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

scene/tables/sensor_pipelines.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/program.h"
14			#include "chrono_batch_render/scene/tables/connections.h"
15			#include "chrono_batch_render/scene/tables/pack.h"
16			#include "chrono_batch_render/scene/tables/storage.h"
17			#include "chrono_batch_render/scene/tables/table.h"
18			#include "chrono_batch_render/sensor_pipeline/definition.h"
19			#include "chrono_batch_render/sensor_pipeline/node.h"
20			#include "chrono_batch_render/stage/structure/structure.h"
21
22			namespace chrono::batch_render {
23
24			inline constexpr std::string_view kTapSource = "Tap";
25
26			struct SensorPipelineInstance {
27			uint32_t prim = kNoPrim;
28			std::string path;
29			uint32_t definition = 0;
30			sensor_pipeline::ResolvedSensorPipeline resolved;
31			std::vector<uint32_t> words;
32			uint32_t firstWord = 0;
33			std::string error;
34			};
35
36			class SensorPipelineTable : public RenderTable {
37			public:
38			explicit SensorPipelineTable(Structure& structure);
39
40		928	std::string_view Name() const override {
41		928	return "pipelines";
42			}
43
44			std::span<const ColumnRef> Inputs() const override;
45
46		8607	bool Pending() const override {
47	3/7 ✓ Branch 2 taken 8607 times. ✓ Branch 4 taken 8607 times. ✗ Branch 5 not taken. ✓ Branch 6 taken 8607 times. ✗ Branch 7 not taken. ✗ Branch 8 not taken. ✗ Branch 9 not taken.	25821	return Registry() != sensor_pipeline::SensorPipelineNodes();
48			}
49
50		928	void Hold(std::vector<Ref<const RefCounted>>& held) const override {
51	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_words.Buffer()});
52		1856	}
53
54		53	uint64_t WordsAddress() const {
55	1/2 ✓ Branch 0 taken 53 times. ✗ Branch 1 not taken.	106	return m_words.Address();
56			}
57
58			std::vector<uint32_t> ReadWords(const SensorPipelineInstance& instance) const;
59
60			void Run(const ChangeSet& changes, TableVersions& versions) override;
61
62			std::shared_ptr<const SensorPipelineInstance> Find(uint32_t prim) const;
63			std::shared_ptr<const sensor_pipeline::SensorPipelineSet> Definitions() const;
64			std::shared_ptr<const sensor_pipeline::NodeRegistry> Registry() const;
65
66		542	uint64_t Version() const {
67	4/6 ✓ Branch 0 taken 39 times. ✓ Branch 1 taken 1 time. ✗ Branch 1 not taken. ✓ Branch 2 taken 501 times. ✗ Branch 3 not taken. ✓ Branch 4 taken 1 time.	542	return m_version;
68			}
69
70			private:
71			struct Gathered {
72			uint32_t parameter = 0;
73			ColumnRef column;
74			uint32_t row = 0;
75			};
76
77			void Pack(bool rewrite);
78
79		12	struct Tap {
80			std::string name;
81			uint32_t node = kNoPrim;
82			std::string output;
83			};
84
85			std::vector<Tap> GatherTaps() const;
86			sensor_pipeline::SensorPipelineDesc Gather(uint32_t pipeline, std::span<const Tap> taps) const;
87			sensor_pipeline::NodeDesc GatherNode(uint32_t prim) const;
88			std::vector<sensor_pipeline::ConnectionDesc> Connections(uint32_t prim) const;
89
90			Structure& m_structure;
91			sensor_pipeline::SensorPipelineLibrary m_library;
92			std::shared_ptr<const sensor_pipeline::NodeRegistry> m_registry;
93			mutable std::map<uint32_t, std::vector<Gathered>> m_gathered;
94			ConnectionCache m_connections{m_structure, {SchemaId::SensorNode, SchemaId::SensorPipeline}};
95			PackPlan m_pack{"pipeline"};
96			DeviceTable<uint32_t> m_words{"pipeline words"};
97			mutable std::vector<ColumnRef> m_inputs;
98			mutable uint32_t m_inputSchemas = 0;
99			mutable std::mutex m_mutex;
100			std::map<uint32_t, std::shared_ptr<const SensorPipelineInstance>> m_instances;
101			uint64_t m_seen = 0;
102			uint64_t m_version = 0;
103			};
104
105			}
106