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Upgrade deprecated WGPU callback APIs to v2 (#7)
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* Use v2 apis that are not deprecated

* Use future
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@qhdwight
qhdwight authored Sep 18, 2024
1 parent ebbfa9d commit 006bccc
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Showing 4 changed files with 44 additions and 32 deletions.
2 changes: 1 addition & 1 deletion simulator/pch.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,7 +22,7 @@

#include <boost/bimap.hpp>
#include <boost/circular_buffer.hpp>
#include <boost/container/static_vector.hpp>
#include <boost/container/small_vector.hpp>
#include <boost/range/combine.hpp>

#include <ament_index_cpp/get_package_share_directory.hpp>
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10 changes: 5 additions & 5 deletions simulator/simulator.hpp
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Expand Up @@ -82,8 +82,8 @@ namespace mrover {
struct URDF {
struct LinkMeta {
int index{};
boost::container::static_vector<Uniform<ModelUniforms>, 2> visualUniforms;
boost::container::static_vector<Uniform<ModelUniforms>, 2> collisionUniforms;
boost::container::small_vector<Uniform<ModelUniforms>, 2> visualUniforms;
boost::container::small_vector<Uniform<ModelUniforms>, 2> collisionUniforms;
};

urdf::Model model;
Expand Down Expand Up @@ -145,7 +145,7 @@ namespace mrover {

wgpu::Buffer stagingBuffer;

std::unique_ptr<wgpu::BufferMapCallback> callback;
std::optional<wgpu::Future> future;
bool needsMap = false;

EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Expand All @@ -158,7 +158,7 @@ namespace mrover {

wgpu::Buffer pointCloudStagingBuffer;
wgpu::Buffer pointCloudBuffer;
std::unique_ptr<wgpu::BufferMapCallback> pointCloudCallback;
std::optional<wgpu::Future> pointCloudFuture;

Uniform<ComputeUniforms> computeUniforms{};
wgpu::BindGroup computeBindGroup;
Expand Down Expand Up @@ -316,7 +316,7 @@ namespace mrover {

btTransform baseTransform;
btVector3 baseVelocity;
boost::container::static_vector<LinkData, 32> links;
boost::container::small_vector<LinkData, 32> links;
};

int mSaveSelection = 0;
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62 changes: 37 additions & 25 deletions simulator/simulator.render.cpp
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Expand Up @@ -550,8 +550,14 @@ namespace mrover {
// TODO(quintin): Remote duplicate code
for (StereoCamera& stereoCamera: mStereoCameras) {
std::size_t imageSize = stereoCamera.base.resolution.x() * stereoCamera.base.resolution.y() * 4;
if (stereoCamera.pointCloudCallback) {
mWgpuInstance.processEvents();

if (stereoCamera.pointCloudFuture && stereoCamera.base.future) {
std::array<wgpu::FutureWaitInfo, 2> waitInfo;
waitInfo[0].future = stereoCamera.pointCloudFuture.value();
waitInfo[1].future = stereoCamera.base.future.value();
mWgpuInstance.waitAny(waitInfo.size(), waitInfo.data(), 0);

// If reading back the data from the GPU is complete, publish the data.
if (stereoCamera.pointCloudStagingBuffer.getMapState() == wgpu::BufferMapState::Mapped && stereoCamera.base.stagingBuffer.getMapState() == wgpu::BufferMapState::Mapped) {
{
// auto pointCloud = boost::shared_ptr<sensor_msgs::PointCloud2>{pointCloudPool.borrowFrom(), [](sensor_msgs::PointCloud2* msg) { pointCloudPool.returnTo(msg); }};
Expand All @@ -568,7 +574,7 @@ namespace mrover {
auto* toMessage = pointCloud->data.data();
std::memcpy(toMessage, fromCompute, stereoCamera.pointCloudStagingBuffer.getSize());
stereoCamera.pointCloudStagingBuffer.unmap();
stereoCamera.pointCloudCallback = nullptr;
stereoCamera.pointCloudFuture.reset();

stereoCamera.pcPub->publish(std::move(pointCloud));
}
Expand All @@ -588,13 +594,15 @@ namespace mrover {
auto* toMessage = image->data.data();
std::memcpy(toMessage, fromRender, stereoCamera.base.stagingBuffer.getSize());
stereoCamera.base.stagingBuffer.unmap();
stereoCamera.base.callback = nullptr;
stereoCamera.base.future.reset();

stereoCamera.base.imgPub->publish(std::move(image));
}
}
}
if (!stereoCamera.pointCloudCallback && !stereoCamera.base.callback && stereoCamera.base.updateTask.shouldUpdate()) {

// Queue GPU compute jobs if there are none running.
if (!stereoCamera.pointCloudFuture && !stereoCamera.base.future && stereoCamera.base.updateTask.shouldUpdate()) {
{
colorAttachment.view = stereoCamera.base.colorTextureView;
normalAttachment.view = stereoCamera.base.normalTextureView;
Expand Down Expand Up @@ -637,10 +645,15 @@ namespace mrover {
}
}
}

for (Camera& camera: mCameras) {
std::size_t area = camera.resolution.x() * camera.resolution.y();
if (camera.callback) {
mWgpuInstance.processEvents();

if (camera.future) {
wgpu::FutureWaitInfo waitInfo;
waitInfo.future = camera.future.value();
mWgpuInstance.waitAny(1, &waitInfo, 0);

if (camera.stagingBuffer.getMapState() == wgpu::BufferMapState::Mapped) {
// auto image = boost::shared_ptr<sensor_msgs::Image>{imagePool.borrowFrom(), [](sensor_msgs::Image* msg) { imagePool.returnTo(msg); }};
auto image = std::make_unique<sensor_msgs::msg::Image>();
Expand All @@ -658,12 +671,13 @@ namespace mrover {
auto* toMessage = image->data.data();
std::memcpy(toMessage, fromRender, camera.stagingBuffer.getSize());
camera.stagingBuffer.unmap();
camera.callback = nullptr;
camera.future.reset();

camera.imgPub->publish(std::move(image));
}
}
if (!camera.callback && camera.updateTask.shouldUpdate()) {

if (!camera.future && camera.updateTask.shouldUpdate()) {
colorAttachment.view = camera.colorTextureView;
normalAttachment.view = camera.normalTextureView;
depthStencilAttachment.view = camera.depthTextureView;
Expand Down Expand Up @@ -728,8 +742,7 @@ namespace mrover {
if (!mIsHeadless) {
wgpu::SurfaceTexture surfaceTexture;
mSurface.getCurrentTexture(&surfaceTexture);
if (surfaceTexture.status != wgpu::SurfaceGetCurrentTextureStatus::Success)
throw std::runtime_error{"Failed to get WGPU surface texture"};
if (surfaceTexture.status != wgpu::SurfaceGetCurrentTextureStatus::Success) throw std::runtime_error{"Failed to get WGPU surface texture"};

wgpu::TextureViewDescriptor nextTextureViewDescriptor;
nextTextureViewDescriptor.format = COLOR_FORMAT;
Expand Down Expand Up @@ -792,33 +805,32 @@ namespace mrover {
// Temporary fix...
// See: https://issues.chromium.org/issues/338710345
// This only happens on M2/M3 (M1 is fine)
bool isWorkDone = false;
auto workDoneCallback = mQueue.onSubmittedWorkDone([&isWorkDone](wgpu::QueueWorkDoneStatus const& status) {
if (status == wgpu::QueueWorkDoneStatus::Success) {
isWorkDone = true;
}
});
while (!isWorkDone) {
mDevice.tick();
}
wgpu::QueueWorkDoneCallbackInfo2 info;
info.mode = wgpu::CallbackMode::WaitAnyOnly;
wgpu::Future workDoneFuture = mQueue.onSubmittedWorkDone2(info);
wgpu::FutureWaitInfo waitInfo;
waitInfo.future = workDoneFuture;
mWgpuInstance.waitAny(1, &waitInfo, 1'000'000'000'000);
}
#endif

if (!mIsHeadless) mSurface.present();

wgpu::BufferMapCallbackInfo2 callbackInfo;
callbackInfo.mode = wgpu::CallbackMode::WaitAnyOnly;
callbackInfo.callback = [](WGPUMapAsyncStatus, char const*, void*, void*) -> void {};

// TODO(quintin): Remote duplicate code
for (StereoCamera& stereoCamera: mStereoCameras) {
if (stereoCamera.base.needsMap) {
stereoCamera.pointCloudCallback = stereoCamera.pointCloudStagingBuffer.mapAsync(wgpu::MapMode::Read, 0, stereoCamera.pointCloudStagingBuffer.getSize(), [](wgpu::BufferMapAsyncStatus const&) {});

stereoCamera.base.callback = stereoCamera.base.stagingBuffer.mapAsync(wgpu::MapMode::Read, 0, stereoCamera.base.stagingBuffer.getSize(), [](wgpu::BufferMapAsyncStatus const&) {});

stereoCamera.pointCloudFuture = stereoCamera.pointCloudStagingBuffer.mapAsync2(wgpu::MapMode::Read, 0, stereoCamera.pointCloudStagingBuffer.getSize(), callbackInfo);
stereoCamera.base.future = stereoCamera.base.stagingBuffer.mapAsync2(wgpu::MapMode::Read, 0, stereoCamera.base.stagingBuffer.getSize(), callbackInfo);
stereoCamera.base.needsMap = false;
}
}
for (Camera& camera: mCameras) {
if (camera.needsMap) {
camera.callback = camera.stagingBuffer.mapAsync(wgpu::MapMode::Read, 0, camera.stagingBuffer.getSize(), [](wgpu::BufferMapAsyncStatus const&) {});
camera.future = camera.stagingBuffer.mapAsync2(wgpu::MapMode::Read, 0, camera.stagingBuffer.getSize(), callbackInfo);
camera.needsMap = false;
}
}
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2 changes: 1 addition & 1 deletion simulator/urdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,7 @@ namespace mrover {
}

auto URDF::makeCollisionShapeForLink(Simulator& simulator, urdf::LinkConstSharedPtr const& link) -> btCollisionShape* {
boost::container::static_vector<std::pair<btCollisionShape*, btTransform>, 4> shapes;
boost::container::small_vector<std::pair<btCollisionShape*, btTransform>, 4> shapes;
for (urdf::CollisionSharedPtr const& collision: link->collision_array) {
if (!collision->geometry) throw std::invalid_argument{"Collision has no geometry"};

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