Fix misuse of max_group

Author: thomasccp

robot_localisation/src/Func.c

@@ -18,8 +18,9 @@
 extern dsfmt_t dsfmt[NPMax];
 
 /*** FPGA mode: Call SMC core */
-void smcFPGA(int NP, float S, int outer_idx, int itl_inner, float* state_in, float* ref_in, float* rand_num, int* seed, float* obsrv_in, float* state_out, max_group_t* engines){
+void smcFPGA(int NP, float S, int outer_idx, int itl_inner, float* state_in, float* ref_in, float* rand_num, int* seed, float* obsrv_in, float* state_out, max_group_t* group){
 
+	max_engine_t *engines[NBoard];
 	struct timeval tv1, tv2;
 	unsigned long long lmem_time, kernel_time, resampling_time;
 #if FPGA_resampling==1
@@ -86,22 +87,34 @@ void smcFPGA(int NP, float S, int outer_idx, int itl_inner, float* state_in, flo
 #if Use_DRAM==1
 	// Copy states to LMEM
 	gettimeofday(&tv1, NULL);
-	Smc_write_run_group(engines,*actions_write);
+	for (int i=0; i<NBoard; i++){
+		engines[i] = max_lock_any(group);
+		Smc_write_run(engines[i], actions_write[i]);
+		max_unlock(engines[i]);
+	}
 	gettimeofday(&tv2, NULL);
 	lmem_time = (tv2.tv_sec - tv1.tv_sec)*1000000 + (tv2.tv_usec - tv1.tv_usec);
 	printf("Copied data to LMEM in %lu us.\n", (long unsigned int)lmem_time);
 #endif
 	// Invoke FPGA kernel
 	gettimeofday(&tv1, NULL);
-	Smc_run_group(engines,*actions);
+	for (int i=0; i<NBoard; i++){
+		engines[i] = max_lock_any(group);
+		Smc_run(engines[i], actions[i]);
+		max_unlock(engines[i]);
+	}
 	gettimeofday(&tv2, NULL);
 	kernel_time = (tv2.tv_sec - tv1.tv_sec)*1000000 + (tv2.tv_usec - tv1.tv_usec);
 	printf("FPGA kernel finished in %lu us.\n", (long unsigned int)kernel_time);
 #if Use_DRAM==1
 	// Copy states from LMEM
 	gettimeofday(&tv1, NULL);
-	Smc_read_run_group(engines,*actions_read);
-	Smc_read_w_run_group(engines,*actions_read_w);
+	for (int i=0; i<NBoard; i++){
+		engines[i] = max_lock_any(group);
+		Smc_read_run(engines[i], actions_read[i]);
+		Smc_read_w_run(engines[i], actions_read_w[i]);
+		max_unlock(engines[i]);
+	}
 	gettimeofday(&tv2, NULL);
 	lmem_time = (tv2.tv_sec - tv1.tv_sec)*1000000 + (tv2.tv_usec - tv1.tv_usec);
 	printf("Copied data from LMEM in %lu us.\n", (long unsigned int)lmem_time);

robot_localisation/src/Func.h

@@ -21,7 +21,7 @@ typedef struct ref_t
 	float r;
 }ref_t;
 
-void smcFPGA(int NP, float S, int outer_idx, int itl_inner, float* state_in, float* ref_in, float* rand_num, int* seed, float* obsrv_in, float* state_out, max_group_t* engines);
+void smcFPGA(int NP, float S, int outer_idx, int itl_inner, float* state_in, float* ref_in, float* rand_num, int* seed, float* obsrv_in, float* state_out, max_group_t* group);
 void resampleFPGA(int NP, float* state_out, int* index);
 void smcCPU(int NP, float S, int outer_idx, int itl_inner, float* state_in, float* ref_in, float* obsrv_in, float* state_out);
 float est(float x, float y, float h);

robot_localisation/src/Smc.c

@@ -53,8 +53,7 @@ int main(int argc, char *argv[]){
 	// Load multiple FPGAs
 	// Mutliple FPGAs mode is only supported when resampling in processed on CPU
 	max_file_t *maxfile = Smc_init();
-	//max_engarray_t *engines = max_load_array(maxfile,NBoard,"*");
-	max_group_t *engines = max_load_group(maxfile, MAXOS_EXCLUSIVE, "group@local:*", NBoard);
+	max_group_t *group = max_load_group(maxfile, MAXOS_EXCLUSIVE, "group@local:*", NBoard);
 
 	for(int t=0; t<NT; t++){
 		for (int i=0; i<itl_outer; i++) {
@@ -79,7 +78,7 @@ int main(int argc, char *argv[]){
 #if Use_FPGA==1
 			// Invoke FPGA kernel
 			printf("Calling FPGA kernel...\n");
-			smcFPGA(NP,S,i,itl_inner,state_in,ref_in,rand_num,seed,obsrv_in,state_out,engines);
+			smcFPGA(NP,S,i,itl_inner,state_in,ref_in,rand_num,seed,obsrv_in,state_out,group);
 #else
 			printf("Calling CPU function...\n");
 			smcCPU(NP,S,i,itl_inner,state_in,ref_in,obsrv_in,state_out);
@@ -92,7 +91,7 @@ int main(int argc, char *argv[]){
 	check(argv[3]);
 
 	// Release FPGA resources
-	max_unload_group(engines);
+	max_unload_group(group);
 	max_file_free(maxfile);
 
 	free(obsrv);

robot_localisation_with_moving_objects/src/Func.c

@@ -18,8 +18,9 @@
 extern dsfmt_t dsfmt[NPMax*slotOfP];
 
 /*** FPGA mode: Call SMC core */
-void smcFPGA(int NP, int slotOfAllP, float S, int itl_outer, int outer_idx, int itl_inner, float* state_in, float* ref_in, int* seed, float* obsrv_in, float* state_out, float* weightObj, max_group_t* engines){
+void smcFPGA(int NP, int slotOfAllP, float S, int itl_outer, int outer_idx, int itl_inner, float* state_in, float* ref_in, int* seed, float* obsrv_in, float* state_out, float* weightObj, max_group_t* group){
 
+	max_engine_t *engines[NBoard];
 	struct timeval tv1, tv2;
 	unsigned long long lmem_time, kernel_time, resampling_time;
 
@@ -69,22 +70,34 @@ void smcFPGA(int NP, int slotOfAllP, float S, int itl_outer, int outer_idx, int
 #if Use_DRAM==1
 	// Copy states to LMEM
 	gettimeofday(&tv1, NULL);
-	Smc_write_run_group(engines,*actions_write); // for NBoard FPGAs
+	for (int i=0; i<NBoard; i++){
+		engines[i] = max_lock_any(group);
+		Smc_write_run(engines[i], actions_write[i]);
+		max_unlock(engines[i]);
+	}
 	gettimeofday(&tv2, NULL);
 	lmem_time = (tv2.tv_sec - tv1.tv_sec)*1000000 + (tv2.tv_usec - tv1.tv_usec);
 	printf("Copied data to LMEM in %lu us.\n", (long unsigned int)lmem_time);
 #endif
 	// Invoke FPGA kernel
 	gettimeofday(&tv1, NULL);
-	Smc_run_group(engines,*actions);
+	for (int i=0; i<NBoard; i++){
+		engines[i] = max_lock_any(group);
+		Smc_run(engines[i], actions[i]);
+		max_unlock(engines[i]);
+	}
 	gettimeofday(&tv2, NULL);
 	kernel_time = (tv2.tv_sec - tv1.tv_sec)*1000000 + (tv2.tv_usec - tv1.tv_usec);
 	printf("FPGA kernel finished in %lu us.\n", (long unsigned int)kernel_time);
 #if Use_DRAM==1
 	// Copy states from LMEM
 	gettimeofday(&tv1, NULL);
-	Smc_read_run_group(engines,*actions_read);
-	Smc_read_w_run_group(engines,*actions_read_w);
+	for (int i=0; i<NBoard; i++){
+		engines[i] = max_lock_any(group);
+		Smc_read_run(engines[i], actions_read[i]);
+		Smc_read_w_run(engines[i], actions_read_w[i]);
+		max_unlock(engines[i]);
+	}
 	gettimeofday(&tv2, NULL);
 	lmem_time = (tv2.tv_sec - tv1.tv_sec)*1000000 + (tv2.tv_usec - tv1.tv_usec);
 	printf("Copied data from LMEM in %lu us.\n", (long unsigned int)lmem_time);

robot_localisation_with_moving_objects/src/Func.h

@@ -21,7 +21,7 @@ typedef struct ref_t
 	float r;
 }ref_t;
 
-void smcFPGA(int NP, int slotOfAllP, float S, int itl_outer, int outer_idx, int itl_inner, float* state_in, float* ref_in, int* seed, float* obsrv_in, float* state_out, float* weightObj, max_group_t* engines);
+void smcFPGA(int NP, int slotOfAllP, float S, int itl_outer, int outer_idx, int itl_inner, float* state_in, float* ref_in, int* seed, float* obsrv_in, float* state_out, float* weightObj, max_group_t* group);
 void orderParticles(int NP, float* state, float* weightObj);
 void reOrderParticles(int NP, float* state);
 void resampleFPGA(int NP, float* state_out, int* index);

robot_localisation_with_moving_objects/src/Smc.c

@@ -44,7 +44,7 @@ int main(int argc, char *argv[]){
 	// Load multiple FPGAs
 	max_file_t *maxfile = Smc_init();
 	//max_engarray_t *engines = max_load_array(maxfile,NBoard,"*");
-	max_group_t *engines = max_load_group(maxfile, MAXOS_EXCLUSIVE, "group@local:*", NBoard);
+	max_group_t *group = max_load_group(maxfile, MAXOS_EXCLUSIVE, "group@local:*", NBoard);
 
 	for (int cnt=0; cnt<NTest; cnt++){ // Run for ten times to get the average error
 
@@ -69,7 +69,7 @@ int main(int argc, char *argv[]){
 #if NC>1
 				reOrderParticles(NP, state_in);
 #endif
-				smcFPGA(NP,slotOfAllP,S,itl_outer,i,itl_inner,state_in,ref_in,seed,obsrv_in,state_out,weightObj,engines);
+				smcFPGA(NP,slotOfAllP,S,itl_outer,i,itl_inner,state_in,ref_in,seed,obsrv_in,state_out,weightObj,group);
 #else
 				printf("Calling CPU function...\n");
 				smcCPU(NP,slotOfAllP,S,itl_outer,i,itl_inner,state_in,ref_in,obsrv_in,state_out,weightObj);
@@ -83,7 +83,7 @@ int main(int argc, char *argv[]){
 	check(argv[3], NP, itl_outer);
 
 	// Release FPGA resources
-	max_unload_group(engines);
+	max_unload_group(group);
 	max_file_free(maxfile);
 
 	free(obsrv);

stochastic_volatility/src/Func.c

@@ -19,8 +19,9 @@
 extern dsfmt_t dsfmt[NPMax];
 
 /*** FPGA mode: Call SMC core */
-void smcFPGA(int NP, float S, int outer_idx, int itl_inner, float* state_in, float* rand_num, int* seed, float* obsrv_in, float* state_out, max_group_t* engines){
+void smcFPGA(int NP, float S, int outer_idx, int itl_inner, float* state_in, float* rand_num, int* seed, float* obsrv_in, float* state_out, max_group_t* group){
 
+	max_engine_t *engines[NBoard];
 	struct timeval tv1, tv2;
 	unsigned long long lmem_time, kernel_time, resampling_time;
 #if FPGA_resampling==1
@@ -86,22 +87,34 @@ void smcFPGA(int NP, float S, int outer_idx, int itl_inner, float* state_in, flo
 #if Use_DRAM==1
 	// Copy states to LMEM
 	gettimeofday(&tv1, NULL);
-	Smc_write_run_group(engines,*actions_write);
+	for (int i=0; i<NBoard; i++){
+		engines[i] = max_lock_any(group);
+		Smc_write_run(engines[i], actions_write[i]);
+		max_unlock(engines[i]);
+	}
 	gettimeofday(&tv2, NULL);
 	lmem_time = (tv2.tv_sec - tv1.tv_sec)*1000000 + (tv2.tv_usec - tv1.tv_usec);
 	printf("Copied data to LMEM in %lu us.\n", (long unsigned int)lmem_time);
 #endif
 	// Invoke FPGA kernel
 	gettimeofday(&tv1, NULL);
-	Smc_run_group(engines,*actions);
+	for (int i=0; i<NBoard; i++){
+		engines[i] = max_lock_any(group);
+		Smc_run(engines[i], actions[i]);
+		max_unlock(engines[i]);
+	}
 	gettimeofday(&tv2, NULL);
 	kernel_time = (tv2.tv_sec - tv1.tv_sec)*1000000 + (tv2.tv_usec - tv1.tv_usec);
 	printf("FPGA kernel finished in %lu us.\n", (long unsigned int)kernel_time);
 #if Use_DRAM==1
 	// Copy states from LMEM
 	gettimeofday(&tv1, NULL);
-	Smc_read_run_group(engines,*actions_read);
-	Smc_read_w_run_group(engines,*actions_read_w);
+	for (int i=0; i<NBoard; i++){
+		engines[i] = max_lock_any(group);
+		Smc_read_run(engines[i], actions_read[i]);
+		Smc_read_w_run(engines[i], actions_read_w[i]);
+		max_unlock(engines[i]);
+	}
 	gettimeofday(&tv2, NULL);
 	lmem_time = (tv2.tv_sec - tv1.tv_sec)*1000000 + (tv2.tv_usec - tv1.tv_usec);
 	printf("Copied data from LMEM in %lu us.\n", (long unsigned int)lmem_time);

stochastic_volatility/src/Func.h

@@ -21,7 +21,7 @@ typedef struct control_t
 	float r;
 }control_t;
 
-void smcFPGA(int NP, float S, int outer_idx, int itl_inner, float* state_in, float* rand_num, int* seed, float* obsrv_in, float* state_out, max_group_t* engines);
+void smcFPGA(int NP, float S, int outer_idx, int itl_inner, float* state_in, float* rand_num, int* seed, float* obsrv_in, float* state_out, max_group_t* group);
 void resampleFPGA(int NP, float* state_out, int* index);
 void smcCPU(int NP, float S, int outer_idx, int itl_inner, float* state_in, float* obsrv_in, float* state_out);
 void resampleCPU(int NP, float* state, float* weight, float* weight_sum);

stochastic_volatility/src/Smc.c

@@ -44,7 +44,7 @@ int main(int argc, char *argv[]){
 	// Mutliple FPGAs mode is only supported when resampling in processed on CPU
 	max_file_t *maxfile = Smc_init();
 	//max_engarray_t *engines = max_load_array(maxfile,NBoard,"*");
-	max_group_t *engines = max_load_group(maxfile, MAXOS_EXCLUSIVE, "group@local:*", NBoard);
+	max_group_t *group = max_load_group(maxfile, MAXOS_EXCLUSIVE, "group@local:*", NBoard);
 
 	for(int t=0; t<NT; t++){
 		for (int i=0; i<itl_outer; i++) {
@@ -66,7 +66,7 @@ int main(int argc, char *argv[]){
 #if Use_FPGA==1
 			// Invoke FPGA kernel
 			printf("Calling FPGA kernel...\n");
-			smcFPGA(NP,S,i,itl_inner,state_in,rand_num,seed,obsrv_in,state_out,engines);
+			smcFPGA(NP,S,i,itl_inner,state_in,rand_num,seed,obsrv_in,state_out,group);
 #else
 			printf("Calling CPU function...\n");
 			smcCPU(NP,S,i,itl_inner,state_in,obsrv_in,state_out);
@@ -79,7 +79,7 @@ int main(int argc, char *argv[]){
 	check(argv[2]);
 
 	// Release FPGA resources
-	max_unload_group(engines);
+	max_unload_group(group);
 	max_file_free(maxfile);
 
 	free(obsrv);