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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2018 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: vitus@google.com (Michael Vitus)
#ifndef CERES_INTERNAL_CONTEXT_IMPL_H_
#define CERES_INTERNAL_CONTEXT_IMPL_H_
// This include must come before any #ifndef check on Ceres compile options.
// clang-format off
#include "ceres/internal/config.h"
// clang-format on
#include <string>
#include "ceres/context.h"
#include "ceres/internal/disable_warnings.h"
#include "ceres/internal/export.h"
#ifndef CERES_NO_CUDA
#include "cublas_v2.h"
#include "cuda_runtime.h"
#include "cusolverDn.h"
#endif // CERES_NO_CUDA
#ifdef CERES_USE_CXX_THREADS
#include "ceres/thread_pool.h"
#endif // CERES_USE_CXX_THREADS
namespace ceres {
namespace internal {
class CERES_NO_EXPORT ContextImpl final : public Context {
public:
ContextImpl();
~ContextImpl() override;
ContextImpl(const ContextImpl&) = delete;
void operator=(const ContextImpl&) = delete;
// When compiled with C++ threading support, resize the thread pool to have
// at min(num_thread, num_hardware_threads) where num_hardware_threads is
// defined by the hardware. Otherwise this call is a no-op.
void EnsureMinimumThreads(int num_threads);
#ifdef CERES_USE_CXX_THREADS
ThreadPool thread_pool;
#endif // CERES_USE_CXX_THREADS
#ifndef CERES_NO_CUDA
// Initializes the cuSolverDN context, creates an asynchronous stream, and
// associates the stream with cuSolverDN. Returns true iff initialization was
// successful, else it returns false and a human-readable error message is
// returned.
bool InitCUDA(std::string* message);
// Handle to the cuSOLVER context.
cusolverDnHandle_t cusolver_handle_ = nullptr;
// Handle to cuBLAS context.
cublasHandle_t cublas_handle_ = nullptr;
// CUDA device stream.
cudaStream_t stream_ = nullptr;
// Indicates whether all the CUDA resources have been initialized.
bool cuda_initialized_ = false;
#endif // CERES_NO_CUDA
};
} // namespace internal
} // namespace ceres
#include "ceres/internal/reenable_warnings.h"
#endif // CERES_INTERNAL_CONTEXT_IMPL_H_
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