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Sources/Trajectory/Trajectory.cpp

//---------------------------------------------------------------------------

//

//  File: Trajectory.cpp

//

//  Abstract: A class to compute trajectories using an OpenCL kernel

//

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//

//---------------------------------------------------------------------------

//---------------------------------------------------------------------------

#include <iostream>

//---------------------------------------------------------------------------

#include "OpenCLKit.h"

#include "Trajectory.h"

//---------------------------------------------------------------------------

//---------------------------------------------------------------------------

#pragma mark -

#pragma mark Private - Constants

//---------------------------------------------------------------------------

static const int   kFParamCount = 4;

static const int   kBufferCount = 5;

static const int   kFloatSize   = sizeof(float);

//---------------------------------------------------------------------------

//---------------------------------------------------------------------------

#pragma mark -

#pragma mark Private - Data Structures

//---------------------------------------------------------------------------

class TrajectoryStruct

    public:

        size_t           mnBufferSize;

        size_t           mnBufferCount;

        size_t           mnGlobalWorkSize;

        float            mnTimeMax;

        float            maKFParam[kFParamCount];

        float           *mpKResult[kBufferCount];

        OpenCL::Buffer  *mpKBuffer[kBufferCount];

        OpenCL::Kernel  *mpKernel;

};

//---------------------------------------------------------------------------

//---------------------------------------------------------------------------

#pragma mark -

#pragma mark Private - Utilities

//---------------------------------------------------------------------------

//

// Create buffer objects and then acquire buffer memories from OpenCL.

//

//---------------------------------------------------------------------------

static bool TrajectoryBuffersCreate(OpenCL::Program *pProgram,

                                    TrajectoryStruct *pTrajectory)

    bool bBuffersCreated = true;

    size_t nBufferIndex = 0;

    // Compute the expected buffer size.

    pTrajectory->mnBufferCount = pTrajectory->mnTimeMax / pTrajectory->maKFParam[1];

    pTrajectory->mnBufferSize  = pTrajectory->mnBufferCount * kFloatSize;

    // Acquire the memory buffers for the kernels

//

    // NOTE: On a successful return if the expected buffer size was not POT,

    //       a POT buffer size will be acquired.

    while( bBuffersCreated  && ( nBufferIndex < kBufferCount ) )

        pTrajectory->mpKBuffer[nBufferIndex] = new OpenCL::Buffer(pProgram);

        bBuffersCreated = pTrajectory->mpKBuffer[nBufferIndex] != NULL;

        if( bBuffersCreated )

            bBuffersCreated = bBuffersCreated && ( pTrajectory->mpKBuffer[nBufferIndex]->Acquire(nBufferIndex,

                                                                                                 pTrajectory->mnBufferSize) );

        } // if

        nBufferIndex++;

    } // while

    return( bBuffersCreated );

} // TrajectoryBuffersCreate

//---------------------------------------------------------------------------

//

// Create arrays for reading back the compute results from the kernel.

//

//---------------------------------------------------------------------------

static bool TrajectoryArraysCreate(TrajectoryStruct *pTrajectory)

    bool bArrayCreated = true;

    size_t nArrayIndex = 0;

    size_t nArrayCount = pTrajectory->mnBufferCount;

    while( bArrayCreated  && ( nArrayIndex < kBufferCount ) )

        pTrajectory->mpKResult[nArrayIndex] = new float[nArrayCount];

        bArrayCreated = pTrajectory->mpKResult[nArrayIndex] != NULL;

        if( bArrayCreated )

            std::memset(pTrajectory->mpKResult[nArrayIndex], 0, pTrajectory->mnBufferSize);

        } // if

        nArrayIndex++;

    } // while

    return( bArrayCreated );

} // TrajectoryArraysCreate

//---------------------------------------------------------------------------

//

// Instantiate an OpenCL kernel object from a program object.

//

//---------------------------------------------------------------------------

static inline bool TrajectoryKernelsCreate(OpenCL::Program *pProgram,

                                           TrajectoryStruct *pTrajectory)

    pTrajectory->mpKernel = new OpenCL::Kernel(pProgram);

    return( pTrajectory->mpKernel != NULL );

} // TrajectoryKernelsCreate

//---------------------------------------------------------------------------

//

// Set the global dimensions for the execution

//

//---------------------------------------------------------------------------

static inline void TrajectorySetGlobalWorkSize(TrajectoryStruct *pTrajectory)

    // Get the actual buffer size, which if it wasn't POT, now it is

    size_t nBufferSize = pTrajectory->mpKBuffer[0]->GetBufferSize();

    // Compute the actual number of elements based on POT buffer size

    size_t nBufferCount = nBufferSize / kFloatSize;

    // Set the global work size

    pTrajectory->mnGlobalWorkSize = nBufferCount;

} // TrajectorySetGlobalWorkSize

//---------------------------------------------------------------------------

//

// Create an opaque trajectory data object by,

//

// (1) acquiring a program from OpenCL,

// (2) creating a kernel object,

// (3) acquiring a kernel from OpenCL,

// (4) creating buffer objects,

// (5) acquiring buffer memories from OpenCL,

// (6) creating arrays for readback,

// (7) setting global dimensions for the execution.

//

//---------------------------------------------------------------------------

static TrajectoryStruct *TrajectoryCreate(OpenCL::Program *pProgram,

                                          const float nTimeMax,

                                          const float nTimeDelta)

    TrajectoryStruct *pTrajectory = new TrajectoryStruct;

    if( pTrajectory != NULL )

        // Maximum length of time for the simulation

        pTrajectory->mnTimeMax = nTimeMax;

        // Initialize parameters for this trajectory

        pTrajectory->maKFParam[0] = 0.0f;

        pTrajectory->maKFParam[1] = nTimeDelta;

        pTrajectory->maKFParam[2] = 0.0f;

        pTrajectory->maKFParam[3] = 0.0f;

        // Acquire an OpenCL program from an instantiated program object

        if( pProgram->Acquire() )

            TrajectoryKernelsCreate(pProgram, pTrajectory);

            TrajectoryBuffersCreate(pProgram, pTrajectory);

            TrajectoryArraysCreate(pTrajectory);

            TrajectorySetGlobalWorkSize(pTrajectory);

        } // if

    } // if

    return( pTrajectory );

} // TrajectoryCreate

//---------------------------------------------------------------------------

//

// Release trajectory data object; along with its kernels, buffers, and

// arrays.

//

//---------------------------------------------------------------------------

static bool TrajectoryRelease(TrajectoryStruct *pTrajectory)

    if( pTrajectory != NULL )

        size_t i;

        for( i = 0; i < kBufferCount; i++ )

            if( pTrajectory->mpKResult[i] != NULL )

                delete [] pTrajectory->mpKResult[i];

            } // if

            if( pTrajectory->mpKBuffer[i] != NULL )

                delete pTrajectory->mpKBuffer[i];

            } // if

        } // for

        if( pTrajectory->mpKernel != NULL )

            delete pTrajectory->mpKernel;

        } // if

        delete pTrajectory;

    } // if

} // TrajectoryRelease

//---------------------------------------------------------------------------

//

// Bind the buffers to this kernel

//

//---------------------------------------------------------------------------

static bool TrajectoryBindBuffers(TrajectoryStruct *pTrajectory)

    bool bBuffersBound = true;

    size_t nBufferIndex = 0;

    while( bBuffersBound && ( nBufferIndex < kBufferCount ) )

        bBuffersBound = bBuffersBound && pTrajectory->mpKernel->BindBuffer( pTrajectory->mpKBuffer[nBufferIndex] );

        nBufferIndex++;

    } // for

    return( bBuffersBound );

} // TrajectoryBindBuffers

//---------------------------------------------------------------------------

//

// Bind the constant float parameters to this kernel

//

//---------------------------------------------------------------------------

static bool TrajectoryBindParameters(TrajectoryStruct *pTrajectory)

    bool bParametersBound = true;

    size_t nParamIndex = 0;

    while( bParametersBound && ( nParamIndex < kFParamCount ) )

        bParametersBound = bParametersBound && pTrajectory->mpKernel->BindParameter(nParamIndex+5,

                                                                                    kFloatSize,

                                                                                    &pTrajectory->maKFParam[nParamIndex]);

        nParamIndex++;

    } // while

    return( bParametersBound );

} // TrajectoryBindParameters

//---------------------------------------------------------------------------

//

// Read back the results that were computed on the device

//

//---------------------------------------------------------------------------

static bool TrajectoryReadBuffers(TrajectoryStruct *pTrajectory)

    bool bReadBuffers = true;

    size_t nBufferIndex = 0;

    while( bReadBuffers && ( nBufferIndex < kBufferCount ) )

        bReadBuffers = bReadBuffers  && pTrajectory->mpKBuffer[nBufferIndex]->Read(pTrajectory->mnBufferSize,

                                                                                   pTrajectory->mpKResult[nBufferIndex]);

        nBufferIndex++;

    } // while

    return( bReadBuffers );

} // TrajectoryReadBuffers

//---------------------------------------------------------------------------

//

// Execute the kernel once

//

//---------------------------------------------------------------------------

static inline bool TrajectoryExecuteKernel(TrajectoryStruct *pTrajectory)

    return( pTrajectory->mpKernel->Execute( &pTrajectory->mnGlobalWorkSize ) );

} // TrajectoryExecuteKernel

//---------------------------------------------------------------------------

//

// Print the results to the standard output device.

//

//---------------------------------------------------------------------------

static void TrajectoryLog(TrajectoryStruct *pTrajectory)

    size_t  i;

    float   t = 0.0f;

    std::cout << ">> BEGIN" << std::endl;

    for( i = 0; i < pTrajectory->mnBufferCount; i++ )

        t = i * pTrajectory->maKFParam[1];

        std::cout << ">>      Time: t = " << t << std::endl;

        std::cout << "    Position: ( " << pTrajectory->mpKResult[0][i] << ", " << pTrajectory->mpKResult[1][i] << " )" << std::endl;

        std::cout << "    Velocity: ( " << pTrajectory->mpKResult[2][i] << ", " << pTrajectory->mpKResult[3][i] << " )" << std::endl;

        std::cout << "       speed: || v(t) || = " << pTrajectory->mpKResult[4][i] << std::endl;

    } // for

    std::cout << ">> END" << std::endl;

} // TrajectoryLog

//---------------------------------------------------------------------------

//---------------------------------------------------------------------------

#pragma mark -

#pragma mark Public - Constructors

//---------------------------------------------------------------------------

Trajectory::Trajectory(const std::string &rProgramSource,

                       const float nTimeMax,

                       const float nTimeDelta) : OpenCL::Program(rProgramSource)

    mpTrajectory = TrajectoryCreate(this, nTimeMax, nTimeDelta);

} // Constructor

//---------------------------------------------------------------------------

#pragma mark -

#pragma mark Public - Destructor

//---------------------------------------------------------------------------

Trajectory::~Trajectory()

    TrajectoryRelease(mpTrajectory);

} // Destructor

//---------------------------------------------------------------------------

#pragma mark -

#pragma mark Public - Utilities

//---------------------------------------------------------------------------

bool Trajectory::Acquire(const std::string &rkernelName)

    bool bFlagIsValid = false;

    // Set the work dimension of an OpenCL kernel

    mpTrajectory->mpKernel->SetWorkDimension(rkernelName, 1);

    // Get a compute kernel from OpenCL

    bFlagIsValid = mpTrajectory->mpKernel->Acquire(rkernelName);

    // Bind the buffers associated to this kernel

    if( bFlagIsValid )

        bFlagIsValid = TrajectoryBindBuffers(mpTrajectory);

    } // if

    return( bFlagIsValid );

} // Acquire

//---------------------------------------------------------------------------

//

// Last parameter can be the initial angle or the initial height, depending

// on the acquired lernel.

//

//---------------------------------------------------------------------------

bool Trajectory::Compute(const float nInitialTime,

                         const float nInitialSpeed,

                         const float nInitialParam)

    bool computed = false;

    // Initialize the constant parameters to the kernel

    mpTrajectory->maKFParam[0] = nInitialTime;

    mpTrajectory->maKFParam[2] = nInitialSpeed;

    mpTrajectory->maKFParam[3] = nInitialParam;

    // Bind the constant parameters to the kernel

    if( TrajectoryBindParameters(mpTrajectory) )

        // Execute the kernel

        if( TrajectoryExecuteKernel(mpTrajectory) )

            this->Flush();

            // Readback the results

            computed = TrajectoryReadBuffers(mpTrajectory);

        } // if

    } // if

    return( computed );

} // Compute

//---------------------------------------------------------------------------

void Trajectory::Log()

    TrajectoryLog(mpTrajectory);

} // Log

//---------------------------------------------------------------------------

#pragma mark -

#pragma mark Public - Accessors

//---------------------------------------------------------------------------

const float *Trajectory::PositionX() const

    return( mpTrajectory->mpKResult[0] );

} // PositionX

//---------------------------------------------------------------------------

const float *Trajectory::PositionY() const

    return( mpTrajectory->mpKResult[1] );

} // PositionY

//---------------------------------------------------------------------------

const float *Trajectory::VelocityX() const

    return( mpTrajectory->mpKResult[2] );

} // VelocityX

//---------------------------------------------------------------------------

const float *Trajectory::VelocityY() const

    return( mpTrajectory->mpKResult[3] );

} // VelocityY

//---------------------------------------------------------------------------

const float *Trajectory::Speed() const

    return( mpTrajectory->mpKResult[4] );

} // Speed

//---------------------------------------------------------------------------

//---------------------------------------------------------------------------

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