Part Number: TDA2EVM5777
Tool/software: Code Composer Studio
Hi
* INCLUDE FILES
*******************************************************************************
*/
#include "chains_semSeg_priv.h"
#include "chains_semSeg.h"
#include <src/include/chains_common.h>
#include <src/include/chains_common_tidl.h>
#include <src/include/chains_common_osal.h>
#include "itidl_ti.h"
#include <src/rtos/utils_common/include/utils_cbuf_ocmc.h>
/*******************************************************************************
* DEFINES
*******************************************************************************
*/
#define SEMSEG_INPUT_WIDTH (1024)
#define SEMSEG_INPUT_HEIGHT (512)
#define DEC_OUT_WIDTH (1024)
#define DEC_OUT_HEIGHT (512)
#define SEMSEG_DISPLAY_WIDTH (1536)
#define SEMSEG_DISPLAY_HEIGHT (768)
#define SEMSEG_DISPLAY_STARTX (1920 - SEMSEG_DISPLAY_WIDTH)/2
#define SEMSEG_DISPLAY_STARTY (64)
/* Semantic Segmenation input fps */
/* This should be based on the TIDL performance on 4 EVEs */
/* It should be less than the cumulative TIDL performance on 4 EVEs */
/* For eg if each TIDL is giving performace of 3 fps then it should be less than (4 x 3)*/
#define SEMSEG_FPS (8)
#define SEMSEG_FPS_OPPHIGH (12)
#define SEMSEG_FPS_OPPNOM (8)
#define OPP_HIGH_FREQUENCY (650U)
/* Palettes used for color look up */
#define MAX_NUM_PALETTE (10)
#define SYNC_DELTA (10)
/* The threshold should be more than the TIDL process time */
/* For eg. if TIDL process time is 400 msec then this should be more than 400 msec */
#define SYNC_THRESHOLD (600)
/* OCMC */
#define OCMC_1_BASE_ADDRESS (0x40300000U)
#define OCMC_1_SIZE (512 * 1024)
#define OCMC_2_BASE_ADDRESS (0x40400000U)
#define OCMC_2_SIZE (1024 * 1024)
#define OCMC_3_BASE_ADDRESS (0x40500000U)
#define OCMC_3_SIZE (1024 * 1024)
#define NET_BIN_FILE "NET_SEMSEG.BIN"
#define PARAMS_BIN_FILE "PRM_SEMSEG.BIN"
/* Num of TIDL processing pipelines */
#define NUM_PIPELINES (4)
/* DSP */
#define TIDL_COREID_DSP1 (1)
#define TIDL_LAYER_GROUPID_DSP1 (1)
#define TIDL_COREID_DSP2 (1)
#define TIDL_LAYER_GROUPID_DSP2 (1)
/* EVE */
#define TIDL_COREID_EVE1 (1)
#define TIDL_LAYER_GROUPID_EVE1 (1)
#define TIDL_COREID_EVE2 (1)
#define TIDL_LAYER_GROUPID_EVE2 (1)
#define TIDL_COREID_EVE3 (1)
#define TIDL_LAYER_GROUPID_EVE3 (1)
#define TIDL_COREID_EVE4 (1)
#define TIDL_LAYER_GROUPID_EVE4 (1)
/* Graphics window is just below the video window */
#define GRAPHICS_WIDTH (1920)
#define GRAPHICS_HEIGHT (1080 - SEMSEG_DISPLAY_STARTY - SEMSEG_DISPLAY_HEIGHT)
/*******************************************************************************
* STRUCTURES
*******************************************************************************
*/
/**
*******************************************************************************
*
* \brief chains_semSegAppObj
*
* This structure contains all the LinksId's and create Params.
* The same is passed to all create, start, stop functions.
*
*******************************************************************************
*/
typedef struct
{
chains_semSegObj ucObj;
UInt32 displayWidth;
UInt32 displayHeight;
Chains_Ctrl *chainsCfg;
TIDL_CreateParams *pAlgCreateParams;
UInt16 colPalette[MAX_NUM_PALETTE];
} chains_semSegAppObj;
chains_semSegAppObj gChainsObjSemSeg;
/*******************************************************************************
* GLOBALS
*******************************************************************************
*/
static char semSegRunTimeMenu[] = {
"\n "
"\n ===================="
"\n Chains Run-time Menu"
"\n ===================="
"\n "
"\n 0: Stop Chain"
"\n "
"\n 1: Pause Chain"
"\n 2: Resume Chain"
"\n "
"\n 3: Show ALL palettes"
"\n 4: Show only ROAD palette"
"\n 5: Show only PEDESTRIAN palette"
"\n 6: Show only ROAD SIGN palette"
"\n 7: Show only VEHICLE palette"
"\n "
"\n p: Print Statistics"
"\n "
"\n Enter Choice: "
"\n "
};
static Void semSegInit(chains_semSegAppObj *pObj)
{
/* Read the network file */
Chains_tidlReadNet(&pObj->pAlgCreateParams->net, NET_BIN_FILE);
/* Allocate memory for the net */
Chains_tidlAllocNetParamsMem(&pObj->pAlgCreateParams->net);
/* Fill the new parameters */
Chains_tidlFillNetParamsMem(&pObj->pAlgCreateParams->net, PARAMS_BIN_FILE);
/* Init all the 3 instances of the OCMC */
Utils_cbufOcmcInit(UTILS_OCMC_RAM1);
Utils_cbufOcmcInit(UTILS_OCMC_RAM2);
Utils_cbufOcmcInit(UTILS_OCMC_RAM3);
}
static Void semSegDeInit(chains_semSegAppObj *pObj)
{
/* Free the net memories */
Chains_tidlFreeNetParamsMem(&pObj->pAlgCreateParams->net);
}
/**
*******************************************************************************
*
* \brief Start the capture display Links
*
* Function sends a control command to capture and display link to
* to Start all the required links . Links are started in reverce
* order as information of next link is required to connect.
* System_linkStart is called with LinkId to start the links.
*
* \param pObj [IN] chains_semSegAppObj
*
* \return SYSTEM_LINK_STATUS_SOK on success
*
*******************************************************************************
*/
Void chains_semSeg_StartApp(chains_semSegAppObj *pObj)
{
Chains_memPrintHeapStatus();
ChainsCommon_StartDisplayDevice(pObj->chainsCfg->displayType);
chains_semSeg_Start(&pObj->ucObj);
Chains_prfLoadCalcEnable(TRUE, FALSE, FALSE);
}
/**
*******************************************************************************
*
* \brief Delete the capture display Links
*
* Function sends a control command to capture and display link to
* to delete all the prior created links
* System_linkDelete is called with LinkId to delete the links.
*
* \param pObj [IN] chains_semSegAppObj
*
*******************************************************************************
*/
Void chains_semSeg_StopAndDelete(chains_semSegAppObj *pObj)
{
chains_semSeg_Stop(&pObj->ucObj);
chains_semSeg_Delete(&pObj->ucObj);
ChainsCommon_StopDisplayCtrl();
ChainsCommon_StopDisplayDevice(pObj->chainsCfg->displayType);
/* Print the HWI, SWI and all tasks load */
/* Reset the accumulated timer ticks */
Chains_prfLoadCalcEnable(FALSE, TRUE, TRUE);
}
static UInt16 rgb2uv(UInt8 r, UInt8 g, UInt8 b)
{
Int32 U,V;
U = ((((b * 0x020C) - (r * 0x0078) - (g * 0x0194)) + 0x0200) >> 10) + 0x80;
V = ((((r * 0x020C) - (g * 0x01DC) - (b * 0x0030)) + 0x0200) >> 10) + 0x80;
return ((UInt16)(((V << 8) & 0xFF00) | (U & 0xFF)));
}
/**
*******************************************************************************
*
* \brief Semantic Segmentation
*
* This function configure, creates, link various links to establish
* usecase.
*
* Further in a while loop displays run time menu and waits
* for user inputs to print the statistics or to end the demo.
*
* Once the user inputs end of demo stop and delete
* functions are executed.
*
* \param chainsCfg [IN] Chains_Ctrl
*
*******************************************************************************
*/
Void chains_semSeg_SetAppPrms(chains_semSegObj *pUcObj, Void *appObj)
{
chains_semSegAppObj *pObj = (chains_semSegAppObj*)appObj;
UInt32 frequency = 0;
UInt32 semSegFps = 8;
ChainsCommon_GetDisplayWidthHeight(
pObj->chainsCfg->displayType,
&pObj->displayWidth,
&pObj->displayHeight);
frequency = Utils_getClkHz(UTILS_CLK_ID_EVE) / 1000000U;
/*
* Set the framerate according to the frequency
*/
if (frequency >= OPP_HIGH_FREQUENCY)
{
semSegFps = SEMSEG_FPS_OPPHIGH;
}
else
{
semSegFps = SEMSEG_FPS_OPPNOM;
}
ChainsCommon_SetFileRxPrms(
&pUcObj->NullSourcePrm,
&pUcObj->DecodePrm,
DEC_OUT_WIDTH,
DEC_OUT_HEIGHT,
1, /* numCh */
semSegFps); /* fps */
/* SetFileRxPrm sets the file open to inHeader and inData overriding the same*/
strncpy(pUcObj->NullSourcePrm.channelParams[0].nameDataFile, "inData_semSeg", 260);
strncpy(pUcObj->NullSourcePrm.channelParams[0].nameIndexFile, "inHeader_semSeg", 260);
/* YUV420SP to planar RGB conversion */
pUcObj->Alg_tidlpreprocPrm.outPad = TIDL_MAX_PAD_SIZE;
pUcObj->Alg_tidlpreprocPrm.numOutputQueues = NUM_PIPELINES;
pUcObj->Alg_tidlpreprocPrm.procMode = TIDLPREPROC_LINK_PROCMODE_Y2R;
/* TIDL on EVE1 */
pUcObj->Alg_tidl_Eve1Prm.cacheInvInBuf = 0;
pUcObj->Alg_tidl_Eve1Prm.cacheWbOutBuf = 0;
pUcObj->Alg_tidl_Eve1Prm.pAlgCreateParams = pObj->pAlgCreateParams;
pUcObj->Alg_tidl_Eve1Prm.curCoreId = TIDL_COREID_EVE1;
pUcObj->Alg_tidl_Eve1Prm.currLayersGroupId = TIDL_LAYER_GROUPID_EVE1;
pUcObj->Alg_tidl_Eve1Prm.ocmcAddr = OCMC_3_BASE_ADDRESS;
/* TIDL on EVE2 */
pUcObj->Alg_tidl_Eve2Prm.cacheInvInBuf = 0;
pUcObj->Alg_tidl_Eve2Prm.cacheWbOutBuf = 0;
pUcObj->Alg_tidl_Eve2Prm.pAlgCreateParams = pObj->pAlgCreateParams;
pUcObj->Alg_tidl_Eve2Prm.curCoreId = TIDL_COREID_EVE2;
pUcObj->Alg_tidl_Eve2Prm.currLayersGroupId = TIDL_LAYER_GROUPID_EVE2;
pUcObj->Alg_tidl_Eve2Prm.ocmcAddr = OCMC_3_BASE_ADDRESS + (OCMC_3_SIZE/2);
/* TIDL on EVE3 */
pUcObj->Alg_tidl_Eve3Prm.cacheInvInBuf = 0;
pUcObj->Alg_tidl_Eve3Prm.cacheWbOutBuf = 0;
pUcObj->Alg_tidl_Eve3Prm.pAlgCreateParams = pObj->pAlgCreateParams;
pUcObj->Alg_tidl_Eve3Prm.curCoreId = TIDL_COREID_EVE3;
pUcObj->Alg_tidl_Eve3Prm.currLayersGroupId = TIDL_LAYER_GROUPID_EVE3;
pUcObj->Alg_tidl_Eve3Prm.ocmcAddr = OCMC_1_BASE_ADDRESS;
/* TIDL on EVE4 */
pUcObj->Alg_tidl_Eve4Prm.cacheInvInBuf = 0;
pUcObj->Alg_tidl_Eve4Prm.cacheWbOutBuf = 0;
pUcObj->Alg_tidl_Eve4Prm.pAlgCreateParams = pObj->pAlgCreateParams;
pUcObj->Alg_tidl_Eve4Prm.curCoreId = TIDL_COREID_EVE4;
pUcObj->Alg_tidl_Eve4Prm.currLayersGroupId = TIDL_LAYER_GROUPID_EVE4;
pUcObj->Alg_tidl_Eve4Prm.ocmcAddr = OCMC_2_BASE_ADDRESS;
/* bitmap color table look up
There are 5 palettes */
pObj->colPalette[0] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[1] = \
rgb2uv(PALETTE_ROAD_RED, PALETTE_ROAD_GREEN, PALETTE_ROAD_BLUE);
pObj->colPalette[2] = \
rgb2uv(PALETTE_PED_RED, PALETTE_PED_GREEN, PALETTE_PED_BLUE);
pObj->colPalette[3] = \
rgb2uv(PALETTE_SIGN_RED, PALETTE_SIGN_GREEN, PALETTE_SIGN_BLUE);
pObj->colPalette[4] = \
rgb2uv(PALETTE_VEH_RED, PALETTE_VEH_GREEN, PALETTE_VEH_BLUE);
pUcObj->Alg_tidlpostprocPrm.outDataFormat = SYSTEM_DF_YUV420SP_UV;
pUcObj->Alg_tidlpostprocPrm.outWidth = SEMSEG_INPUT_WIDTH;
pUcObj->Alg_tidlpostprocPrm.outHeight = SEMSEG_INPUT_HEIGHT;
pUcObj->Alg_tidlpostprocPrm.colPalette565 = pObj->colPalette;
pUcObj->Alg_tidlpostprocPrm.inPad = TIDL_MAX_PAD_SIZE;
pUcObj->Alg_tidlpostprocPrm.numInputQueues = NUM_PIPELINES;
pUcObj->Alg_tidlpostprocPrm.mode = TIDLPOSTPROC_MODE_CLUT;
/* Sync parameters */
pUcObj->SyncPrm.syncDelta = SYNC_DELTA;
pUcObj->SyncPrm.syncThreshold = SYNC_THRESHOLD;
/* Y and UV copy */
pUcObj->Alg_tidlpostproc_cpyPrm.outDataFormat = SYSTEM_DF_YUV420SP_UV;
pUcObj->Alg_tidlpostproc_cpyPrm.outWidth = SEMSEG_INPUT_WIDTH;
pUcObj->Alg_tidlpostproc_cpyPrm.outHeight = SEMSEG_INPUT_HEIGHT;
pUcObj->Alg_tidlpostproc_cpyPrm.numInputQueues = 1;
pUcObj->Alg_tidlpostproc_cpyPrm.mode = TIDLPOSTPROC_MODE_COPY;
ChainsCommon_SetDisplayPrms(
&pUcObj->DisplayPrm,
NULL,
pObj->chainsCfg->displayType,
pObj->displayWidth,
pObj->displayHeight);
pUcObj->DisplayPrm.rtParams.tarWidth = SEMSEG_DISPLAY_WIDTH;
pUcObj->DisplayPrm.rtParams.tarHeight = SEMSEG_DISPLAY_HEIGHT;
pUcObj->DisplayPrm.rtParams.posX = SEMSEG_DISPLAY_STARTX;
pUcObj->DisplayPrm.rtParams.posY = SEMSEG_DISPLAY_STARTY;
pUcObj->DisplayPrm.displayId = DISPLAY_LINK_INST_DSS_VID1;
ChainsCommon_StartDisplayCtrl(
pObj->chainsCfg->displayType,
pObj->displayWidth,
pObj->displayHeight);
/* Graphics source parameters */
pUcObj->GrpxSrcPrm.grpxBufInfo.dataFormat = SYSTEM_DF_BGR16_565;
pUcObj->GrpxSrcPrm.grpxBufInfo.width = GRAPHICS_WIDTH;
pUcObj->GrpxSrcPrm.grpxBufInfo.height = GRAPHICS_HEIGHT;
pUcObj->GrpxSrcPrm.semSegOverlay = TRUE;
pUcObj->GrpxSrcPrm.captureWidth = SEMSEG_INPUT_WIDTH;
pUcObj->GrpxSrcPrm.captureHeight = SEMSEG_INPUT_HEIGHT;
/* Graphics Display parameters */
/* Graphics display will be at the end of the video display window */
pUcObj->Display_GrpxPrm.rtParams.tarWidth = GRAPHICS_WIDTH;
pUcObj->Display_GrpxPrm.rtParams.tarHeight = GRAPHICS_HEIGHT;
pUcObj->Display_GrpxPrm.rtParams.posX = 0;
pUcObj->Display_GrpxPrm.rtParams.posY = \
(pUcObj->DisplayPrm.rtParams.posY + SEMSEG_DISPLAY_HEIGHT);
pUcObj->Display_GrpxPrm.displayId = DISPLAY_LINK_INST_DSS_GFX1;
}
static Void pauseSemSeg(chains_semSegAppObj *pObj)
{
Int32 status;
status = System_linkControl(
pObj->ucObj.NullSourceLinkID,
NULL_SRC_LINK_CMD_PAUSE,
NULL,
0,
TRUE);
UTILS_assert (SYSTEM_LINK_STATUS_SOK == status);
}
static Void resumeSemSeg(chains_semSegAppObj *pObj)
{
Int32 status;
status = System_linkControl(
pObj->ucObj.NullSourceLinkID,
NULL_SRC_LINK_CMD_RESUME,
NULL,
0,
TRUE);
UTILS_assert (SYSTEM_LINK_STATUS_SOK == status);
}
static Void enablePalette(chains_semSegAppObj *pObj, UInt32 option)
{
switch(option)
{
case 0: /* ALL */
pObj->colPalette[0] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[1] = \
rgb2uv(PALETTE_ROAD_RED, PALETTE_ROAD_GREEN, PALETTE_ROAD_BLUE);
pObj->colPalette[2] = \
rgb2uv(PALETTE_PED_RED, PALETTE_PED_GREEN, PALETTE_PED_BLUE);
pObj->colPalette[3] = \
rgb2uv(PALETTE_SIGN_RED, PALETTE_SIGN_GREEN, PALETTE_SIGN_BLUE);
pObj->colPalette[4] = \
rgb2uv(PALETTE_VEH_RED, PALETTE_VEH_GREEN, PALETTE_VEH_BLUE);
break;
case 1: /* ROAD */
pObj->colPalette[0] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[1] = \
rgb2uv(PALETTE_ROAD_RED, PALETTE_ROAD_GREEN, PALETTE_ROAD_BLUE);
pObj->colPalette[2] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[3] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[4] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
break;
case 2: /* PEDESTRIAN */
pObj->colPalette[0] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[1] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[2] = \
rgb2uv(PALETTE_PED_RED, PALETTE_PED_GREEN, PALETTE_PED_BLUE);
pObj->colPalette[3] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[4] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
break;
case 3: /* ROAD SIGN */
pObj->colPalette[0] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[1] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[2] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[3] = \
rgb2uv(PALETTE_SIGN_RED, PALETTE_SIGN_GREEN, PALETTE_SIGN_BLUE);
pObj->colPalette[4] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
break;
case 4: /* VEHICLE */
pObj->colPalette[0] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[1] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[2] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[3] = \
rgb2uv(PALETTE_NONE_RED, PALETTE_NONE_GREEN, PALETTE_NONE_BLUE);
pObj->colPalette[4] = \
rgb2uv(PALETTE_VEH_RED, PALETTE_VEH_GREEN, PALETTE_VEH_BLUE);
break;
}
Cache_wb(
(UInt8*)pObj->colPalette,
(MAX_NUM_PALETTE * 2),
Cache_Type_ALLD,
TRUE);
}
/**
*******************************************************************************
*
* \brief Semantic Segmentation
*
* This function configure, creates, link various links to establish
* usecase.
*
* Further in a while loop displays run time menu and waits
* for user inputs to print the statistics or to end the demo.
*
* Once the user inputs end of demo stop and delete
* functions are executed.
*
* \param chainsCfg [IN] Chains_Ctrl
*
*******************************************************************************
*/
Void Chains_semSeg(Chains_Ctrl *chainsCfg)
{
char ch;
Bool done = FALSE;
gChainsObjSemSeg.chainsCfg = chainsCfg;
/* Allocate the Algorithm create structure */
gChainsObjSemSeg.pAlgCreateParams = ChainsCommon_Osal_memAlloc(
sizeof(TIDL_CreateParams),
32);
UTILS_assert(NULL != gChainsObjSemSeg.pAlgCreateParams);
/* Semantic Segmentation Init */
semSegInit(&gChainsObjSemSeg);
chains_semSeg_Create(&gChainsObjSemSeg.ucObj, &gChainsObjSemSeg);
chains_semSeg_StartApp(&gChainsObjSemSeg);
do
{
Vps_printf(semSegRunTimeMenu);
ch = Chains_readChar();
switch(ch)
{
case '0':
done = TRUE;
break;
case '1':
pauseSemSeg(&gChainsObjSemSeg);
break;
case '2':
resumeSemSeg(&gChainsObjSemSeg);
break;
case '3':
enablePalette(&gChainsObjSemSeg, 0);
break;
case '4':
enablePalette(&gChainsObjSemSeg, 1);
break;
case '5':
enablePalette(&gChainsObjSemSeg, 2);
break;
case '6':
enablePalette(&gChainsObjSemSeg, 3);
break;
case '7':
enablePalette(&gChainsObjSemSeg, 4);
break;
case 'p':
case 'P':
ChainsCommon_PrintStatistics();
chains_semSeg_printStatistics(&gChainsObjSemSeg.ucObj);
break;
default:
break;
}
}while(FALSE == done);
chains_semSeg_StopAndDelete(&gChainsObjSemSeg);
/* Semantic Segmentation DeInit */
semSegDeInit(&gChainsObjSemSeg);
/* Free the Algorithm create structure */
ChainsCommon_Osal_memFree(
gChainsObjSemSeg.pAlgCreateParams,
sizeof(TIDL_CreateParams));
}
Can u please explain the code and i am not able to understanding the code please help me
Thanks & Regards
Reshugowda
