AArch64 semihosting by fpetrogalli · Pull Request #20392 · opencv/opencv

fpetrogalli · 2021-07-12T09:09:55Z

This patch provide a toolchain file that allows to build the library
for semihosting applications [1]. Minimal changes have been applied to
the code to be able to compile with a baremetal toolchain.

[1] https://developer.arm.com/documentation/100863/latest

The option `CV_SEMIHOSTING` is used to guard the bits in the code that
are specific to the target.

To build the code:

    cmake ../opencv/ \
        -DCMAKE_TOOLCHAIN_FILE=../opencv/platforms/semihosting/aarch64-semihosting.toolchain.cmake \
        -DSEMIHOSTING_TOOLCHAIN_PATH=/path/to/baremetal-toolchain/bin/ \
        -DBUILD_EXAMPLES=ON -GNinja

A barematel toolchain for targeting aarch64 semihosting can be found
at [2], under `aarch64-none-elf`.

[2] https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads

The folder `samples/semihosting` provides two example semihosting
applications.

The two binaries can be executed on the host platform with:

    qemu-aarch64 ./bin/example_semihosting_histogram
    qemu-aarch64 ./bin/example_semihosting_norm

Similarly, the test and perf executables of the modules can be run
with:

    qemu-aarch64 ./bin/opecv_[test|perf]_<module>

Notice that filesystem support is disabled by the toolchain file,
hence some of the test that depend on filesystem support will fail.

Pull Request Readiness Checklist

See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request

I agree to contribute to the project under Apache 2 License.
To the best of my knowledge, the proposed patch is not based on a code under GPL or other license that is incompatible with OpenCV
The PR is proposed to proper branch
There is reference to original bug report and related work
There is accuracy test, performance test and test data in opencv_extra repository, if applicable
Patch to opencv_extra has the same branch name.
The feature is well documented and sample code can be built with the project CMake

force_builders=linux,docs,ARMv8,ARMv7,Custom
build_image:Custom=javascript
buildworker:Custom=linux-4,linux-6

alalek · 2021-07-12T12:00:04Z

@fpetrogalli How this patch correlates with baremetal PR #19921 ? Does it replace that PR?

fpetrogalli · 2021-07-12T13:09:25Z

@fpetrogalli How this patch correlates with baremetal PR #19921 ? Does it replace that PR?

yes, indeed, this patch replaces #19921

fpetrogalli · 2021-07-12T13:10:32Z

@alalek - I have added some instructions in the commit message on how to compile this code for semihosting, and how to run it on an x86 host.

fpetrogalli · 2021-07-13T12:32:00Z

@alalek - I am not sure what is happening with this failure: https://pullrequest.opencv.org/buildbot/builders/precommit_windows64/builds/29988

Any advice on what might be going on?

alalek · 2021-07-13T17:46:00Z

Error messages are:

C:\build\precommit_opencl\opencv\samples\semihosting\norm\norm.cpp(10,10): fatal error C1083: Cannot open include file: 'raw_pixels.hpp': No such file or directory
C:\build\precommit_opencl\opencv\samples\semihosting\histogram\histogram.cpp(10,10): fatal error C1083: Cannot open include file: 'raw_pixels.hpp': No such file or directory

fpetrogalli · 2021-07-14T15:33:13Z

Error messages are:

C:\build\precommit_opencl\opencv\samples\semihosting\norm\norm.cpp(10,10): fatal error C1083: Cannot open include file: 'raw_pixels.hpp': No such file or directory
C:\build\precommit_opencl\opencv\samples\semihosting\histogram\histogram.cpp(10,10): fatal error C1083: Cannot open include file: 'raw_pixels.hpp': No such file or directory

Good point, I think I fixed it with the last commit 98a1842 (let's wait for the bots to be happy, though).

modules/core/CMakeLists.txt

platforms/semihosting/include/aarch64_semihosting_port.hpp

samples/CMakeLists.txt

samples/semihosting/CMakeLists.txt

samples/semihosting/norm/norm.cpp

platforms/semihosting/aarch64-semihosting.toolchain.cmake

alalek

Looks good to me 👍

fpetrogalli · 2021-07-16T12:14:27Z

Looks good to me 👍

Thank you @alalek. I am actually particularly grateful for suggesting the idea of breaking the functionality down in multiple independent submissions :).

samples/semihosting/histogram/histogram.cpp

samples/semihosting/include/CMakeLists.txt

Because of this change, all the tests loading data will file, but tat least the core module can be tested with the following line: opencv_test_core --gtest_filter=-"*Core_InputOutput*:*Core_globbing.accuracy*"

This patch provide a toolchain file that allows to build the library for semihosting applications [1]. Minimal changes have been applied to the code to be able to compile with a baremetal toolchain. [1] https://developer.arm.com/documentation/100863/latest The option `CV_SEMIHOSTING` is used to guard the bits in the code that are specific to the target. To build the code: cmake ../opencv/ \ -DCMAKE_TOOLCHAIN_FILE=../opencv/platforms/semihosting/aarch64-semihosting.toolchain.cmake \ -DSEMIHOSTING_TOOLCHAIN_PATH=/path/to/baremetal-toolchain/bin/ \ -DBUILD_EXAMPLES=ON -GNinja A barematel toolchain for targeting aarch64 semihosting can be found at [2], under `aarch64-none-elf`. [2] https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads The folder `samples/semihosting` provides two example semihosting applications. The two binaries can be executed on the host platform with: qemu-aarch64 ./bin/example_semihosting_histogram qemu-aarch64 ./bin/example_semihosting_norm Similarly, the test and perf executables of the modules can be run with: qemu-aarch64 ./bin/opecv_[test|perf]_<module> Notice that filesystem support is disabled by the toolchain file, hence some of the test that depend on filesystem support will fail.

The spurious blankline was reported by https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31158.

Use the facilities provided by Cmake to generate the header file instead of a shell script, so that the build doesn't fail on systems that do not have a unix shell.

vpisarev

@fpetrogalli,

could you please add platform/selfhosting/README.md with a short description (e.g. a bit extended version of the top comment in this pull request) of what it is, why and how to use it?
are those 3 samples necessary? can we reduce this number? I'm thinking of cleaning the list of OpenCV samples, which are too many, in my opinion. In this particular case, does any of the 3 samples shows some unique features, or it all can be demonstrated with 1-2 samples?

fpetrogalli · 2021-07-20T17:31:21Z

@vpisarev , re:

2. are those 3 samples necessary? can we reduce this number? I'm thinking of cleaning the list of OpenCV samples, which are too many, in my opinion. In this particular case, does any of the 3 samples shows some unique features, or it all can be demonstrated with 1-2 samples?

The samples are 2. I think I would like to keep both of them because they cover for two different modules. I see some values in showing how the two LOCAL_DEPS are populated accordingly.

fpetrogalli · 2021-07-20T17:58:33Z

@vpisarev - I have added the README file.

samples/semihosting/histogram/histogram.cpp

fpetrogalli · 2021-07-21T08:33:47Z

Thank you @asmorkalov !

This fixes the failure at https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31272.

vpisarev

thanks, @fpetrogalli, great job! 👍

vpisarev · 2021-07-21T13:27:33Z

@alalek, I guess, it can be squashed and merged now

fpetrogalli · 2021-07-21T16:00:55Z

@alalek @asmorkalov @vpisarev - thank you all for the great support and help!

AArch64 semihosting * [ts] Disable filesystem support in the TS module. Because of this change, all the tests loading data will file, but tat least the core module can be tested with the following line: opencv_test_core --gtest_filter=-"*Core_InputOutput*:*Core_globbing.accuracy*" * [aarch64] Build OpenCV for AArch64 semihosting. This patch provide a toolchain file that allows to build the library for semihosting applications [1]. Minimal changes have been applied to the code to be able to compile with a baremetal toolchain. [1] https://developer.arm.com/documentation/100863/latest The option `CV_SEMIHOSTING` is used to guard the bits in the code that are specific to the target. To build the code: cmake ../opencv/ \ -DCMAKE_TOOLCHAIN_FILE=../opencv/platforms/semihosting/aarch64-semihosting.toolchain.cmake \ -DSEMIHOSTING_TOOLCHAIN_PATH=/path/to/baremetal-toolchain/bin/ \ -DBUILD_EXAMPLES=ON -GNinja A barematel toolchain for targeting aarch64 semihosting can be found at [2], under `aarch64-none-elf`. [2] https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-a/downloads The folder `samples/semihosting` provides two example semihosting applications. The two binaries can be executed on the host platform with: qemu-aarch64 ./bin/example_semihosting_histogram qemu-aarch64 ./bin/example_semihosting_norm Similarly, the test and perf executables of the modules can be run with: qemu-aarch64 ./bin/opecv_[test|perf]_<module> Notice that filesystem support is disabled by the toolchain file, hence some of the test that depend on filesystem support will fail. * [semihosting] Remove blank like at the end of file. [NFC] The spurious blankline was reported by https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31158. * [semihosting] Make the raw pixel file generation OS independent. Use the facilities provided by Cmake to generate the header file instead of a shell script, so that the build doesn't fail on systems that do not have a unix shell. * [semihosting] Rename variable for semihosting compilation. * [semihosting] Move the cmake configuration to a variable file. * [semihosting] Make the guard macro private for the core module. * [semihosting] Remove space. [NFC] * [semihosting] Improve comment with information about semihosting. [NFC] * [semihosting] Update license statement on top of sourvce file. [NFC] * [semihosting] Replace BM_SUFFIX with SEMIHOSTING_SUFFIX. [NFC] * [semihosting] Remove double space. [NFC] * [semihosting] Add some text output to the sample applications. * [semihosting] Remove duplicate entry in cmake configuration. [NFCI] * [semihosting] Replace `long` with `int` in sample apps. [NFCI] * [semihosting] Use `configure_file` to create the random pixels. [NFCI] * [semihosting][bugfix] Fix name of cmakedefine variable. * [semihosting][samples] Use CV_8UC1 for grayscale images. [NFCI] * [semihosting] Add readme file. * [semihosting] Remove blank like at the end of README. [NFC] This fixes the failure at https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31272.

fpetrogalli changed the title ~~Aarch64 semihosting~~ AArch64 semihosting Jul 12, 2021

fpetrogalli force-pushed the aarch64-semihosting branch from 01dbc29 to 774158b Compare July 12, 2021 11:52

fpetrogalli mentioned this pull request Jul 12, 2021

[baremetal][aarch64] Build a baremetal OpenCV for AArch64. #19921

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6 tasks

fpetrogalli force-pushed the aarch64-semihosting branch from c57ca61 to 98a1842 Compare July 14, 2021 15:31

fpetrogalli force-pushed the aarch64-semihosting branch from 98a1842 to ec70dcc Compare July 14, 2021 15:44

fpetrogalli marked this pull request as ready for review July 14, 2021 15:44

alalek reviewed Jul 14, 2021

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alalek approved these changes Jul 16, 2021

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asmorkalov requested changes Jul 16, 2021

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samples/semihosting/histogram/histogram.cpp Outdated Show resolved Hide resolved

samples/semihosting/include/CMakeLists.txt Outdated Show resolved Hide resolved

Francesco Petrogalli added 14 commits July 19, 2021 08:40

[ts] Disable filesystem support in the TS module.

ecbd116

Because of this change, all the tests loading data will file, but tat least the core module can be tested with the following line: opencv_test_core --gtest_filter=-"*Core_InputOutput*:*Core_globbing.accuracy*"

[semihosting] Remove blank like at the end of file. [NFC]

ca2558c

The spurious blankline was reported by https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31158.

[semihosting] Make the raw pixel file generation OS independent.

560f66b

Use the facilities provided by Cmake to generate the header file instead of a shell script, so that the build doesn't fail on systems that do not have a unix shell.

[semihosting] Rename variable for semihosting compilation.

1d1b747

[semihosting] Move the cmake configuration to a variable file.

957a1e0

[semihosting] Make the guard macro private for the core module.

ab7a639

[semihosting] Remove space. [NFC]

ef53e3b

[semihosting] Improve comment with information about semihosting. [NFC]

900120f

[semihosting] Update license statement on top of sourvce file. [NFC]

00709dc

[semihosting] Replace BM_SUFFIX with SEMIHOSTING_SUFFIX. [NFC]

0e72948

[semihosting] Remove double space. [NFC]

58adfff

[semihosting] Add some text output to the sample applications.

9e4918e

[semihosting] Remove duplicate entry in cmake configuration. [NFCI]

0d5e95c

Francesco Petrogalli added 2 commits July 19, 2021 08:40

[semihosting] Replace long with int in sample apps. [NFCI]

8b00c68

[semihosting] Use configure_file to create the random pixels. [NFCI]

9a285a9

fpetrogalli force-pushed the aarch64-semihosting branch from df30d6d to 9a285a9 Compare July 19, 2021 09:42

Francesco Petrogalli added 2 commits July 19, 2021 10:07

[semihosting][bugfix] Fix name of cmakedefine variable.

e83f82a

[semihosting][samples] Use CV_8UC1 for grayscale images. [NFCI]

6ac02d3

vpisarev requested changes Jul 20, 2021

View reviewed changes

[semihosting] Add readme file.

bd365ed

asmorkalov approved these changes Jul 21, 2021

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samples/semihosting/histogram/histogram.cpp Outdated Show resolved Hide resolved

[semihosting] Remove blank like at the end of README. [NFC]

8f7bb50

This fixes the failure at https://pullrequest.opencv.org/buildbot/builders/precommit_docs/builds/31272.

vpisarev self-requested a review July 21, 2021 13:26

vpisarev approved these changes Jul 21, 2021

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alalek merged commit d29c7e7 into opencv:master Jul 21, 2021

alalek mentioned this pull request Oct 15, 2021

(5.x) Merge 4.x #20886

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