cpp/src/utils/io.hpp

/*
 * Licensed to the Apache Software Foundation (ASF) under one
 * or more contributor license agreements.  See the NOTICE file
 * distributed with this work for additional information
 * regarding copyright ownership.  The ASF licenses this file
 * to you under the Apache License, Version 2.0 (the
 * License); you may not use this file except in compliance
 * with the License.  You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing,
 * software distributed under the License is distributed on an
 * AS IS BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
 * KIND, either express or implied.  See the License for the
 * specific language governing permissions and limitations
 * under the License.
 */

#pragma once

#include <cstdio>
#include <cstring>
#include <vector>
#include <array>
#include <string>
#include <fstream>
#include <cstdint>
#include <cstdlib>

#include "utils/checker.h"
#include "ax_sys_api.h"
#include "ax_engine_type.h"


#define IO_CMM_ALIGN_SIZE 128

namespace utils {
    typedef enum {
        IO_BUFFER_STRATEGY_DEFAULT,
        IO_BUFFER_STRATEGY_CACHED
    } IO_BUFFER_STRATEGY_T;

    static inline AX_S32 query_model_input_size(const AX_ENGINE_IO_INFO_T* io_info, std::array<int, 2> &input_size,
                                                AX_IMG_FORMAT_E &eDtype) {
        int height = 0;
        int width = 0;
        int size = 0;
        int channel = 0;
        int data_type_size = 0;
        auto& input = io_info->pInputs[0];

        switch (input.eLayout) {
            case AX_ENGINE_TENSOR_LAYOUT_NHWC:
                height = input.pShape[1];
                width = input.pShape[2];
                channel = input.pShape[3];
                size = input.nSize;
                break;
            case AX_ENGINE_TENSOR_LAYOUT_NCHW:
                channel = input.pShape[1];
                height = input.pShape[2];
                width = input.pShape[3];
                size = input.nSize;
                break;
            default: // NHWC
                height = input.pShape[1];
                width = input.pShape[2];
                channel = input.pShape[3];
                size = input.nSize;
                break;
        }

        switch (input.eDataType) {
            case AX_ENGINE_DT_UINT8:
            case AX_ENGINE_DT_SINT8:
                data_type_size = 1;
                break;
            case AX_ENGINE_DT_UINT16:
            case AX_ENGINE_DT_SINT16:
                data_type_size = 2;
                break;
            case AX_ENGINE_DT_FLOAT32:
                data_type_size = 4;
                break;
            case AX_ENGINE_DT_SINT32:
            case AX_ENGINE_DT_UINT32:
                data_type_size = 4;
                break;
            case AX_ENGINE_DT_FLOAT64:
                data_type_size = 8;
                break;
            default:
                data_type_size = 1;
                break;
        }

        if (channel == 0 || height == 0 || width == 0 || size == 0 || data_type_size == 0) {
            return -1;
        }

        if (input.pExtraMeta) {
            switch (input.pExtraMeta->eColorSpace) {
                case AX_ENGINE_CS_BGR:
                    input_size[0] = height;
                    input_size[1] = width;
                    eDtype = AX_FORMAT_BGR888;
                    break;
                case AX_ENGINE_CS_RGB:
                    input_size[0] = height;
                    input_size[1] = width;
                    eDtype = AX_FORMAT_RGB888;
                    break;
                case AX_ENGINE_CS_NV12:
                    input_size[0] = height * 2 / 3;
                    input_size[1] = width;
                    eDtype = AX_FORMAT_YUV420_SEMIPLANAR;
                    break;
                case AX_ENGINE_CS_NV21:
                    input_size[0] = height * 2 / 3;
                    input_size[1] = width;
                    eDtype = AX_FORMAT_YUV420_SEMIPLANAR_VU;
                    break;
                default: // AX_ENGINE_CS_NV12
                    input_size[0] = height * 2 / 3;
                    input_size[1] = width;
                    eDtype = AX_FORMAT_YUV420_SEMIPLANAR;
                    break;
            }
        }
        else {
            input_size[0] = height * 2 / 3;
            input_size[1] = width;
            eDtype = AX_FORMAT_YUV420_SEMIPLANAR;
        }

        ALOGD("eLayout:%d, eDataType:%d, channel:%d, height:%d, width:%d, size:%d, data_type_size:%d",
              input.eLayout, input.eDataType, channel, input_size[0], input_size[1], size, data_type_size);

        return 0;
    }

    static inline void brief_io_info(std::string strModel, const AX_ENGINE_IO_INFO_T* io_info) {
        auto describe_shape_type = [](AX_ENGINE_TENSOR_LAYOUT_T type) -> const char* {
            switch (type) {
                case AX_ENGINE_TENSOR_LAYOUT_NHWC:
                    return "NHWC";
                case AX_ENGINE_TENSOR_LAYOUT_NCHW:
                    return "NCHW";
                default:
                    return "unknown";
            }
        };
        auto describe_data_type = [](AX_ENGINE_DATA_TYPE_T type) -> const char* {
            switch (type) {
                case AX_ENGINE_DT_UINT8:
                    return "uint8";
                case AX_ENGINE_DT_UINT16:
                    return "uint16";
                case AX_ENGINE_DT_FLOAT32:
                    return "float32";
                case AX_ENGINE_DT_SINT16:
                    return "sint16";
                case AX_ENGINE_DT_SINT8:
                    return "sint8";
                case AX_ENGINE_DT_SINT32:
                    return "sint32";
                case AX_ENGINE_DT_UINT32:
                    return "uint32";
                case AX_ENGINE_DT_FLOAT64:
                    return "float64";
                case AX_ENGINE_DT_UINT10_PACKED:
                    return "uint10_packed";
                case AX_ENGINE_DT_UINT12_PACKED:
                    return "uint12_packed";
                case AX_ENGINE_DT_UINT14_PACKED:
                    return "uint14_packed";
                case AX_ENGINE_DT_UINT16_PACKED:
                    return "uint16_packed";
                default:
                    return "unknown";
            }
        };
        auto describe_memory_type = [](AX_ENGINE_MEMORY_TYPE_T type) -> const char* {
            switch (type) {
                case AX_ENGINE_MT_PHYSICAL:
                    return "Physical";
                case AX_ENGINE_MT_VIRTUAL:
                    return "Virtual";
                default:
                    return "unknown";
            }
        };
        auto describe_color_space = [](AX_ENGINE_COLOR_SPACE_T cs) -> const char* {
            switch (cs) {
                case AX_ENGINE_CS_FEATUREMAP:
                    return "FeatureMap";
                case AX_ENGINE_CS_BGR:
                    return "BGR";
                case AX_ENGINE_CS_RGB:
                    return "RGB";
                case AX_ENGINE_CS_RGBA:
                    return "RGBA";
                case AX_ENGINE_CS_GRAY:
                    return "GRAY";
                case AX_ENGINE_CS_NV12:
                    return "NV12";
                case AX_ENGINE_CS_NV21:
                    return "NV21";
                case AX_ENGINE_CS_YUV444:
                    return "YUV444";
                case AX_ENGINE_CS_RAW8:
                    return "RAW8";
                case AX_ENGINE_CS_RAW10:
                    return "RAW10";
                case AX_ENGINE_CS_RAW12:
                    return "RAW12";
                case AX_ENGINE_CS_RAW14:
                    return "RAW14";
                case AX_ENGINE_CS_RAW16:
                    return "RAW16";
                default:
                    return "unknown";
            }
        };
        printf("Model Name: %s\n", strModel.c_str());
        printf("Max Batch Size %d\n", io_info->nMaxBatchSize);
        printf("Support Dynamic Batch? %s\n", io_info->bDynamicBatchSize == AX_TRUE ? "Yes" : "No");

        for (uint32_t i = 0; i < io_info->nInputSize; ++i) {
            auto& input = io_info->pInputs[i];
            printf("Input[%d]: %s\n", i, input.pName);
            printf("    Shape [");
            for (uint32_t j = 0; j < input.nShapeSize; ++j) {
                printf("%d", (int)input.pShape[j]);
                if (j + 1 < input.nShapeSize) printf(", ");
            }
            printf("] %s %s %s %s\n", describe_shape_type(input.eLayout), describe_data_type(input.eDataType),
                   input.pExtraMeta ? describe_color_space(input.pExtraMeta->eColorSpace) : "",
                   input.nQuantizationValue > 0 ? ("Q=" + std::to_string(input.nQuantizationValue)).c_str() : "");
            printf("    Memory %s\n", describe_memory_type(input.eMemoryType));
            printf("    Size %u\n", input.nSize);
        }
        for (uint32_t i = 0; i < io_info->nOutputSize; ++i) {
            auto& output = io_info->pOutputs[i];
            printf("Output[%d]: %s\n", i, output.pName);
            printf("    Shape [");
            for (uint32_t j = 0; j < output.nShapeSize; ++j) {
                printf("%d", (int)output.pShape[j]);
                if (j + 1 < output.nShapeSize) printf(", ");
            }
            printf("] %s %s %s\n", describe_shape_type(output.eLayout), describe_data_type(output.eDataType),
                   output.nQuantizationValue > 0 ? ("Q=" + std::to_string(output.nQuantizationValue)).c_str() : "");
            printf("    Memory %s\n", describe_memory_type(output.eMemoryType));
            printf("    Size %u\n", output.nSize);
        }
    }

    static inline AX_S32 alloc_engine_buffer(const std::string& token, const std::string& appendix, size_t index, const AX_ENGINE_IOMETA_T* pMeta, AX_ENGINE_IO_BUFFER_T* pBuf, IO_BUFFER_STRATEGY_T eStrategy = IO_BUFFER_STRATEGY_DEFAULT) {
        AX_S32 ret = -1;
        if (eStrategy != IO_BUFFER_STRATEGY_DEFAULT && eStrategy != IO_BUFFER_STRATEGY_CACHED) {
            fprintf(stderr, "strategy %d not supported\n", (int)eStrategy);
            return -1;
        }
        memset(pBuf, 0, sizeof(AX_ENGINE_IO_BUFFER_T));
        pBuf->nSize = pMeta->nSize;

        const std::string token_name = "skel_" + token + appendix + std::to_string(index);

        if (eStrategy == IO_BUFFER_STRATEGY_CACHED) {
            ret = AX_SYS_MemAllocCached((AX_U64*)&pBuf->phyAddr, &pBuf->pVirAddr, pBuf->nSize, IO_CMM_ALIGN_SIZE, (const AX_S8*)token_name.c_str());
        }
        else {
            ret = AX_SYS_MemAlloc((AX_U64*)&pBuf->phyAddr, &pBuf->pVirAddr, pBuf->nSize, IO_CMM_ALIGN_SIZE, (const AX_S8*)token_name.c_str());
        }

        return ret;
    }

    static inline AX_S32 free_engine_buffer(AX_ENGINE_IO_BUFFER_T* pBuf) {
        if (pBuf->phyAddr == 0) {
            delete[] reinterpret_cast<uint8_t*>(pBuf->pVirAddr);
        }
        else {
            AX_SYS_MemFree(pBuf->phyAddr, pBuf->pVirAddr);
        }
        pBuf->phyAddr = 0;
        pBuf->pVirAddr = nullptr;

        return 0;
    }

    static inline void free_io_index(AX_ENGINE_IO_BUFFER_T* io_buf, size_t index) {
        AX_ENGINE_IO_BUFFER_T* pBuf = io_buf + index;
        free_engine_buffer(pBuf);
    }

    static inline void free_io(AX_ENGINE_IO_T &io) {
        for (size_t j = 0; j < io.nInputSize; ++j)
        {
            AX_ENGINE_IO_BUFFER_T *pBuf = io.pInputs + j;
            AX_SYS_MemFree(pBuf->phyAddr, pBuf->pVirAddr);
        }
        for (size_t j = 0; j < io.nOutputSize; ++j)
        {
            AX_ENGINE_IO_BUFFER_T *pBuf = io.pOutputs + j;
            AX_SYS_MemFree(pBuf->phyAddr, pBuf->pVirAddr);
        }
        delete[] io.pInputs;
        delete[] io.pOutputs;
    }

    static inline void free_io(AX_ENGINE_IO_T &io, std::vector<std::vector<AX_ENGINE_IO_BUFFER_T>> &vecOutputBuffer) {
        if (io.pInputs) {
            delete[] io.pInputs;
            io.pInputs = nullptr;
        }

        if (io.pOutputs) {
            for (size_t index = 0; index < vecOutputBuffer.size(); ++index) {
                AX_ENGINE_IO_BUFFER_T *pOutputs = &vecOutputBuffer[index][0];
                for (size_t j = 0; j < io.nOutputSize; ++j) {
                    free_io_index(pOutputs, j);
                }
            }

            delete[] io.pOutputs;
            io.pOutputs = nullptr;
        }
    }

    static inline int prepare_io(const std::string& token, const AX_ENGINE_IO_INFO_T* info, AX_ENGINE_IO_T &io, IO_BUFFER_STRATEGY_T strategy) {
        auto ret = 0;

        memset(&io, 0, sizeof(io));

        io.pInputs = new AX_ENGINE_IO_BUFFER_T[info->nInputSize];

        if (!io.pInputs) {
            goto EXIT;
        }

        memset(io.pInputs, 0x00, sizeof(AX_ENGINE_IO_BUFFER_T) * info->nInputSize);
        io.nInputSize = info->nInputSize;
        for (AX_U32 i = 0; i < info->nInputSize; ++i)
        {
            auto meta = info->pInputs[i];
            auto buffer = &io.pInputs[i];
            ret = alloc_engine_buffer(token, "_input_", i, &meta, buffer, strategy);
            if (ret != 0)
            {
                free_io_index(io.pInputs, i);
                return ret;
            }
        }

        io.pOutputs = new AX_ENGINE_IO_BUFFER_T[info->nOutputSize];

        if (!io.pOutputs) {
            goto EXIT;
        }

        memset(io.pOutputs, 0x00, sizeof(AX_ENGINE_IO_BUFFER_T) * info->nOutputSize);
        io.nOutputSize = info->nOutputSize;

        for (size_t i = 0; i < info->nOutputSize; ++i) {
            auto meta = info->pOutputs[i];
            auto buffer = &io.pOutputs[i];
            ret = alloc_engine_buffer(token, "_output_", i, &meta, buffer, strategy);
            if (ret != 0) {
                goto EXIT;
            }
        }

        EXIT:
            if (ret != 0) {
                free_io(io);
                return -1;
            }

        return 0;
    }

    static inline int prepare_io(const std::string& token,
                                 const AX_ENGINE_IO_INFO_T* info, AX_ENGINE_IO_T &io,
                                 std::vector<AX_ENGINE_IO_BUFFER_T> &vecOutputBuffer,
                                 const IO_BUFFER_STRATEGY_T &strategy) {
        AX_S32 ret = 0;
        memset(&io, 0, sizeof(io));

        std::vector<AX_ENGINE_IO_BUFFER_T> outputBuffer;

        if (1 != info->nInputSize) {
            fprintf(stderr, "[ERR]: Only single input was accepted(got %u).\n", info->nInputSize);
            return -1;
        }

        io.pInputs = new AX_ENGINE_IO_BUFFER_T[info->nInputSize];

        if (!io.pInputs) {
            goto EXIT;
        }

        memset(io.pInputs, 0x00, sizeof(AX_ENGINE_IO_BUFFER_T) * info->nInputSize);
        io.nInputSize = info->nInputSize;

        for (AX_U32 i = 0; i < info->nInputSize; ++i)
        {
            auto meta = info->pInputs[i];
            auto buffer = &io.pInputs[i];
            ret = alloc_engine_buffer(token, "_input_", i, &meta, buffer, strategy);
            if (ret != 0)
            {
                free_io_index(io.pInputs, i);
                return ret;
            }
        }

        io.pOutputs = new AX_ENGINE_IO_BUFFER_T[info->nOutputSize];

        if (!io.pOutputs) {
            goto EXIT;
        }

        for (size_t i = 0; i < info->nOutputSize; ++i) {
            auto meta = info->pOutputs[i];
            auto buffer = &io.pOutputs[i];
            ret = alloc_engine_buffer(token, "_output_", i, &meta, buffer, strategy);

            if (ret != 0) {
                goto EXIT;
            }

            vecOutputBuffer.push_back(*buffer);
        }

        memset(io.pOutputs, 0x00, sizeof(AX_ENGINE_IO_BUFFER_T) * info->nOutputSize);
        io.nOutputSize = info->nOutputSize;

        for (size_t i = 0; i < info->nOutputSize; ++i) {
            auto buffer = &io.pOutputs[i];
            *buffer = vecOutputBuffer[i];
        }

        EXIT:
        if (ret != 0) {
            free_io(io);
            return -1;
        }

        return 0;
    }

    static inline AX_S32 push_io_output(const AX_ENGINE_IO_INFO_T* info,
                                        AX_ENGINE_IO_T& io,
                                        std::vector<AX_ENGINE_IO_BUFFER_T> &outputBuffer) {
        for (size_t i = 0; i < info->nOutputSize; ++i) {
            auto buffer = &io.pOutputs[i];
            *buffer = outputBuffer[i];
        }

        return 0;
    }

    static inline AX_S32 cache_io_flush(const AX_ENGINE_IO_BUFFER_T *io_buf) {
        if (io_buf->phyAddr != 0) {
            AX_SYS_MflushCache(io_buf->phyAddr, io_buf->pVirAddr, io_buf->nSize);
        }

        return 0;
    }

    static inline AX_S32 push_io_input(void* input, int index, AX_ENGINE_IO_T& io) {
        // img ranks_depth ranks_feat ranks_bev, n_points
        AX_ENGINE_IO_BUFFER_T* pImg = &io.pInputs[index];
        
        memcpy(pImg->pVirAddr, input, pImg->nSize);
        cache_io_flush(pImg);
        return 0;
    }

    static inline AX_S32 push_io_output(void* output,
                                        int index,
                                        AX_ENGINE_IO_T& io) {
        AX_ENGINE_IO_BUFFER_T* pImg = &io.pOutputs[index];
        cache_io_flush(pImg);
        memcpy(output, pImg->pVirAddr, pImg->nSize);
        return 0;
    }

    static inline AX_S32 cpu_copy(AX_U64 nPhyAddrSrc, AX_U64 nPhyAddrDst, AX_U32 nLen) {
        if (nPhyAddrSrc != 0 && nPhyAddrDst != 0 && nLen > 0) {
            AX_VOID* pSrcVirAddr = AX_SYS_MmapCache(nPhyAddrSrc, nLen);
            AX_VOID* pDstVirAddr = AX_SYS_MmapCache(nPhyAddrDst, nLen);

            memcpy((AX_VOID*)pDstVirAddr, (AX_VOID*)pSrcVirAddr, nLen);

            AX_SYS_Munmap(pSrcVirAddr, nLen);
            AX_SYS_Munmap(pDstVirAddr, nLen);

            return 0;
        }

        return -1;
    }

    static inline AX_S32 inc_io_ref_cnt(const AX_VIDEO_FRAME_T &stFrame) {
        if (stFrame.u32BlkId[0] > 0) {
            AX_POOL_IncreaseRefCnt(stFrame.u32BlkId[0]);
        }
        if (stFrame.u32BlkId[1] > 0) {
            AX_POOL_IncreaseRefCnt(stFrame.u32BlkId[1]);
        }
        if (stFrame.u32BlkId[2] > 0) {
            AX_POOL_IncreaseRefCnt(stFrame.u32BlkId[2]);
        }

        return 0;
    }

    static inline AX_S32 dec_io_ref_cnt(const AX_VIDEO_FRAME_T &stFrame) {
        if (stFrame.u32BlkId[0] > 0) {
            AX_POOL_DecreaseRefCnt(stFrame.u32BlkId[0]);
        }
        if (stFrame.u32BlkId[1] > 0) {
            AX_POOL_DecreaseRefCnt(stFrame.u32BlkId[1]);
        }
        if (stFrame.u32BlkId[2] > 0) {
            AX_POOL_DecreaseRefCnt(stFrame.u32BlkId[2]);
        }

        return 0;
    }

    static inline bool read_file(const char* path, std::vector<char>& data) {
        std::fstream fs(path, std::ios::in | std::ios::binary);

        if (!fs.is_open()) {
            return false;
        }

        fs.seekg(std::ios::end);
        auto fs_end = fs.tellg();
        fs.seekg(std::ios::beg);
        auto fs_beg = fs.tellg();

        auto file_size = static_cast<size_t>(fs_end - fs_beg);
        auto vector_size = data.size();

        data.reserve(vector_size + file_size);
        data.insert(data.end(), std::istreambuf_iterator<char>(fs), std::istreambuf_iterator<char>());

        fs.close();

        return true;
    }

    static inline bool read_file(const char* path, AX_VOID **pModelBufferVirAddr,
                                 AX_U64 &u64ModelBufferPhyAddr, AX_U32 &nModelBufferSize) {
        std::fstream fs(path, std::ios::in | std::ios::binary);

        if (!fs.is_open()) {
            return false;
        }

        fs.seekg(0, std::ios::end);
        int file_size = fs.tellg();
        fs.seekg(0, std::ios::beg);

        nModelBufferSize = (AX_U32)file_size;

        AX_SYS_MemAlloc(&u64ModelBufferPhyAddr, pModelBufferVirAddr, nModelBufferSize, 0x100, (AX_S8 *)"SKEL-CV");

        if (!pModelBufferVirAddr || (u64ModelBufferPhyAddr == 0)) {
            return false;
        }

        fs.read((AX_CHAR *)*pModelBufferVirAddr, nModelBufferSize);

        fs.close();

        return true;
    }

    static inline void dequant(float** pptrOutput, const AX_ENGINE_IOMETA_T& ptrIoInfo, const AX_ENGINE_IO_BUFFER_T& ioBuf, float zp, float scale)
    {
        if (ptrIoInfo.eDataType == AX_ENGINE_DT_FLOAT32)
        {
            *pptrOutput = (float*)ioBuf.pVirAddr;
            return;
        }

        *pptrOutput = (float*)malloc(ptrIoInfo.nSize * sizeof(float));
        uint8_t *pBuf = (uint8_t*)ioBuf.pVirAddr;
        float* pOutput = *pptrOutput;
        // float inv_scale = 1.0f / scale;
        for (int i = 0; i < ptrIoInfo.nSize; i++)
        {
            pOutput[i] = ((float)pBuf[i] - zp) * scale;
        }
    }
}