test_harris.cpp

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#include "../include/harris.hpp"
#include "../../common/src/common.cpp"
 
using namespace std;
 
//---------------------------------------------------------
// HELPERS FOR THE DEBUGGING TRACES
//  .e.g: DEBUG_LEVEL = (MDL_TRACE | IPS_TRACE)
//---------------------------------------------------------
#define THIS_NAME "TB"
 
#define TRACE_OFF     0x0000
#define TRACE_URIF   1 <<  1
#define TRACE_UAF    1 <<  2
#define TRACE_MMIO   1 <<  3
#define TRACE_ALL     0xFFFF
 
#define DEBUG_LEVEL (TRACE_ALL)
 
 
//------------------------------------------------------
//-- TESTBENCH DEFINES
//------------------------------------------------------
#define OK          true
#define KO          false
#define VALID       true
#define UNVALID     false
#define DEBUG_TRACE true
 
// The number of sequential testbench executions
#define TB_TRIALS   2
 
// Enable delay in the response channel of DDR AXI controller
#define ENABLE_DDR_EMULATE_DELAY_IN_TB
 
#define ENABLED     (ap_uint<1>)1
#define DISABLED    (ap_uint<1>)0
 
 
//------------------------------------------------------
//-- DUT INTERFACES AS GLOBAL VARIABLES
//------------------------------------------------------
 
//-- SHELL / Uaf / Mmio / Config Interfaces
//ap_uint<2>                piSHL_This_MmioEchoCtrl;
ap_uint<1>                  piSHL_This_MmioPostPktEn;
ap_uint<1>                  piSHL_This_MmioCaptPktEn;
 
//-- SHELL / Uaf / Udp Interfaces
stream<UdpWord>             sSHL_Uaf_Data ("sSHL_Uaf_Data");
stream<UdpWord>             sUAF_Shl_Data ("sUAF_Shl_Data");
stream<UdpWord>             image_stream_from_harris ("image_stream_from_harris");
 
ap_uint<32>                 s_udp_rx_ports = 0x0;
stream<NetworkMetaStream>   siUdp_meta          ("siUdp_meta");
stream<NetworkMetaStream>   soUdp_meta          ("soUdp_meta");
ap_uint<32>                 node_rank;
ap_uint<32>                 cluster_size;
 
#ifdef ENABLE_DDR
 
//------------------------------------------------------
//-- SHELL / Role / Mem / Mp0 Interface
//------------------------------------------------------
//---- Read Path (MM2S) ------------
stream<DmCmd>               sROL_Shl_Mem_RdCmdP0("sROL_Shl_Mem_RdCmdP0");
stream<DmSts>               sSHL_Rol_Mem_RdStsP0("sSHL_Rol_Mem_RdStsP0");
stream<Axis<MEMDW_512> >    sSHL_Rol_Mem_ReadP0 ("sSHL_Rol_Mem_ReadP0");
//---- Write Path (S2MM) -----------
stream<DmCmd>               sROL_Shl_Mem_WrCmdP0("sROL_Shl_Mem_WrCmdP0");
stream<DmSts>               sSHL_Rol_Mem_WrStsP0("sSHL_Rol_Mem_WrStsP0");
stream<Axis<MEMDW_512> >    sROL_Shl_Mem_WriteP0("sROL_Shl_Mem_WriteP0");
 
//------------------------------------------------------
//-- SHELL / Role / Mem / Mp1 Interface
//------------------------------------------------------
#define MEMORY_LINES_512 TOTMEMDW_512 /* 64 KiB */
membus_t   lcl_mem0[MEMORY_LINES_512];
membus_t   lcl_mem1[MEMORY_LINES_512];
#endif
 
//------------------------------------------------------
//-- TESTBENCH GLOBAL VARIABLES
//------------------------------------------------------
int         simCnt;
 
 
 
void stepDut() {
    harris(
        &node_rank, &cluster_size,
        sSHL_Uaf_Data, sUAF_Shl_Data,
        siUdp_meta, soUdp_meta,
        &s_udp_rx_ports
        #ifdef ENABLE_DDR
                        ,
        // sROL_Shl_Mem_RdCmdP0,
        // sSHL_Rol_Mem_RdStsP0,
        // sSHL_Rol_Mem_ReadP0,
        sROL_Shl_Mem_WrCmdP0,
        sSHL_Rol_Mem_WrStsP0,
        sROL_Shl_Mem_WriteP0,
        lcl_mem0,
        lcl_mem1
      #endif
      );
    simCnt++;
    printf("[%4.4d] STEP DUT \n", simCnt);
}
 
 
 
 
 
int main(int argc, char** argv) {
 
    //------------------------------------------------------
    //-- TESTBENCH LOCAL VARIABLES
    //------------------------------------------------------
    int nrErr;
    unsigned int tb_trials = 0;
 
    printf("#####################################################\n");
    printf("## MAIN TESTBENCH STARTS HERE                      ##\n");
    printf("#####################################################\n");
 
    
    //------------------------------------------------------
    //-- TESTBENCH LOCAL VARIABLES FOR HARRIS
    //------------------------------------------------------
    cv::Mat in_img, img_gray;
    cv::Mat hls_out_img, ocv_out_img;
 
    if (argc != 2) {
        printf("Usage : %s <input image> \n", argv[0]);
        return -1;
    }
    in_img = cv::imread(argv[1], 0); // reading in the color image
 
    if (!in_img.data) {
        printf("ERROR: Failed to load the image ... %s\n!", argv[1]);
        return -1;
    }
    else {
      printf("INFO: Succesfully loaded image ... %s\n", argv[1]);
      if (in_img.total() != FRAME_WIDTH * FRAME_HEIGHT) {
        printf("WARNING: Resizing input image %s from [%u x %u] to  [%u x %u] !\n", argv[1], in_img.rows, in_img.cols, FRAME_WIDTH, FRAME_HEIGHT);
        cv::resize(in_img, in_img, cv::Size(FRAME_WIDTH, FRAME_HEIGHT), 0, 0, cv::INTER_LINEAR);
      }
      // Ensure that the selection of MTU is a multiple of 8 (Bytes per transaction)
      assert(PACK_SIZE % 8 == 0);
    }
 
    #ifdef ENABLE_DDR
    memset(lcl_mem0,  0x0, sizeof(lcl_mem0));
    memset(lcl_mem1,  0x0, sizeof(lcl_mem1));
    
    DmCmd           dmCmd_MemCmdP0;
    DmSts           dmSts_MemWrStsP0;
    DmSts           dmSts_MemRdStsP0;
    Axis<MEMDW_512> memP0;
    ap_uint<64>     currentMemPattern = 0;
  
    unsigned int ddr_addr_in = 0x0;
    unsigned int ddr_write_req_iter = 0;
    unsigned int wait_cycles_to_ack_ddr_status = 0;
    unsigned int count_cycles_to_ack_ddr_status = 0;
    bool ddr_write_sts_req = false;
    #endif
    
    uint16_t Thresh; // Threshold for HLS
    float Th;
    if (FILTER_WIDTH == 3) {
        Th = 30532960.00;
        Thresh = 442;
    } else if (FILTER_WIDTH == 5) {
        Th = 902753878016.0;
        Thresh = 3109;
    } else if (FILTER_WIDTH == 7) {
        Th = 41151168289701888.000000;
        Thresh = 566;
    }
 
 
    //------------------------------------------------------
    //-- STEP-1.1 : CREATE MEMORY FOR OUTPUT IMAGES
    //------------------------------------------------------
    //  cvtColor(in_img, img_gray, CV_BGR2GRAY);
    // Convert rgb into grayscale
    hls_out_img.create(in_img.rows, in_img.cols, CV_8U); // create memory for hls output image
    ocv_out_img.create(in_img.rows, in_img.cols, CV_8U); // create memory for opencv output image
 
    #if NO
    static xf::cv::Mat<IN_TYPE, HEIGHT, WIDTH, XF_NPPC1> imgInput(in_img.rows, in_img.cols);
    static xf::cv::Mat<IN_TYPE, HEIGHT, WIDTH, XF_NPPC1> imgOutput(in_img.rows, in_img.cols);
    static xf::cv::Mat<IN_TYPE, HEIGHT, WIDTH, XF_NPPC1> imgOutputTb(in_img.rows, in_img.cols);
    imgInput.copyTo(in_img.data);
    //  imgInput = xf::cv::imread<IN_TYPE, HEIGHT, WIDTH, XF_NPPC1>(argv[1], 0);
    ap_uint<INPUT_PTR_WIDTH>  *imgInputArray    = (ap_uint<INPUT_PTR_WIDTH>*)  malloc(in_img.rows * in_img.cols * sizeof(ap_uint<INPUT_PTR_WIDTH>));
    ap_uint<OUTPUT_PTR_WIDTH> *imgOutputArrayTb = (ap_uint<OUTPUT_PTR_WIDTH>*) malloc(in_img.rows * in_img.cols * sizeof(ap_uint<OUTPUT_PTR_WIDTH>));
    ap_uint<OUTPUT_PTR_WIDTH> *imgOutputArray   = (ap_uint<OUTPUT_PTR_WIDTH>*) malloc(in_img.rows * in_img.cols * sizeof(ap_uint<OUTPUT_PTR_WIDTH>));
    xf::cv::xfMat2Array<INPUT_PTR_WIDTH, IN_TYPE, HEIGHT, WIDTH, NPIX>(imgInput, imgInputArray);
    #endif
 
    #if RO
    static xf::cv::Mat<IN_TYPE, HEIGHT, WIDTH, XF_NPPC8> imgInput(in_img.rows, in_img.cols);
    static xf::cv::Mat<IN_TYPE, HEIGHT, WIDTH, XF_NPPC8> imgOutput(in_img.rows, in_img.cols);
    static xf::cv::Mat<IN_TYPE, HEIGHT, WIDTH, XF_NPPC1> imgOutputTb(in_img.rows, in_img.cols);
    #endif
    
    while (tb_trials++ < TB_TRIALS) {
   
 
        printf ( "##################################################### \n" );
        printf ( "## TESTBENCH #%u STARTS HERE                        ##\n", tb_trials );
        printf ( "##################################################### \n" );
 
 
        simCnt = 0;
        nrErr  = 0;
 
#if NO
        if ( !dumpImgToFile ( imgInput, "ifsSHL_Uaf_Data.dat", simCnt ) ) {
            nrErr++;
        }
#endif
 
#if RO
        // imgInput.copyTo(img_gray.data);
        imgInput = xf::cv::imread<IN_TYPE, HEIGHT, WIDTH, XF_NPPC8> ( argv[1], 0 );
#endif
 
 
 
        //------------------------------------------------------
        //-- STEP-1.2 : RUN HARRIS DETECTOR FROM OpenCV LIBRARY
        //------------------------------------------------------
        ocv_ref ( in_img, ocv_out_img, Th );
 
 
 
        //------------------------------------------------------
        //-- STEP-2.1 : CREATE TRAFFIC AS INPUT STREAMS
        //------------------------------------------------------
        if ( nrErr == 0 ) {
            if ( !setInputDataStream ( sSHL_Uaf_Data, "sSHL_Uaf_Data", "ifsSHL_Uaf_Data.dat", simCnt ) ) {
                printf ( "### ERROR : Failed to set input data stream \"sSHL_Uaf_Data\". \n" );
                nrErr++;
            }
 
            //there are TOT_TRANSFERS streams from the the App to the Role
            NetworkMeta tmp_meta = NetworkMeta ( 1,DEFAULT_RX_PORT,0,DEFAULT_RX_PORT,0 );
            for ( int i=0; i<TOT_TRANSFERS; i++ ) {
                siUdp_meta.write ( NetworkMetaStream ( tmp_meta ) );
            }
            //set correct node_rank and cluster_size
            node_rank = 1;
            cluster_size = 2;
        }
 
        //------------------------------------------------------
        //-- STEP-2.2 : SET THE PASS-THROUGH MODE
        //------------------------------------------------------
        //piSHL_This_MmioEchoCtrl.write(ECHO_PATH_THRU);
        //[TODO] piSHL_This_MmioPostPktEn.write(DISABLED);
        //[TODO] piSHL_This_MmioCaptPktEn.write(DISABLED);
 
        //------------------------------------------------------
        //-- STEP-3 : MAIN TRAFFIC LOOP
        //------------------------------------------------------
        while ( !nrErr ) {
 
            // Keep enough simulation time for sequntially executing the FSMs of the main 3 functions
            // (Rx-Proc-Tx)
            if ( simCnt < MIN_RX_LOOPS + MIN_RX_LOOPS + MIN_TX_LOOPS + 10
#ifdef ENABLE_DDR
#ifdef ENABLE_DDR_EMULATE_DELAY_IN_TB 
                + (TYPICAL_DDR_LATENCY + EXTRA_DDR_LATENCY_DUE_II + DDR_LATENCY) * MEMORY_LINES_512
#endif
#endif
               ) {
                stepDut();
 
                if ( simCnt > 2 ) {
                    assert ( s_udp_rx_ports == PORTS_OPENED );
                }
 
if (simCnt < 0)
    exit(0);
#ifdef ENABLE_DDR
 
                if ( !sROL_Shl_Mem_WrCmdP0.empty() ) {
                    printf ( "DEBUG tb: Read a memory write command from SHELL/Mem/Mp0 \n" );
                    //-- Read a memory write command from SHELL/Mem/Mp0
                    sROL_Shl_Mem_WrCmdP0.read ( dmCmd_MemCmdP0 );
                    //assert ( dmCmd_MemCmdP0.bbt == CHECK_CHUNK_SIZE );
                    assert ( dmCmd_MemCmdP0.type == 1 && dmCmd_MemCmdP0.dsa == 0 && dmCmd_MemCmdP0.eof == 1 && dmCmd_MemCmdP0.drr == 1 && dmCmd_MemCmdP0.tag == 0x0 );
                    ddr_addr_in = (unsigned int)dmCmd_MemCmdP0.saddr / BPERMDW_512; // Convert the byte-aligned address to local mem of stack tb.
                    printf ( "DEBUG tb: Requesting writting to address %u (max depth = %u) an amount of %u bytes (%u memory lines), ddr_write_req_iter=%u\n", ddr_addr_in,  MEMORY_LINES_512-1, (unsigned int)dmCmd_MemCmdP0.bbt, (unsigned int)(1 + (dmCmd_MemCmdP0.bbt - 1) / BPERMDW_512), ddr_write_req_iter);
                    assert (ddr_addr_in <= MEMORY_LINES_512-1);
                    //ddr_write_req_iter++;
                    //printf ( "DEBUG tb: (ddr_write_req_iter)%(MEMORY_LINES_512-1)=%u\n", (ddr_write_req_iter)%(MEMORY_LINES_512-1));
                    if ((++ddr_write_req_iter)%(MEMORY_LINES_512) == 0) {
                        ddr_write_req_iter = 0;
                    }
                    printf ( "DEBUG tb: ddr_write_req_iter=%u\n", ddr_write_req_iter);
 
#ifdef ENABLE_DDR_EMULATE_DELAY_IN_TB
                    /*
                     * 16                   ->  emulate a response in 16 cycles
                     * 1                    ->  emulate immediate response
                     * CYCLES_UNTIL_TIMEOUT ->  on purpose timeout
                     */ 
                    if (ddr_write_req_iter == 1) {
                        wait_cycles_to_ack_ddr_status = TYPICAL_DDR_LATENCY;
                    }
                    else if (ddr_write_req_iter == 2) {
                        wait_cycles_to_ack_ddr_status = TYPICAL_DDR_LATENCY;
                    }
                    else {
                        wait_cycles_to_ack_ddr_status = TYPICAL_DDR_LATENCY;
                    }
                    if (!sSHL_Rol_Mem_WrStsP0.empty()) {
                        printf("WARNING: Emptying sSHL_Rol_Mem_WrStsP0 fifo.\n");
                        dmSts_MemWrStsP0  = sSHL_Rol_Mem_WrStsP0.read();
                    }
#else
                    wait_cycles_to_ack_ddr_status = 0;
#endif
                    count_cycles_to_ack_ddr_status = 0;
                    ddr_write_sts_req = false;
                }
 
                if ( !sROL_Shl_Mem_WriteP0.empty() ) {
                    sROL_Shl_Mem_WriteP0.read ( memP0 );
                    printf ( "DEBUG tb: Write a memory line from SHELL/Mem/Mp0 \n" );
 
                    assert ( memP0.tkeep == 0xffffffffffffffff );
 
                    /* Read from AXI stream DDR interface and write to the memory mapped interface of
                     * DDR channel P0. In the real HW, this is enabled by the AXI interconnect and AXI
                     * Datamover, being instantiated in VHDL.
                     * */
                    printf ( "DEBUG tb: Writting to address 0x%x : %u an amount of %u bytes\n", ddr_addr_in, memP0.tdata.to_long(), BPERMDW_512);
                    //lcl_mem0[ddr_addr_in++] = memP0.tdata;
                    memcpy(&lcl_mem0[ddr_addr_in++], &memP0.tdata, BPERMDW_512);
                    ddr_write_sts_req = true;
                }
                // When we have emulated the writting to lcl_mem0, we acknowledge with a P0 status
                if ((ddr_write_sts_req == true) && !sSHL_Rol_Mem_WrStsP0.full() && (memP0.tlast == true)) {
                    if (count_cycles_to_ack_ddr_status++ == wait_cycles_to_ack_ddr_status) {
                        dmSts_MemWrStsP0.tag = 7;
                        dmSts_MemWrStsP0.okay = 1;
                        dmSts_MemWrStsP0.interr = 0;
                        dmSts_MemWrStsP0.slverr = 0;
                        dmSts_MemWrStsP0.decerr = 0;
                        printf ( "DEBUG tb: Write a memory status command to SHELL/Mem/Mp0 \n" );
                            sSHL_Rol_Mem_WrStsP0.write ( dmSts_MemWrStsP0 );
                            ddr_write_sts_req = false;
                    }
                    else{
                        printf ( "DEBUG tb: Waiting to write a memory status command to SHELL/Mem/Mp0 [%u out of %u] cycles\n", count_cycles_to_ack_ddr_status, wait_cycles_to_ack_ddr_status);
                    }
                }
 
 
 
#endif // ENABLE_DDR
 
 
                //if( !soUdp_meta.empty())
                //{
                //  NetworkMetaStream tmp_meta = soUdp_meta.read();
                //  printf("NRC received NRCmeta stream from node_rank %d.\n", (int) tmp_meta.tdata.src_rank);
                //}
 
 
            } else {
#ifdef ENABLE_DDR
                if (!sSHL_Rol_Mem_WrStsP0.empty()) {
                    printf("WARNING: Emptying sSHL_Rol_Mem_WrStsP0 fifo.\n");
                    dmSts_MemWrStsP0  = sSHL_Rol_Mem_WrStsP0.read();
                }
#endif
                printf ( "## End of simulation at cycle=%3d. \n", simCnt );
                break;
            }
 
        }  // End: while()
 
        //-------------------------------------------------------
        //-- STEP-4 : DRAIN AND WRITE OUTPUT FILE STREAMS
        //-------------------------------------------------------
        //---- UAF-->SHELL Data ----
        if ( !getOutputDataStream ( sUAF_Shl_Data, "sUAF_Shl_Data", "ofsUAF_Shl_Data.dat", simCnt ) ) {
            nrErr++;
        }
        //---- UAF-->SHELL META ----
        if ( !soUdp_meta.empty() ) {
            int i = 0;
            while ( !soUdp_meta.empty() ) {
                i++;
                NetworkMetaStream tmp_meta = soUdp_meta.read();
                printf ( "NRC received NRCmeta stream from rank %d to rank %d.\n", ( int ) tmp_meta.tdata.src_rank, ( int ) tmp_meta.tdata.dst_rank );
                assert ( tmp_meta.tdata.src_rank == node_rank );
                //ensure forwarding behavior
                assert ( tmp_meta.tdata.dst_rank == ( ( tmp_meta.tdata.src_rank + 1 ) % cluster_size ) );
            }
            //printf("DEBUG: i=%u\tTOT_TRANSFERS=%u\n", i, TOT_TRANSFERS);
            assert ( i == TOT_TRANSFERS );
        } else {
            printf ( "Error No metadata received...\n" );
            nrErr++;
        }
 
        //-------------------------------------------------------
        //-- STEP-5 : FROM THE OUTPUT FILE CREATE AN ARRAY
        //-------------------------------------------------------
        if ( !setInputFileToArray ( "ofsUAF_Shl_Data.dat", imgOutputArray, simCnt ) ) {
            printf ( "### ERROR : Failed to set input array from file \"ofsUAF_Shl_Data.dat\". \n" );
            nrErr++;
        }
        xf::cv::Array2xfMat<OUTPUT_PTR_WIDTH, OUT_TYPE, HEIGHT, WIDTH, NPIX> ( imgOutputArray, imgOutput );
 
 
        //------------------------------------------------------
        //-- STEP-6 : COMPARE INPUT AND OUTPUT FILE STREAMS
        //------------------------------------------------------
        int rc1 = system ( "diff --brief -w -i -y ../../../../test/ofsUAF_Shl_Data.dat \
                                            ../../../../test/verify_UAF_Shl_Data.dat" );
        if ( rc1 ) {
            printf ( "## Error : File \'ofsUAF_Shl_Data.dat\' does not match \'verify_UAF_Shl_Data.dat\'.\n" );
        } else {
            printf ( "Output data in file \'ofsUAF_Shl_Data.dat\' verified.\n" );
        }
 
        nrErr += rc1;
 
        printf ( "#####################################################\n" );
        if ( nrErr ) {
            printf ( "## ERROR - TESTBENCH #%u FAILED (RC=%d) !!!        ##\n", tb_trials, nrErr );
        } else {
            printf ( "## SUCCESSFULL END OF TESTBENCH #%u (RC=0)          ##\n", tb_trials );
        }
        printf ( "#####################################################\n" );
 
 
 
 
 
    } // End tb trials while loop
 
 
 
 
 
 
 
 
    float K = 0.04;
    uint16_t k = K * (1 << 16); // Convert to Q0.16 format
 
    #if NO
 
    // L2 Vitis Harris
    cornerHarrisAccelArray(imgInputArray, imgOutputArrayTb, in_img.rows, in_img.cols, Thresh, k);
    xf::cv::Array2xfMat<OUTPUT_PTR_WIDTH, OUT_TYPE, HEIGHT, WIDTH, NPIX>(imgOutputArrayTb, imgOutputTb);
        
    // L1 Vitis Harris 
    //harris_accel(imgInput, imgOutput, Thresh, k);
    
    #endif
 
    #if RO
 
    harris_accel(imgInput, imgOutputTb, Thresh, k);
 
    #endif
 
    xf::cv::imwrite("hls_out_tb.jpg", imgOutputTb);
    xf::cv::imwrite("hls_out.jpg", imgOutput);
 
    unsigned int val;
    unsigned short int row, col;
 
    cv::Mat out_img;
    out_img = in_img.clone();
 
    std::vector<cv::Point> hls_points;
    std::vector<cv::Point> ocv_points;
    std::vector<cv::Point> common_pts;
 
    xf::cv::Mat<OUT_TYPE, HEIGHT, WIDTH, NPIX>* select_imgOutput;
 
    // Select which output you want to process for image outputs and corners comparisons:
    // &imgOutput   : The processed image by Harris IP inside the ROLE (i.e. I/O traffic is passing through SHELL)
    // &imgOutputTb : The processed image by Harris IP in this testbench (i.e. I/O traffic is done in testbench)
    select_imgOutput = &imgOutput;
 
    // Mark HLS points on the image 
    markPointsOnImage(*select_imgOutput, in_img, out_img, hls_points);
 
    // Write HLS and Opencv corners into a file 
    //nrErr += 
    writeCornersIntoFile(in_img, ocv_out_img, out_img, hls_points, ocv_points, common_pts);
 
    // Clear memory
    free(imgOutputArrayTb);
    free(imgOutputArray);
    free(imgInputArray);
    
    
    return(nrErr);
}