Add CLI to switch to Vulkan & Metal backends #1735
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mjcarroll
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Rebased! |
Signed-off-by: Matias N. Goldberg <dark_sylinc@yahoo.com.ar>
Signed-off-by: Matias N. Goldberg <dark_sylinc@yahoo.com.ar>
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| { | ||
| serverConfig.SetRenderEngineServerApiBackend(_renderEngineServerApiBackend); | ||
| } | ||
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there is a warning about unused _renderEngineGuiApiBackend variable
add a check _renderEngineGuiApiBackend?
+ if (_renderEngineGuiApiBackend != nullptr)
+ {
+ serverConfig.SetRenderEngineGuiApiBackend(_renderEngineGuiApiBackend);
+ }
+seems to work fine without these changes though
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If this is what I remember, then what happened is that I got confused.
If I understood correctly it appears that Gazebo has two ways of setting data from Server to Gui:
- Via CLI when launching the gui (e.g.
gz sim -g --render-engine-gui-api-backend vulkan) - Via GUI asking server what was the Server launched with (e.g.
gz sim -s --render-engine-gui-api-backend vulkanand thengz sim -g)- It doesn't look like this codepath works anymore
- I could be wrong
The reason being is that _renderEngineGui is being asked for (I didn't write that code) and is later read via message passing by the GUI from server; but from the looks of it, this path is broken or deprecated.
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The reason being is that _renderEngineGui is being asked for (I didn't write that code) and is later read via message passing by the GUI from server; but from the looks of it, this path is broken or deprecated.
likely broken. I added the check for _renderEngineGuiApiBackend in 8a19054 and will need to fix this issue later.
| else if (this->dataPtr->apiBackend == "metal") | ||
| { | ||
| params["metal"] = "1"; | ||
| } |
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set params["metal"] = "1" if this->dataPtr->apiBackend is empty string on APPLE?
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If I remember correctly, no.
Because the higher level code should insist on using "metal" (and by higher level, I mean MinimalScene).
If the string is empty that means something went wrong with MinimalScene in gz-gui; and gz-gui will initialize Qt with OpenGL instead of Metal. See GzRenderer::SetGraphicsAPI & RenderThread::SetGraphicsAPI.
Qt must be initialized with Metal for this to work.
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ok I see that the gui does the right thing and set the api backend to metal. I added a change in the sensors system to do the same thing in 5d9a5fc
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <ichen@openrobotics.org>
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@osrf-jenkins run tests please |
Codecov Report
@@ Coverage Diff @@
## main #1735 +/- ##
==========================================
- Coverage 64.49% 64.47% -0.02%
==========================================
Files 341 342 +1
Lines 27098 27141 +43
==========================================
+ Hits 17477 17500 +23
- Misses 9621 9641 +20
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@osrf-jenkins run tests please |
🎉 New feature
Order in which PRs must be merged
Summary
This PR adds the following CLI options:
--render-engine-gui-api-backend [arg]--render-engine-server-api-backend [arg]--render-engine-api-backend [arg]The default is
metalin Apple systems, andopenglin the rest; and the other option beingvulkan.This setting gets forwarded to the other components so it actually gets applied.
Test it
After merging all dependent PRs, run:
gz help simFor help with the new CLI options
To test everything:
gz sim segmentation_camera.sdf -v4 --render-engine-api-backend vulkanServer only:
gz sim segmentation_camera.sdf -v4 -s -r --render-engine-server-api-backend vulkanGUI only:
gz sim -v4 -g --render-engine-gui-api-backend vulkanAnd see the Ogre.log to check Vulkan is being used.
I use segmentation_camera.sdf because it forces the server to render.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.