File size: 1,861 Bytes
9897e20 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 | #include "MapReader.hpp"
#include "json_serialization.hpp"
#ifdef MADRONA_CUDA_SUPPORT
#include <madrona/cuda_utils.hpp>
#endif
namespace {
madrona_gpudrive::Map *copyToArrayOnHostOrDevice(const madrona_gpudrive::Map *in,
madrona::ExecMode hostOrDevice) {
madrona_gpudrive::Map *map = nullptr;
if (hostOrDevice == madrona::ExecMode::CUDA) {
#ifdef MADRONA_CUDA_SUPPORT
map = static_cast<madrona_gpudrive::Map*>(madrona::cu::allocGPU(sizeof(madrona_gpudrive::Map)));
cudaMemcpy(map, in, sizeof(madrona_gpudrive::Map), cudaMemcpyHostToDevice);
auto error = cudaGetLastError();
assert (error == cudaSuccess);
#else
FATAL("Madrona was not compiled with CUDA support");
#endif
} else {
assert(hostOrDevice == madrona::ExecMode::CPU);
// This is a copy from CPU to CPU and can be avoided by extracting and
// releasing in's backing array. For the sake of symmetry with the CUDA
// scenario, we nevertheless opt to copy the data.
map = new madrona_gpudrive::Map();
std::memcpy(map, in, sizeof(madrona_gpudrive::Map));
}
return map;
}
} // namespace
namespace madrona_gpudrive {
MapReader::MapReader(const std::string &pathToFile) : in_(pathToFile) {
assert(in_.is_open());
map_ = new madrona_gpudrive::Map();
}
MapReader::~MapReader() {
delete map_;
}
void MapReader::doParse(float polylineReductionThreshold) {
nlohmann::json rawJson;
in_ >> rawJson;
from_json(rawJson, *map_, polylineReductionThreshold);
}
madrona_gpudrive::Map* MapReader::parseAndWriteOut(const std::string &path,
madrona::ExecMode executionMode, float polylineReductionThreshold) {
MapReader reader(path);
reader.doParse(polylineReductionThreshold);
return copyToArrayOnHostOrDevice(reader.map_, executionMode);
}
} // namespace madrona_gpudrive
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