cuda_util.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed 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.
 *****************************************************************************/
 
#include <vector>
 
#if GPU_PLATFORM == NVIDIA
  #include <cuda_runtime_api.h>
  #include <cublas_v2.h>
#elif GPU_PLATFORM == AMD
  #include <hip/hip_runtime.h>
  #include <hip/hip_runtime_api.h>
  #include <hipblas.h>
  #define cudaError_t hipError_t
  #define cudaFree hipFree
  #define cudaMalloc hipMalloc
  #define cudaMemcpy hipMemcpy
  #define cudaMemcpyHostToDevice hipMemcpyHostToDevice
  #define cudaSuccess hipSuccess
  #define CUBLAS_STATUS_SUCCESS HIPBLAS_STATUS_SUCCESS
  #define cublasCreate hipblasCreate
  #define cublasHandle_t hipblasHandle_t
  #define cublasIdamin hipblasIdamin
  #define cublasStatus_t hipblasStatus_t
#endif
 
#include "modules/common/math/line_segment2d.h"
#include "modules/common/math/vec2d.h"
 
namespace apollo {
namespace pnc_map {
 
struct CudaLineSegment2d {
  double x1;
  double y1;
  double x2;
  double y2;
};
 
class CudaNearestSegment {
 public:
  CudaNearestSegment();
 
  bool UpdateLineSegment(
      const std::vector<apollo::common::math::LineSegment2d>& segments);
 
  int FindNearestSegment(double x, double y);
 
  ~CudaNearestSegment();
 
 private:
  std::size_t size_ = 0;
  CudaLineSegment2d* host_seg_;
  double* dev_dist_;
  CudaLineSegment2d* dev_seg_;
  cublasHandle_t handle_;
};
 
}  // namespace pnc_map
}  // namespace apollo