true;

break;

case 'o':

output_viz_trace = true;

break;

case 'R':

snprintf(rad_dict, 255, "%s", optarg);

break;

case 'C':

snprintf(cv_dict, 255, "%s", optarg);

break;

case 'V':

snprintf(vit_dict, 255, "%s", optarg);

break;

case 's':

#ifdef USE_SIM_ENVIRON

max_time_steps = atoi(optarg);

printf("Using %u maximum time steps (simulation)\n", max_time_steps);

#endif

break;

case 'f':

fft_logn_samples = atoi(optarg);

if ((fft_logn_samples == 10) || (fft_logn_samples == 14)) {

printf("Using 2^%u = %u samples for the FFT\n", fft_logn_samples, (1<<fft_logn_samples));

} else {

printf("Cannot specify FFT logn samples value %u (Legal values are 10, 14)\n", fft_logn_samples);

exit(-1);

}

break;

case 'r':

#ifdef USE_SIM_ENVIRON

rand_seed = atoi(optarg);

#endif

break;

case 't':

#ifndef USE_SIM_ENVIRON

trace_file = optarg;

printf("Using trace file: %s\n", trace_file);

#endif

break;

case 'v':

vit_msgs_behavior = atoi(optarg);

printf("Using viterbi behavior %u\n", vit_msgs_behavior);

break;

case 'W':

#ifdef USE_SIM_ENVIRON

world_desc_file_name = optarg;

printf("Using world description file: %s\n", world_desc_file_name);

#endif

break;

case ':':

printf("option needs a value\n");

break;

case '?':

printf("unknown option: %c\n", optopt);

break;

}

// optind is for the extra arguments

// which are not parsed

for(; optind < argc; optind++){

printf("extra arguments: %s\n", argv[optind]);

}

if (rad_dict[0] == '\0') {

sprintf(rad_dict, "traces/radar_dictionary.dfn");

}

if (vit_dict[0] == '\0') {

sprintf(vit_dict, "traces/vit_dictionary.dfn");

}

if (cv_dict[0] == '\0') {

sprintf(cv_dict, "traces/objects_dictionary.dfn");

}

printf("\nDictionaries:\n");

printf(" CV/CNN : %s\n", cv_dict);

printf(" Radar : %s\n", rad_dict);

printf(" Viterbi: %s\n", vit_dict);

/* We plan to use three separate trace files to drive the three different kernels

* that are part of mini-ERA (CV, radar, Viterbi). All these three trace files

* are required to have the same base name, using the file extension to indicate

* which kernel the trace corresponds to (cv, rad, vit).

/* if (argc != 2) */

/* { */

/* printf("Usage: %s <trace_basename>\n\n", argv[0]); */

/* printf("Where <trace_basename> is the basename of the trace files to load:\n"); */

/* printf(" <trace_basename>.cv : trace to feed the computer vision kernel\n"); */

/* printf(" <trace_basename>.rad : trace to feed the radar (FFT-1D) kernel\n"); */

/* printf(" <trace_basename>.vit : trace to feed the Viterbi decoding kernel\n"); */

/* return 1; */

/* } */

char cv_py_file[] = "../cv/keras_cnn/lenet.py";

printf("Doing initialization tasks...\n");

#ifndef USE_SIM_ENVIRON

/* Trace filename construction */

/* char * trace_file = argv[1]; */

//printf("Input trace file: %s\n", trace_file);

/* Trace Reader initialization */

if (!init_trace_reader(trace_file))

{

printf("Error: the trace reader couldn't be initialized properly.\n");

return 1;

}

#endif

/* Kernels initialization */

printf("Initializing the CV kernel...\n");

if (!init_cv_kernel(cv_py_file, cv_dict))

{

printf("Error: the computer vision kernel couldn't be initialized properly.\n");

return 1;

}

printf("Initializing the Radar kernel...\n");

if (!init_rad_kernel(rad_dict))

{

printf("Error: the radar kernel couldn't be initialized properly.\n");

return 1;

}

printf("Initializing the Viterbi kernel...\n");

if (!init_vit_kernel(vit_dict))

{

printf("Error: the Viterbi decoding kernel couldn't be initialized properly.\n");

return 1;

}

/* We assume the vehicle starts in the following state:

* - Lane: center

* - Speed: 50 mph

vehicle_state.active = true;

vehicle_state.lane = center;

vehicle_state.speed = 50;

DEBUG(printf("Vehicle starts with the following state: active: %u lane %u speed %.1f\n", vehicle_state.active, vehicle_state.lane, vehicle_state.speed));

#ifdef USE_SIM_ENVIRON

// In simulation mode, we could start the main car is a different state (lane, speed)

init_sim_environs(world_desc_file_name, &vehicle_state);

#endif

/*** MAIN LOOP -- iterates until all the traces are fully consumed ***/

time_step = 0;

#ifdef TIME

struct timeval stop, start;

struct timeval stop_iter_rad, start_iter_rad;

struct timeval stop_iter_vit, start_iter_vit;

struct timeval stop_iter_cv , start_iter_cv;

uint64_t iter_rad_sec = 0LL;

uint64_t iter_vit_sec = 0LL;

uint64_t iter_cv_sec = 0LL;

uint64_t iter_rad_usec = 0LL;

uint64_t iter_vit_usec = 0LL;

uint64_t iter_cv_usec = 0LL;

struct timeval stop_exec_rad, start_exec_rad;

struct timeval stop_exec_vit, start_exec_vit;

struct timeval stop_exec_cv , start_exec_cv;

uint64_t exec_rad_sec = 0LL;

uint64_t exec_vit_sec = 0LL;

uint64_t exec_cv_sec = 0LL;

uint64_t exec_rad_usec = 0LL;

uint64_t exec_vit_usec = 0LL;

uint64_t exec_cv_usec = 0LL;

//printf("Program run time in milliseconds %f\n", (double) (stop.tv_sec - start.tv_sec) * 1000 + (double) (stop.tv_usec - start.tv_usec) / 1000);

#endif // TIME

printf("Starting the main loop...\n");

/* The input trace contains the per-epoch (time-step) input data */

#ifdef USE_SIM_ENVIRON

DEBUG(printf("\n\nTime Step %d\n", time_step));

while (iterate_sim_environs(vehicle_state))

#else //TRACE DRIVEN MODE

read_next_trace_record(vehicle_state);

while (!eof_trace_reader())

#endif

{

DEBUG(printf("Vehicle_State: Lane %u %s Speed %.1f\n", vehicle_state.lane, lane_names[vehicle_state.lane], vehicle_state.speed));

/* The computer vision kernel performs object recognition on the

* next image, and returns the corresponding label.

* This process takes place locally (i.e. within this car).

#ifdef TIME

gettimeofday(&start_iter_cv, NULL);

#endif

label_t cv_tr_label = iterate_cv_kernel(vehicle_state);

#ifdef TIME

gettimeofday(&stop_iter_cv, NULL);

iter_cv_sec += stop_iter_cv.tv_sec - start_iter_cv.tv_sec;

iter_cv_usec += stop_iter_cv.tv_usec - start_iter_cv.tv_usec;

#endif

/* The radar kernel performs distance estimation on the next radar

* data, and returns the estimated distance to the object.

#ifdef TIME

gettimeofday(&start_iter_rad, NULL);

#endif

radar_dict_entry_t* rdentry_p = iterate_rad_kernel(vehicle_state);

#ifdef TIME

gettimeofday(&stop_iter_rad, NULL);

iter_rad_sec += stop_iter_rad.tv_sec - start_iter_rad.tv_sec;

iter_rad_usec += stop_iter_rad.tv_usec - start_iter_rad.tv_usec;

#endif

distance_t rdict_dist = rdentry_p->distance;

float * ref_in = rdentry_p->return_data;

float radar_inputs[2*RADAR_N];

for (int ii = 0; ii < 2*RADAR_N; ii++) {

radar_inputs[ii] = ref_in[ii];

}

/* The Viterbi decoding kernel performs Viterbi decoding on the next

* OFDM symbol (message), and returns the extracted message.

* This message can come from another car (including, for example,

* its 'pose') or from the infrastructure (like speed violation or

* road construction warnings). For simplicity, we define a fix set

* of message classes (e.g. car on the right, car on the left, etc.)

#ifdef TIME

gettimeofday(&start_iter_vit, NULL);

#endif

vit_dict_entry_t* vdentry_p = iterate_vit_kernel(vehicle_state);

#ifdef TIME

gettimeofday(&stop_iter_vit, NULL);

iter_vit_sec += stop_iter_vit.tv_sec - start_iter_vit.tv_sec;

iter_vit_usec += stop_iter_vit.tv_usec - start_iter_vit.tv_usec;

#endif

// Here we will simulate multiple cases, based on global vit_msgs_behavior

int num_vit_msgs = 1; // the number of messages to send this time step (1 is default)

switch(vit_msgs_behavior) {

case 2: num_vit_msgs = total_obj; break;

case 3: num_vit_msgs = total_obj; break;

case 4: num_vit_msgs = total_obj + 1; break;

case 5: num_vit_msgs = total_obj + 1; break;

}

// EXECUTE the kernels using the now known inputs

#ifdef TIME

gettimeofday(&start_exec_cv, NULL);

#endif

label = execute_cv_kernel(cv_tr_label);

#ifdef TIME

gettimeofday(&stop_exec_cv, NULL);

exec_cv_sec += stop_exec_cv.tv_sec - start_exec_cv.tv_sec;

exec_cv_usec += stop_exec_cv.tv_usec - start_exec_cv.tv_usec;

gettimeofday(&start_exec_rad, NULL);

#endif

distance = execute_rad_kernel(radar_inputs);

#ifdef TIME

gettimeofday(&stop_exec_rad, NULL);

exec_rad_sec += stop_exec_rad.tv_sec - start_exec_rad.tv_sec;

exec_rad_usec += stop_exec_rad.tv_usec - start_exec_rad.tv_usec;

gettimeofday(&start_exec_vit, NULL);

#endif

message = execute_vit_kernel(vdentry_p, num_vit_msgs);

#ifdef TIME

gettimeofday(&stop_exec_vit, NULL);

exec_vit_sec += stop_exec_vit.tv_sec - start_exec_vit.tv_sec;

exec_vit_usec += stop_exec_vit.tv_usec - start_exec_vit.tv_usec;

#endif

// POST-EXECUTE each kernels to gather stats, etc.

post_execute_cv_kernel(cv_tr_label, label);

post_execute_rad_kernel(rdentry_p->index, rdict_dist, distance);

for (int mi = 0; mi < num_vit_msgs; mi++) {

post_execute_vit_kernel(vdentry_p->msg_id, message);

}

/* The plan_and_control() function makes planning and control decisions

* based on the currently perceived information. It returns the new

* vehicle state.

DEBUG(printf("Time Step %3u : Calling Plan and Control with message %u and distane %.1f\n", time_step, message, distance));

vehicle_state = plan_and_control(label, distance, message, vehicle_state);

DEBUG(printf("New vehicle state: lane %u speed %.1f\n\n", vehicle_state.lane, vehicle_state.speed));

#ifdef TIME

time_step++;

if (time_step == 1) {

gettimeofday(&start, NULL);

}

#endif

#ifndef USE_SIM_ENVIRON

read_next_trace_record(vehicle_state);

#endif

}

#ifdef TIME

gettimeofday(&stop, NULL);

#endif

/* All the traces have been fully consumed. Quitting... */

closeout_cv_kernel();

closeout_rad_kernel();

closeout_vit_kernel();

#ifdef TIME

{

uint64_t total_exec = (uint64_t) (stop.tv_sec - start.tv_sec) * 1000000 + (uint64_t) (stop.tv_usec - start.tv_usec);

uint64_t iter_rad = (uint64_t) (iter_rad_sec) * 1000000 + (uint64_t) (iter_rad_usec);

uint64_t iter_vit = (uint64_t) (iter_vit_sec) * 1000000 + (uint64_t) (iter_vit_usec);

uint64_t iter_cv = (uint64_t) (iter_cv_sec) * 1000000 + (uint64_t) (iter_cv_usec);

uint64_t exec_rad = (uint64_t) (exec_rad_sec) * 1000000 + (uint64_t) (exec_rad_usec);

uint64_t exec_vit = (uint64_t) (exec_vit_sec) * 1000000 + (uint64_t) (exec_vit_usec);

uint64_t exec_cv = (uint64_t) (exec_cv_sec) * 1000000 + (uint64_t) (exec_cv_usec);

printf("\nProgram total execution time %lu usec\n", total_exec);

printf(" iterate_rad_kernel run time %lu usec\n", iter_rad);

printf(" iterate_vit_kernel run time %lu usec\n", iter_vit);

printf(" iterate_cv_kernel run time %lu usec\n", iter_cv);

printf(" execute_rad_kernel run time %lu usec\n", exec_rad);

printf(" execute_vit_kernel run time %lu usec\n", exec_vit);

printf(" execute_cv_kernel run time %lu usec\n", exec_cv);

}

#endif // TIME

#ifdef INT_TIME

// These are timings taken from called routines...

printf("\n");

uint64_t fft = (uint64_t) (fft_sec) * 1000000 + (uint64_t) (fft_usec);

printf(" fft-total run time %lu usec\n", fft);

uint64_t bitrev = (uint64_t) (bitrev_sec) * 1000000 + (uint64_t) (bitrev_usec);

printf(" bit-reverse run time %lu usec\n", bitrev);

uint64_t cdfmcw = (uint64_t) (cdfmcw_sec) * 1000000 + (uint64_t) (cdfmcw_usec);

printf(" calc-dist run time %lu usec\n", cdfmcw);

printf("\n");

uint64_t depunc = (uint64_t) (depunc_sec) * 1000000 + (uint64_t) (depunc_usec);

printf(" depuncture run time %lu usec\n", depunc);

uint64_t dodec = (uint64_t) (dodec_sec) * 1000000 + (uint64_t) (dodec_usec);

printf(" do-decoding run time %lu usec\n", dodec);

#endif // INT_TIME

printf("\nDone.\n");

return 0;

}

FilesExpand file tree

main.c

Latest commit

History

main.c

File metadata and controls