scene/tables/products.h - GCC Code Coverage Report

scene/tables/products.h

Line	Branch	Exec	Source
1			// SPDX-License-Identifier: BSD-3-Clause
2			#pragma once
3
4			#include <cstdint>
5			#include <map>
6			#include <memory>
7			#include <mutex>
8			#include <span>
9			#include <string>
10			#include <string_view>
11			#include <vector>
12
13			#include "chrono_batch_render/device/tensor.h"
14			#include "chrono_batch_render/scene/records/products.h"
15			#include "chrono_batch_render/scene/tables/sensor_pipelines.h"
16			#include "chrono_batch_render/scene/tables/storage.h"
17			#include "chrono_batch_render/scene/tables/table.h"
18			#include "chrono_batch_render/stage/structure/structure.h"
19
20			namespace chrono::batch_render {
21
22			class Scene;
23
24			enum class RenderEntry : uint32_t {
25			MinimalData,
26			MinimalDisplayColor,
27			MinimalTextureDiffuse,
28			MinimalFull,
29			RealTime,
30			RealTimeBands,
31			Lidar,
32			Radar,
33			};
34
35			inline constexpr uint32_t kRenderEntryCount = 8;
36
37			inline constexpr const char* kRenderEntryNames[kRenderEntryCount] = {"RenderMinimalData",
38			"RenderMinimalDisplayColor",
39			"RenderMinimalTextureDiffuse",
40			"RenderMinimalFull",
41			"RenderRealTime",
42			"RenderRealTimeBands",
43			"RenderLidar",
44			"RenderRadar"};
45
46			enum class PointChannel : uint32_t {
47			Coordinates,
48			Distance,
49			Intensity,
50			StableId,
51			Emitter,
52			Firing,
53			Echo,
54			RadialVelocity,
55			InstanceId,
56			RadialVelocityVector,
57			};
58
59			struct PointChannelInfo {
60			std::string_view name;
61			device::DType type;
62			int64_t lanes;
63			};
64
65			inline constexpr PointChannelInfo kPointChannels[] = {
66			{"Coordinates", device::DType::Float32, 3},
67			{"Distance", device::DType::Float32, 1},
68			{"Intensity", device::DType::Float32, 1},
69			{"StableId", device::DType::UInt32, 4},
70			{"Emitter", device::DType::UInt32, 1},
71			{"Firing", device::DType::UInt32, 1},
72			{"Echo", device::DType::UInt32, 1},
73			{"RadialVelocity", device::DType::Float32, 1},
74			{"InstanceId", device::DType::Int64, 1},
75			{"RadialVelocityVector", device::DType::Float32, 3}};
76
77			struct ResolvedVar {
78		210	uint32_t prim = kNoPrim;
79		210	std::string path;
80		210	RenderVarSource source = RenderVarSource::LdrColor;
81		210	FrameOfReference frame = FrameOfReference::Sensor;
82		210	device::DType type = device::DType::UInt8;
83		210	std::vector<int64_t> shape;
84		210	std::vector<PointChannel> channels;
85		210	std::string output;
86		210	bool tap = false;
87		210	bool semantic = false;
88
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90			};
91
92			struct ProductShape {
93		219	SchemaId sensor = SchemaId::None;
94		217	std::vector<uint32_t> sensors;
95		215	uint32_t width = 0;
96		211	uint32_t height = 0;
97		210	uint32_t returns = 0;
98		210	uint32_t channels = 0;
99		208	float frameRate = 0;
100		206	float startTime = 0;
101		206	float missDistance = 0;
102		206	std::vector<ResolvedVar> vars;
103		199	std::vector<std::string> overlays;
104		196	Token taxonomy;
105		196	RenderEntry entry = RenderEntry::MinimalData;
106		190	uint32_t pipeline = kNoPrim;
107		190	std::vector<sensor_pipeline::SignalLayout> layouts;
108		187	bool semantic = false;
109		187	std::string error;
110
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112			};
113
114		808	struct ResolvedProduct : ProductShape {
115			uint32_t prim = kNoPrim;
116			ProductRecord record{};
117			uint64_t version = 0;
118			};
119
120			class ProductTable : public RenderTable {
121			public:
122		353	ProductTable(Scene& scene, Structure& structure, const SensorPipelineTable& pipelines)
123	1/1 ✓ Branch 1 taken 353 times.	353	: m_scene(scene), m_structure(structure), m_pipelines(pipelines) {}
124
125		928	std::string_view Name() const override {
126		928	return "products";
127			}
128
129			std::span<const ColumnRef> Inputs() const override;
130
131		353	std::span<const TableId> TableOutputs() const override {
132		353	static constexpr TableId kTables[] = {TableId::Products};
133		353	return kTables;
134			}
135
136			void Run(const ChangeSet& changes, TableVersions& versions) override;
137			void Describe(RenderTables& tables) const override;
138
139		928	void Hold(std::vector<Ref<const RefCounted>>& held) const override {
140	4/8 ✓ Branch 0 taken 928 times. ✓ Branch 1 taken 928 times. ✓ Branch 2 taken 927 times. ✓ Branch 3 taken 1 time. ✗ Branch 4 not taken. ✗ Branch 5 not taken. ✗ Branch 6 not taken. ✗ Branch 7 not taken.	1856	HoldBuffers(held, {m_records.Buffer()});
141		1856	}
142
143			std::shared_ptr<const ResolvedProduct> Find(uint32_t prim) const;
144			std::vector<std::shared_ptr<const ResolvedProduct>> Products() const;
145
146			private:
147			ResolvedProduct Resolve(uint32_t prim) const;
148			void Resolve();
149
150			Scene& m_scene;
151			Structure& m_structure;
152			const SensorPipelineTable& m_pipelines;
153			uint64_t m_pipelineVersion = 0;
154			mutable std::mutex m_mutex;
155			std::map<uint32_t, std::shared_ptr<const ResolvedProduct>> m_products;
156			RecordTable<ProductRecord> m_records{"product records"};
157			uint64_t m_versions = 0;
158			uint64_t m_seen = 0;
159			};
160
161			}
162