Automatic performance optimisation of parallel programs for GPUs via rewrite rules

Graphics Processing Units (GPUs) are now commonplace in computing systems and are the most successful parallel accelerators. Their performance is orders of magnitude higher than traditional Central Processing Units (CPUs) making them attractive for many application domains with high computational demands. However, achieving their full performance potential is extremely hard, even for experienced programmers, as it requires specialised software tailored for specific devices written in low-level languages such as OpenCL. Differences in device characteristics between manufacturers and even hardware generations often lead to large performance variations when different optimisations are applied. This inevitably leads to code that is not performance portable across different hardware. This thesis demonstrates that achieving performance portability is possible using LIFT, a functional data-parallel language which allows programs to be expressed at a high-level in a hardware-agnostic way. The LIFT compiler is empowered to automatically explore the optimisation space using a set of well-defined rewrite rules to transform programs seamlessly between different high-level algorithmic forms before translating them to a low-level OpenCL-specific form. The first contribution of this thesis is the development of techniques to compile functional LIFT programs that have optimisations explicitly encoded into efficient imperative OpenCL code. Producing efficient code is non-trivial as many performance sensitive details such as memory allocation, array accesses or synchronisation are not explicitly represented in the functional LIFT language. The thesis shows that the newly developed techniques are essential for achieving performance on par with manually optimised code for GPU programs with the exact same complex optimisations applied. The second contribution of this thesis is the presentation of techniques that enable the LIFT compiler to perform complex optimisations that usually require from tens to hundreds of individual rule applications by grouping them as macro-rules that cut through the optimisation space. Using matrix multiplication as an example, starting from a single high-level program the compiler automatically generates highly optimised and specialised implementations for desktop and mobile GPUs with very different architectures achieving performance portability. The final contribution of this thesis is the demonstration of how low-level and GPU-specific features are extracted directly from the high-level functional LIFT program, enabling building a statistical performance model that makes accurate predictions about the performance of differently optimised program variants. This performance model is then used to drastically speed up the time taken by the optimisation space exploration by ranking the different variants based on their predicted performance. Overall, this thesis demonstrates that performance portability is achievable using LIFT

Introducing Parallelism to the Ranges TS

The current interface provided by the C++17 parallel algorithms poses some limitations with respect to parallel data access and heterogeneous systems, such as personal computers and server nodes with GPUs, smartphones, and embedded System on a Chip chipsets. In this paper, we present a summary of why we believe the Ranges TS solves these problems, and also improves both programmability and performance on heterogeneous platforms. The complete paper has been submitted to WG21 for consideration, and here we present a summary of the changes proposed alongside new performance results. To the best of our knowledge, this is the first paper presented to WG21 that unifies the Ranges TS with the parallel algorithms introduced in C++17. Although there are various points of intersection, we will focus on the composability of functions, and the benefit that this brings to accelerator devices via kernel fusion

Lift: A Functional Data-Parallel IR for High-Performance GPU Code Generation

Parallel patterns (e.g., map, reduce) have gained traction as an abstraction for targeting parallel accelerators and are a promising answer to the performance portability problem. However, compiling high-level programs into efficient low-level parallel code is challenging. Current approaches start from a high-level parallel IR and proceed to emit GPU code directly in one big step. Fixed strategies are used to optimize and map parallelism exploiting properties of a particular GPU generation leading to performance portability issues. We introduce the Lift IR, a new data-parallel IR which encodes OpenCL-specific constructs as functional patterns. Our prior work has shown that this functional nature simplifies the exploration of optimizations and mapping of parallelism from portable high-level programs using rewrite-rules. This paper describes how Lift IR programs are compiled into efficient OpenCL code. This is non-trivial as many performance sensitive details such as memory allocation, array accesses or synchronization are not explicitly represented in the Lift IR. We present techniques which overcome this challenge by exploiting the pattern’s high-level semantics. Our evaluation shows that the Lift IR is flexible enough to express GPU programs with complex optimizations achieving performance on par with manually optimized code

Matrix Multiplication Beyond Auto-Tuning: Rewrite-based GPU Code Generation

Graphics Processing Units (GPUs) are used as general purpose parallel accelerators in a wide range of applications. They are found in most computing systems, and mobile devices are no exception. The recent availability of programming APIs such as OpenCL for mobile GPUs promises to open up new types of applications on these devices. However, producing high performance GPU code is extremely difficult. Subtle differences in device characteristics can lead to large performance variations when different optimizations are applied. As we will see, this is especially true for a mobile GPU such as the ARM Mali GPU which has a very different architecture than desktop-class GPUs. Code optimized and tuned for one type of GPUs is unlikely to achieve the performance potential on another type of GPUs. Auto-tuners have traditionally been an answer to this performance portability challenge. For instance, they have been successful on CPUs for matrix operations, which are used as building blocks in many high-performance applications. However, they are much harder to design for different classes of GPUs, given the wide variety of hardware characteristics. In this paper, we take a different perspective and show how performance portability for matrix multiplication is achieved using a compiler approach. This approach is based on a recently developed generic technique that combines a high-level programming model with a system of rewrite rules. Programs are automatically rewritten in successive steps, where optimizations decision are made.This approach is truly performance portable, resulting in high-performance code for very different types of architectures such as desktop and mobile GPUs. In particular, we achieve a speedup of 1.7x over a state-of-the-art auto-tuner on the ARM Mali GPU

Automatic matching of legacy code to heterogeneous APIs: An idiomatic approach

Heterogeneous accelerators often disappoint. They provide the prospect of great performance, but only deliver it when using vendor specific optimized libraries or domain specific languages. This requires considerable legacy code modifications, hindering the adoption of heterogeneous computing. This paper develops a novel approach to automatically detect opportunities for accelerator exploitation. We focus on calculations that are well supported by established APIs: sparse and dense linear algebra, stencil codes and generalized reductions and histograms. We call them idioms and use a custom constraint-based Idiom Description Language (IDL) to discover them within user code. Detected idioms are then mapped to BLAS libraries, cuSPARSE and clSPARSE and two DSLs: Halide and Lift. We implemented the approach in LLVM and evaluated it on the NAS and Parboil sequential C/C++ benchmarks, where we detect 60 idiom instances. In those cases where idioms are a significant part of the sequential execution time, we generate code that achieves 1.26× to over 20× speedup on integrated and external GPUs

Performance Portable GPU Code Generation for Matrix Multiplication

Parallel accelerators such as GPUs are notoriously hard to program; exploiting their full performance potential is a job best left for ninja programmers. High-level programming languages coupled with optimizing compilers have been proposed to attempt to address this issue. However, they rely on device-specific heuristics or hard-coded library implementations to achieve good performance resulting in non-portable solutions that need to be re-optimized for every new device. Achieving performance portability is the holy grail of high-performance computing and has so far remained an open problem even for well studied applications like matrix multiplication. We argue that what is needed is a way to describe applications at a high-level without committing to particular implementations. To this end, we developed in a previous paper a functional data-parallel language which allows applications to be expressed in a device neutral way. We use a set of well-defined rewrite rules to automatically transform programs into semantically equivalent device- specific forms, from which OpenCL code is generated. In this paper, we demonstrate how this approach produces high-performance OpenCL code for GPUs with a well-studied, well-understood application: matrix multiplication. Starting from a single high-level program, our compiler automatically generate highly optimized and specialized implementations. We group simple rewrite rules into more complex macro-rules, each describing a well-known optimization like tiling and register blocking in a composable way. Using an exploration strategy our compiler automatically generates 50,000 OpenCL kernels, each providing a differently optimized – but provably correct – implementation of matrix multiplication. The automatically generated code offers competitive performance compared to the manually tuned MAGMA library implementations of matrix multiplication on Nvidia and even outperforms AMD’s clBLAS library

Runtime Code Generation and Data Management for Heterogeneous Computing in Java

GPUs (Graphics Processing Unit) and other accelerators are nowadays commonly found in desktop machines, mobile devices and even data centres. While these highly parallel processors offer high raw performance, they also dramatically increase program complexity, requiring extra effort from programmers. This results in difficult-to-maintain and non-portable code due to the low-level nature of the languages used to program these devices. This paper presents a high-level parallel programming approach for the popular Java programming language. Our goal is to revitalise the old Java slogan – Write once, run anywhere — in the context of modern heterogeneous systems. To enable the use of parallel accelerators from Java we introduce a new API for heterogeneous programming based on array and functional programming. Applications written with our API can then be transparently accelerated on a device such as a GPU using our runtime OpenCL code generator. In order to ensure the highest level of performance, we present data management optimizations. Usually, data has to be translated (marshalled) between the Java representation and the representation accelerators use. This paper shows how marshal affects runtime and present a novel technique in Java to avoid this cost by implementing our own customised array data structure. Our design hides low level data management from the user making our approach applicable even for inexperienced Java programmers. We evaluated our technique using a set of applications from different domains, including mathematical finance and machine learning. We achieve speedups of up to 500x over sequential and multi-threaded Java code when using an external GPU