modularization/src1/perception/perception_lidar_centerpoint/include/lidar_centerpoint/cuda_utils.hpp

// Copyright 2020 TIER IV, Inc.
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// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
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//     http://www.apache.org/licenses/LICENSE-2.0
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// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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/*
 * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a
 * copy of this software and associated documentation files (the "Software"),
 * to deal in the Software without restriction, including without limitation
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,
 * and/or sell copies of the Software, and to permit persons to whom the
 * Software is furnished to do so, subject to the following conditions:
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 * The above copyright notice and this permission notice shall be included in
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/*
 * This code is licensed under CC0 1.0 Universal (Public Domain).
 * You can use this without any limitation.
 * https://creativecommons.org/publicdomain/zero/1.0/deed.en
 */

#ifndef LIDAR_CENTERPOINT__CUDA_UTILS_HPP_
#define LIDAR_CENTERPOINT__CUDA_UTILS_HPP_

#include <cuda_runtime_api.h>

#include <memory>
#include <sstream>
#include <stdexcept>
#include <type_traits>

#define CHECK_CUDA_ERROR(e) (cuda::check_error(e, __FILE__, __LINE__))

namespace cuda
{
inline void check_error(const ::cudaError_t e, const char * f, int n)
{
  if (e != ::cudaSuccess) {
    std::stringstream s;
    s << ::cudaGetErrorName(e) << " (" << e << ")@" << f << "#L" << n << ": "
      << ::cudaGetErrorString(e);
    throw std::runtime_error{s.str()};
  }
}

struct deleter
{
  void operator()(void * p) const { CHECK_CUDA_ERROR(::cudaFree(p)); }
};

template <typename T>
using unique_ptr = std::unique_ptr<T, deleter>;

template <typename T>
typename std::enable_if<std::is_array<T>::value, cuda::unique_ptr<T>>::type make_unique(
  const std::size_t n)
{
  using U = typename std::remove_extent<T>::type;
  U * p;
  CHECK_CUDA_ERROR(::cudaMalloc(reinterpret_cast<void **>(&p), sizeof(U) * n));
  return cuda::unique_ptr<T>{p};
}

template <typename T>
cuda::unique_ptr<T> make_unique()
{
  T * p;
  CHECK_CUDA_ERROR(::cudaMalloc(reinterpret_cast<void **>(&p), sizeof(T)));
  return cuda::unique_ptr<T>{p};
}

constexpr size_t CUDA_ALIGN = 256;

template <typename T>
inline size_t get_size_aligned(size_t num_elem)
{
  size_t size = num_elem * sizeof(T);
  size_t extra_align = 0;
  if (size % CUDA_ALIGN != 0) {
    extra_align = CUDA_ALIGN - size % CUDA_ALIGN;
  }
  return size + extra_align;
}

template <typename T>
inline T * get_next_ptr(size_t num_elem, void *& workspace, size_t & workspace_size)
{
  size_t size = get_size_aligned<T>(num_elem);
  if (size > workspace_size) {
    throw std::runtime_error("Workspace is too small!");
  }
  workspace_size -= size;
  T * ptr = reinterpret_cast<T *>(workspace);
  workspace = reinterpret_cast<void *>(reinterpret_cast<uintptr_t>(workspace) + size);
  return ptr;
}

}  // namespace cuda

#endif  // LIDAR_CENTERPOINT__CUDA_UTILS_HPP_