| #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); |
|
|
| |
| |
| |
| map = new madrona_gpudrive::Map(); |
| std::memcpy(map, in, sizeof(madrona_gpudrive::Map)); |
| } |
|
|
| return map; |
| } |
| } |
|
|
| 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); |
|
|
| } |
| } |
|
|
