GCC Code Coverage Report

chrono_batch_render/
Coverage:
low: ≥ 0%
medium: ≥ 75.0%
high: ≥ 90.0%
Lines:
62 / 63
98.4%
Branches:
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84.4%
Functions:
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100.0%
scene/tables/sensors.cpp
Line Branch Exec Source
1 // SPDX-License-Identifier: BSD-3-Clause
2 #include "chrono_batch_render/scene/tables/sensors.h"
3
4 #include <algorithm>
5
6 #include "chrono_batch_render/device/commands.h"
7 #include "chrono_batch_render/device/queue.h"
8 #include "chrono_batch_render/scene/kernels.h"
9 #include "chrono_batch_render/scene/records/render_tables.h"
10 #include "chrono_batch_render/scene/schema/columns.h"
11 #include "chrono_batch_render/scene/tables/kernels/sensors.h"
12 #include "chrono_batch_render/stage/publish/change_set.h"
13 #include "chrono_batch_render/util/profiler.h"
14
15 namespace chrono::batch_render {
16
17 namespace {
18
19 5 std::vector<ColumnRef> SensorInputs() {
20 5 std::vector<ColumnRef> inputs;
21 25 for (const SchemaId schema : {SchemaId::Camera, SchemaId::LensDistortionAPI,
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 30 SchemaId::DetectorAPI, SchemaId::Lidar, SchemaId::Radar}) {
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 25 const Span<const ColumnInfo> columns = Columns(schema);
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 325 for (uint32_t index = 0; index < columns.size(); ++index) {
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 300 inputs.push_back({schema, &columns[index], index});
26 }
27 }
28 5 return inputs;
29 ✗ }
30
31 }
32
33 2352 std::span<const ColumnRef> SensorTable::Inputs() const {
34
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 2352 static const std::vector<ColumnRef> inputs = SensorInputs();
35 2352 return inputs;
36 }
37
38 498 void SensorTable::Describe(RenderTables& tables) const {
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 498 tables.cameras.address = m_cameras.Address();
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 498 tables.distortions.address = m_distortions.Address();
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 498 tables.detectors.address = m_detectors.Address();
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 498 tables.lidars.address = m_lidars.Address();
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 498 tables.radars.address = m_radars.Address();
44 498 }
45
46 498 void SensorTable::Run(const ChangeSet&, TableVersions& versions) {
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 498 CHRONO_BATCH_RENDER_ZONE("Sensors/Run");
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 498 versions.Record(TableId::Cameras, std::vector<uint32_t>{kGlobalWorld});
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 498 ColumnStore& store = m_structure.GetColumnStore();
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 498 device::Device& device = store.GetDevice();
51 498 SensorParams params{};
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 498 params.cameraRows = store.Schema(SchemaId::Camera).Rows();
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 498 params.distortionRows = store.Schema(SchemaId::LensDistortionAPI).Rows();
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 498 params.detectorRows = store.Schema(SchemaId::DetectorAPI).Rows();
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 498 params.lidarRows = store.Schema(SchemaId::Lidar).Rows();
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 498 params.radarRows = store.Schema(SchemaId::Radar).Rows();
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 498 m_cameras.Reserve(device, store.Schema(SchemaId::Camera).Capacity());
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 498 m_distortions.Reserve(device, store.Schema(SchemaId::LensDistortionAPI).Capacity());
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 498 m_detectors.Reserve(device, store.Schema(SchemaId::DetectorAPI).Capacity());
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 498 m_lidars.Reserve(device, store.Schema(SchemaId::Lidar).Capacity());
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 498 m_radars.Reserve(device, store.Schema(SchemaId::Radar).Capacity());
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 498 params.scene.address = store.DeviceData();
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 498 params.cameras.address = m_cameras.Address();
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 498 params.distortions.address = m_distortions.Address();
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 498 params.detectors.address = m_detectors.Address();
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 498 params.lidars.address = m_lidars.Address();
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 498 params.radars.address = m_radars.Address();
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 498 device::Queue& queue = device.GetQueue();
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 498 static const profiler::ZoneId zone = profiler::ZoneId::Named("Sensors/Write");
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 498 device::CommandEncoder encoder = queue.CreateEncoder();
71 498 {
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 498 const device::ZoneScope scope(encoder, zone);
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 3526 for (const auto& [entry, rows] : {std::pair{"WriteCameras", params.cameraRows},
74 std::pair{"WriteDistortions", params.distortionRows},
75 std::pair{"WriteDetectors", params.detectorRows},
76 std::pair{"WriteLidars", params.lidarRows},
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 2988 std::pair{"WriteRadars", params.radarRows}}) {
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 2490 if (rows > 0) {
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 2072 encoder.Dispatch(Kernels().Entry(entry), params,
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 1036 {.x = device::GroupCount(rows, kSensorGroup)});
81 }
82 }
83 498 }
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 498 queue.Submit(encoder.Finish());
85 498 }
86
87 353 void SensorTable::Prepare() {
88 353 Kernels();
89 353 }
90
91 1389 device::Program& SensorTable::Kernels() {
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 1389 if (!m_program) {
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 1059 m_program = m_structure.GetColumnStore().GetDevice().CreateProgram(
94 {.modules = {"chrono_batch_render.scene.tables.kernels.sensors"},
95 .library = &kSceneKernels,
96 .entries = {"WriteCameras", "WriteDistortions", "WriteDetectors", "WriteLidars",
97 "WriteRadars"},
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 706 .label = "sensors"});
99 }
100 1389 return *m_program;
101 706 }
102
103 }
104