Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
131 lines
4.7 KiB
Python
131 lines
4.7 KiB
Python
# Copyright 2018 The dm_control Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""An EGL context for headless accelerated OpenGL rendering on GPU devices."""
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import atexit
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import ctypes
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import os
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PYOPENGL_PLATFORM = os.environ.get('PYOPENGL_PLATFORM')
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if not PYOPENGL_PLATFORM:
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os.environ['PYOPENGL_PLATFORM'] = 'egl'
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elif PYOPENGL_PLATFORM.lower() != 'egl':
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raise ImportError(
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'Cannot use EGL rendering platform. '
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'The PYOPENGL_PLATFORM environment variable is set to {!r} '
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'(should be either unset or \'egl\').')
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from mujoco.egl import egl_ext as EGL
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from OpenGL import error
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def create_initialized_egl_device_display():
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"""Creates an initialized EGL display directly on a device."""
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all_devices = EGL.eglQueryDevicesEXT()
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selected_device = os.environ.get('MUJOCO_EGL_DEVICE_ID', None)
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if selected_device is None:
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candidates = all_devices
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else:
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device_idx = int(selected_device)
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if not 0 <= device_idx < len(all_devices):
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raise RuntimeError(
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f'The MUJOCO_EGL_DEVICE_ID environment variable must be an integer '
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f'between 0 and {len(all_devices)-1} (inclusive), got {device_idx}.')
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candidates = all_devices[device_idx:device_idx + 1]
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for device in candidates:
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display = EGL.eglGetPlatformDisplayEXT(
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EGL.EGL_PLATFORM_DEVICE_EXT, device, None)
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if display != EGL.EGL_NO_DISPLAY and EGL.eglGetError() == EGL.EGL_SUCCESS:
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# `eglInitialize` may or may not raise an exception on failure depending
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# on how PyOpenGL is configured. We therefore catch a `GLError` and also
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# manually check the output of `eglGetError()` here.
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try:
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initialized = EGL.eglInitialize(display, None, None)
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except error.GLError:
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pass
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else:
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if initialized == EGL.EGL_TRUE and EGL.eglGetError() == EGL.EGL_SUCCESS:
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return display
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return EGL.EGL_NO_DISPLAY
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EGL_DISPLAY = create_initialized_egl_device_display()
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if EGL_DISPLAY == EGL.EGL_NO_DISPLAY:
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raise ImportError(
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'Cannot initialize a EGL device display. This likely means that your EGL '
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'driver does not support the PLATFORM_DEVICE extension, which is '
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'required for creating a headless rendering context.')
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atexit.register(EGL.eglTerminate, EGL_DISPLAY)
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EGL_ATTRIBUTES = (
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EGL.EGL_RED_SIZE, 8,
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EGL.EGL_GREEN_SIZE, 8,
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EGL.EGL_BLUE_SIZE, 8,
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EGL.EGL_ALPHA_SIZE, 8,
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EGL.EGL_DEPTH_SIZE, 24,
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EGL.EGL_STENCIL_SIZE, 8,
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EGL.EGL_COLOR_BUFFER_TYPE, EGL.EGL_RGB_BUFFER,
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EGL.EGL_SURFACE_TYPE, EGL.EGL_PBUFFER_BIT,
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EGL.EGL_RENDERABLE_TYPE, EGL.EGL_OPENGL_BIT,
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EGL.EGL_NONE
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)
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class GLContext:
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"""An EGL context for headless accelerated OpenGL rendering on GPU devices."""
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def __init__(self, max_width, max_height):
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del max_width, max_height # unused
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num_configs = ctypes.c_long()
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config_size = 1
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config = EGL.EGLConfig()
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EGL.eglReleaseThread()
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EGL.eglChooseConfig(
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EGL_DISPLAY,
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EGL_ATTRIBUTES,
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ctypes.byref(config),
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config_size,
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num_configs)
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if num_configs.value < 1:
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raise RuntimeError(
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'EGL failed to find a framebuffer configuration that matches the '
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'desired attributes: {}'.format(EGL_ATTRIBUTES))
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EGL.eglBindAPI(EGL.EGL_OPENGL_API)
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self._context = EGL.eglCreateContext(
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EGL_DISPLAY, config, EGL.EGL_NO_CONTEXT, None)
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if not self._context:
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raise RuntimeError('Cannot create an EGL context.')
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def make_current(self):
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if not EGL.eglMakeCurrent(
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EGL_DISPLAY, EGL.EGL_NO_SURFACE, EGL.EGL_NO_SURFACE, self._context):
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raise RuntimeError('Failed to make the EGL context current.')
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def free(self):
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"""Frees resources associated with this context."""
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if self._context:
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current_context = EGL.eglGetCurrentContext()
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if current_context and self._context.address == current_context.address:
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EGL.eglMakeCurrent(EGL_DISPLAY, EGL.EGL_NO_SURFACE,
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EGL.EGL_NO_SURFACE, EGL.EGL_NO_CONTEXT)
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EGL.eglDestroyContext(EGL_DISPLAY, self._context)
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EGL.eglReleaseThread()
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self._context = None
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def __del__(self):
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self.free()
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