Add spatial grounding context extraction

CMakeLists.txt

@@ -192,6 +192,11 @@ if(FREEUSD_BUILD_TESTS)
   target_compile_definitions(
     freeusd_usd_vol_volume_test PRIVATE "FREEUSD_TEST_FIXTURES_DIR=\"${CMAKE_SOURCE_DIR}/tests/fixtures\"")
 
+  add_executable(freeusd_usd_semantics_labels_test tests/usd_semantics_labels_test.cpp)
+  target_link_libraries(freeusd_usd_semantics_labels_test PRIVATE freeusd::usd freeusd::usdSemantics)
+  target_compile_definitions(
+    freeusd_usd_semantics_labels_test PRIVATE "FREEUSD_TEST_FIXTURES_DIR=\"${CMAKE_SOURCE_DIR}/tests/fixtures\"")
+
   add_executable(freeusd_ar_path_security_test tests/ar_path_security_test.cpp)
   target_link_libraries(freeusd_ar_path_security_test PRIVATE freeusd::ar)
 
@@ -201,6 +206,11 @@ if(FREEUSD_BUILD_TESTS)
   target_compile_definitions(
     freeusd_engine_integration_test PRIVATE "FREEUSD_TEST_FIXTURES_DIR=\"${CMAKE_SOURCE_DIR}/tests/fixtures\"")
 
+  add_executable(freeusd_usdutils_spatial_grounding_test tests/usdutils_spatial_grounding_test.cpp)
+  target_link_libraries(freeusd_usdutils_spatial_grounding_test PRIVATE freeusd::usd freeusd::usdUtils)
+  target_compile_definitions(
+    freeusd_usdutils_spatial_grounding_test PRIVATE "FREEUSD_TEST_FIXTURES_DIR=\"${CMAKE_SOURCE_DIR}/tests/fixtures\"")
+
   add_executable(freeusd_schema_tokens_bundle_test tests/schema_tokens_bundle_test.cpp)
   target_link_libraries(freeusd_schema_tokens_bundle_test PRIVATE freeusd::usd_schemas)
 
@@ -273,8 +283,10 @@ if(FREEUSD_BUILD_TESTS)
   add_test(NAME freeusd_usd_physics_fixed_joint_test COMMAND freeusd_usd_physics_fixed_joint_test)
   add_test(NAME freeusd_usd_vol_openvdb_test COMMAND freeusd_usd_vol_openvdb_test)
   add_test(NAME freeusd_usd_vol_volume_test COMMAND freeusd_usd_vol_volume_test)
+  add_test(NAME freeusd_usd_semantics_labels_test COMMAND freeusd_usd_semantics_labels_test)
   add_test(NAME freeusd_ar_path_security_test COMMAND freeusd_ar_path_security_test)
   add_test(NAME freeusd_engine_integration_test COMMAND freeusd_engine_integration_test)
+  add_test(NAME freeusd_usdutils_spatial_grounding_test COMMAND freeusd_usdutils_spatial_grounding_test)
   add_test(NAME freeusd_schema_tokens_bundle_test COMMAND freeusd_schema_tokens_bundle_test)
   add_test(NAME freeusd_time_code_test COMMAND freeusd_time_code_test)
   add_test(NAME freeusd_edit_target_test COMMAND freeusd_edit_target_test)
@@ -371,6 +383,22 @@ if(FREEUSD_BUILD_TESTS)
     set_target_properties(freeusd_c_engine_integration PROPERTIES C_STANDARD 11 C_STANDARD_REQUIRED ON LINKER_LANGUAGE CXX)
     add_test(NAME freeusd_c_engine_integration COMMAND freeusd_c_engine_integration)
 
+    add_executable(freeusd_c_usdutils_spatial_grounding tests/c_usdutils_spatial_grounding.c)
+    target_include_directories(freeusd_c_usdutils_spatial_grounding PRIVATE "${PROJECT_SOURCE_DIR}/include")
+    target_link_libraries(freeusd_c_usdutils_spatial_grounding PRIVATE freeusd::c)
+    target_compile_definitions(
+      freeusd_c_usdutils_spatial_grounding PRIVATE "FREEUSD_TEST_FIXTURES_DIR=\"${CMAKE_SOURCE_DIR}/tests/fixtures\"")
+    set_target_properties(freeusd_c_usdutils_spatial_grounding PROPERTIES C_STANDARD 11 C_STANDARD_REQUIRED ON LINKER_LANGUAGE CXX)
+    add_test(NAME freeusd_c_usdutils_spatial_grounding COMMAND freeusd_c_usdutils_spatial_grounding)
+
+    add_executable(freeusd_c_usd_semantics_labels tests/c_usd_semantics_labels.c)
+    target_include_directories(freeusd_c_usd_semantics_labels PRIVATE "${PROJECT_SOURCE_DIR}/include")
+    target_link_libraries(freeusd_c_usd_semantics_labels PRIVATE freeusd::c)
+    target_compile_definitions(
+      freeusd_c_usd_semantics_labels PRIVATE "FREEUSD_TEST_FIXTURES_DIR=\"${CMAKE_SOURCE_DIR}/tests/fixtures\"")
+    set_target_properties(freeusd_c_usd_semantics_labels PROPERTIES C_STANDARD 11 C_STANDARD_REQUIRED ON LINKER_LANGUAGE CXX)
+    add_test(NAME freeusd_c_usd_semantics_labels COMMAND freeusd_c_usd_semantics_labels)
+
     add_executable(freeusd_c_usd_skel tests/c_usd_skel.c)
     target_include_directories(freeusd_c_usd_skel PRIVATE "${PROJECT_SOURCE_DIR}/include")
     target_link_libraries(freeusd_c_usd_skel PRIVATE freeusd::c)
@@ -470,13 +498,15 @@ if(FREEUSD_BUILD_TESTS)
     freeusd_usd_physics_fixed_joint_test
     freeusd_usd_vol_openvdb_test
     freeusd_usd_vol_volume_test
+    freeusd_usd_semantics_labels_test
     freeusd_usd_skel_smoke_test
     freeusd_usd_skel_skinning_matrices_test
     freeusd_usd_shade_smoke_test
     freeusd_stage_kind_active_test
     freeusd_usd_lux_distant_light_test
     freeusd_ar_path_security_test
     freeusd_engine_integration_test
+    freeusd_usdutils_spatial_grounding_test
     freeusd_schema_tokens_bundle_test
     freeusd_time_code_test
     freeusd_edit_target_test
@@ -504,6 +534,8 @@ if(FREEUSD_BUILD_TESTS)
       freeusd_c_stage_prim_specifier
       freeusd_c_stage_layer_hints
       freeusd_c_engine_integration
+      freeusd_c_usdutils_spatial_grounding
+      freeusd_c_usd_semantics_labels
       freeusd_c_usd_skel
       freeusd_c_usd_shade
       freeusd_c_usd_lux

bindings/README.md

@@ -66,6 +66,10 @@ Shared fixture: **`tests/fixtures/usd_cross_language.usda`**. Tests: **`tests/c_
 
 Skel fixture: **`tests/fixtures/parity_skel_skinning.usda`**. Tests: **`tests/c_usd_skel.c`**, **`tests/usd_skel_smoke_test.cpp`**, **`bindings/go/freeusd_test.go`** (`TestSkelCrossLanguageContract`), **`bindings/rust`** (`skel_cross_language_contract`).
 
+Spatial grounding fixture: **`tests/fixtures/parity_spatial_grounding.usda`**. Tests: **`tests/c_usdutils_spatial_grounding.c`**, **`tests/usdutils_spatial_grounding_test.cpp`**, **`tests/python/test_engine_integration.py`**, **`bindings/go/freeusd_test.go`**, and **`bindings/rust`**.
+
+Semantic labels fixture: **`tests/fixtures/parity_semantics_labels.usda`**. Tests: **`tests/c_usd_semantics_labels.c`**, **`tests/usd_semantics_labels_test.cpp`**, **`tests/python/test_engine_integration.py`**, **`bindings/go/freeusd_test.go`**, and **`bindings/rust`**.
+
 | Capability | C ABI | C++ / Python | Go | Rust | D |
 |------------|:-----:|:------------:|:--:|:----:|:--:|
 | Typed field reads (double/float/bool/int/string/vec/matrix/quat/token) | yes | yes | yes | yes | double/string |
@@ -86,6 +90,8 @@ Skel fixture: **`tests/fixtures/parity_skel_skinning.usda`**. Tests: **`tests/c_
 | `usdPhysics` FixedJoint bodies / enabled (C ABI) | yes | yes | yes | yes | yes |
 | `usdSkel` joint names / skinning palette / CPU deform | yes | yes | yes | yes | no |
 | `usdUtils` engine runtime assess (skel flags) | yes | yes | yes | yes | no |
+| `usdUtils` spatial grounding context records | yes | yes | yes | yes | no |
+| `usdSemantics` semantic label reads | yes | yes | yes | yes | no |
 | `usdUtils` flatten | C++ only | yes | n/a | n/a | n/a |
 
 ## Adding more bindings

bindings/d/dub.json

@@ -14,6 +14,7 @@
     "-lfreeusd_usdLux",
     "-lfreeusd_usdPhysics",
     "-lfreeusd_usdVol",
+    "-lfreeusd_usdSemantics",
     "-lfreeusd_usdGeom",
     "-lfreeusd_usd",
     "-lfreeusd_ar",
@@ -39,6 +40,7 @@
     "-lfreeusd_usdLux",
     "-lfreeusd_usdPhysics",
     "-lfreeusd_usdVol",
+    "-lfreeusd_usdSemantics",
     "-lfreeusd_usdGeom",
     "-lfreeusd_usd",
     "-lfreeusd_ar",

bindings/go/freeusd.go

@@ -10,8 +10,8 @@ package freeusd
 
 /*
 #cgo CFLAGS: -I${SRCDIR}/../../include
-#cgo linux LDFLAGS: -L${SRCDIR}/../../build/src -lfreeusd_c -lfreeusd_base -lfreeusd_usdUtils -lfreeusd_usdSkel -lfreeusd_usdShade -lfreeusd_usdLux -lfreeusd_usdPhysics -lfreeusd_usdVol -lfreeusd_usdGeom -lfreeusd_usd -lfreeusd_ar -lfreeusd_io -lfreeusd_pcp -lfreeusd_sdf -lfreeusd_vt -lfreeusd_tf -lfreeusd_gf -lfreeusd_plug -lstdc++ -lm -lz -llz4
-#cgo darwin LDFLAGS: -L${SRCDIR}/../../build/src -lfreeusd_c -lfreeusd_base -lfreeusd_usdUtils -lfreeusd_usdSkel -lfreeusd_usdShade -lfreeusd_usdLux -lfreeusd_usdPhysics -lfreeusd_usdVol -lfreeusd_usdGeom -lfreeusd_usd -lfreeusd_ar -lfreeusd_io -lfreeusd_pcp -lfreeusd_sdf -lfreeusd_vt -lfreeusd_tf -lfreeusd_gf -lfreeusd_plug -lc++ -lm -lz -llz4
+#cgo linux LDFLAGS: -L${SRCDIR}/../../build/src -lfreeusd_c -lfreeusd_base -lfreeusd_usdUtils -lfreeusd_usdSkel -lfreeusd_usdShade -lfreeusd_usdLux -lfreeusd_usdPhysics -lfreeusd_usdVol -lfreeusd_usdSemantics -lfreeusd_usdGeom -lfreeusd_usd -lfreeusd_ar -lfreeusd_io -lfreeusd_pcp -lfreeusd_sdf -lfreeusd_vt -lfreeusd_tf -lfreeusd_gf -lfreeusd_plug -lstdc++ -lm -lz -llz4
+#cgo darwin LDFLAGS: -L${SRCDIR}/../../build/src -lfreeusd_c -lfreeusd_base -lfreeusd_usdUtils -lfreeusd_usdSkel -lfreeusd_usdShade -lfreeusd_usdLux -lfreeusd_usdPhysics -lfreeusd_usdVol -lfreeusd_usdSemantics -lfreeusd_usdGeom -lfreeusd_usd -lfreeusd_ar -lfreeusd_io -lfreeusd_pcp -lfreeusd_sdf -lfreeusd_vt -lfreeusd_tf -lfreeusd_gf -lfreeusd_plug -lc++ -lm -lz -llz4
 #include <stdlib.h>
 #include <freeusd/c/freeusd.h>
 */
@@ -1834,6 +1834,7 @@ type EngineRuntimeSupport struct {
 	UsesPhysicsFixedJoints     bool
 	UsesOpenVdbAssets          bool
 	UsesVolumes                bool
+	UsesSemanticLabels         bool
 }
 
 // AssessEngineRuntimeSupport reports which engine integration mode fits the composed stage.
@@ -1877,9 +1878,153 @@ func (s *Stage) AssessEngineRuntimeSupport() (report EngineRuntimeSupport, rc in
 	report.UsesPhysicsFixedJoints = raw.uses_physics_fixed_joints != 0
 	report.UsesOpenVdbAssets = raw.uses_open_vdb_assets != 0
 	report.UsesVolumes = raw.uses_volumes != 0
+	report.UsesSemanticLabels = raw.uses_semantic_labels != 0
 	return report, 0
 }
 
+// SemanticLabelSet contains one authored semantics:labels:<set> value.
+type SemanticLabelSet struct {
+	Name   string
+	Labels []string
+}
+
+// SpatialGroundingRecord contains clean-room USD-derived cues for text/spatial diagnostics.
+type SpatialGroundingRecord struct {
+	Path                 string
+	Name                 string
+	ParentPath           string
+	SiblingNames         []string
+	SemanticLabelSets    []SemanticLabelSet
+	WorldPosition        [3]float64
+	HasWorldBound        bool
+	WorldBoundDimensions [3]float64
+	HasMassKg            bool
+	MassKg               float64
+}
+
+// BuildSpatialGroundingContext extracts spatial/text cue records for every traversed prim.
+func (s *Stage) BuildSpatialGroundingContext(time float64) (records []SpatialGroundingRecord, rc int) {
+	if s == nil || s.ptr == nil {
+		return nil, 1
+	}
+	var raw *C.FreeusdSpatialGroundingRecord
+	var count C.size_t
+	rc = int(C.freeusd_usdutils_build_spatial_grounding_context(s.ptr, C.double(time), &raw, &count))
+	if rc != 0 {
+		return nil, rc
+	}
+	defer C.freeusd_usdutils_spatial_grounding_records_free(raw, count)
+	if raw == nil || count == 0 {
+		return []SpatialGroundingRecord{}, 0
+	}
+	cRecords := unsafe.Slice(raw, int(count))
+	records = make([]SpatialGroundingRecord, 0, int(count))
+	for _, item := range cRecords {
+		rec := SpatialGroundingRecord{
+			Path:       C.GoString(item.path_utf8),
+			Name:       C.GoString(item.name_utf8),
+			ParentPath: C.GoString(item.parent_path_utf8),
+			WorldPosition: [3]float64{
+				float64(item.world_position[0]),
+				float64(item.world_position[1]),
+				float64(item.world_position[2]),
+			},
+			HasWorldBound: item.has_world_bound != 0,
+			WorldBoundDimensions: [3]float64{
+				float64(item.world_bound_dimensions[0]),
+				float64(item.world_bound_dimensions[1]),
+				float64(item.world_bound_dimensions[2]),
+			},
+			HasMassKg: item.has_mass_kg != 0,
+			MassKg:    float64(item.mass_kg),
+		}
+		if item.sibling_names_utf8 != nil && item.sibling_name_count > 0 {
+			cSiblings := unsafe.Slice(item.sibling_names_utf8, int(item.sibling_name_count))
+			rec.SiblingNames = make([]string, 0, int(item.sibling_name_count))
+			for _, sibling := range cSiblings {
+				if sibling != nil {
+					rec.SiblingNames = append(rec.SiblingNames, C.GoString(sibling))
+				}
+			}
+		}
+		if item.semantic_label_sets != nil && item.semantic_label_set_count > 0 {
+			cSets := unsafe.Slice(item.semantic_label_sets, int(item.semantic_label_set_count))
+			rec.SemanticLabelSets = make([]SemanticLabelSet, 0, int(item.semantic_label_set_count))
+			for _, cSet := range cSets {
+				set := SemanticLabelSet{Name: C.GoString(cSet.name_utf8)}
+				if cSet.labels_utf8 != nil && cSet.label_count > 0 {
+					cLabels := unsafe.Slice(cSet.labels_utf8, int(cSet.label_count))
+					set.Labels = make([]string, 0, int(cSet.label_count))
+					for _, label := range cLabels {
+						if label != nil {
+							set.Labels = append(set.Labels, C.GoString(label))
+						}
+					}
+				}
+				rec.SemanticLabelSets = append(rec.SemanticLabelSets, set)
+			}
+		}
+		records = append(records, rec)
+	}
+	return records, 0
+}
+
+// ListSemanticLabelSets returns authored semantics:labels:<set> instance names for a prim.
+func (s *Stage) ListSemanticLabelSets(primPath string) (sets []string, rc int) {
+	if s == nil || s.ptr == nil {
+		return nil, 1
+	}
+	pp := C.CString(primPath)
+	defer C.free(unsafe.Pointer(pp))
+	var arr **C.char
+	var count C.size_t
+	rc = int(C.freeusd_stage_list_semantic_label_sets(s.ptr, pp, &arr, &count))
+	if rc != 0 {
+		return nil, rc
+	}
+	if arr == nil || count == 0 {
+		return []string{}, 0
+	}
+	defer C.freeusd_path_list_free(arr, count)
+	items := unsafe.Slice(arr, int(count))
+	sets = make([]string, 0, int(count))
+	for _, item := range items {
+		if item != nil {
+			sets = append(sets, C.GoString(item))
+		}
+	}
+	return sets, 0
+}
+
+// ReadSemanticLabels returns authored labels for one semantics:labels:<set> instance.
+func (s *Stage) ReadSemanticLabels(primPath, instanceName string) (labels []string, rc int) {
+	if s == nil || s.ptr == nil {
+		return nil, 1
+	}
+	pp := C.CString(primPath)
+	defer C.free(unsafe.Pointer(pp))
+	in := C.CString(instanceName)
+	defer C.free(unsafe.Pointer(in))
+	var arr **C.char
+	var count C.size_t
+	rc = int(C.freeusd_stage_read_semantic_labels(s.ptr, pp, in, &arr, &count))
+	if rc != 0 {
+		return nil, rc
+	}
+	if arr == nil || count == 0 {
+		return []string{}, 0
+	}
+	defer C.freeusd_path_list_free(arr, count)
+	items := unsafe.Slice(arr, int(count))
+	labels = make([]string, 0, int(count))
+	for _, item := range items {
+		if item != nil {
+			labels = append(labels, C.GoString(item))
+		}
+	}
+	return labels, 0
+}
+
 // ReadSkelJointNames returns skeleton joint names (rc 0 ok).
 func (s *Stage) ReadSkelJointNames(skeletonPath string) (names []string, rc int) {
 	if s == nil || s.ptr == nil {

bindings/go/freeusd_test.go

@@ -2,6 +2,7 @@ package freeusd
 
 import (
 	"encoding/binary"
+	"math"
 	"os"
 	"path/filepath"
 	"strings"
@@ -1260,9 +1261,95 @@ func TestUsdGeomEngineSubsetParityImageable(t *testing.T) {
 		t.Fatalf("world bounds (%g,%g,%g)-(%g,%g,%g)", minX, minY, minZ, maxX, maxY, maxZ)
 	}
 
-	_, _, _, _, _, _, rc = st.ComputeBoundableWorldBounds("/World", 1.0)
-	if rc == 0 {
-		t.Fatal("expected NOT_FOUND for non-boundable /World")
+	// Xform prims without local bounds aggregate descendant world bounds.
+	wMinX, wMinY, wMinZ, wMaxX, wMaxY, wMaxZ, rc := st.ComputeBoundableWorldBounds("/World", 1.0)
+	if rc != 0 || wMinX != 0 || wMinY != 1 || wMinZ != 2 || wMaxX != 2 || wMaxY != 3 || wMaxZ != 4 {
+		t.Fatalf("aggregated /World bounds (%g,%g,%g)-(%g,%g,%g) rc=%d", wMinX, wMinY, wMinZ, wMaxX, wMaxY, wMaxZ, rc)
+	}
+}
+
+func hasString(items []string, want string) bool {
+	for _, item := range items {
+		if item == want {
+			return true
+		}
+	}
+	return false
+}
+
+func TestUsdUtilsSpatialGroundingContext(t *testing.T) {
+	fixture := filepath.Join("..", "..", "tests", "fixtures", "parity_spatial_grounding.usda")
+	st := OpenStageFromRootFile(fixture, RootSubDepthFirst)
+	if st == nil {
+		t.Fatalf("OpenStageFromRootFile: %s", LastErrorMessage())
+	}
+	defer st.Free()
+
+	records, rc := st.BuildSpatialGroundingContext(1.0)
+	if rc != 0 {
+		t.Fatalf("BuildSpatialGroundingContext rc=%d %s", rc, LastErrorMessage())
+	}
+	if len(records) != 5 {
+		t.Fatalf("record count=%d", len(records))
+	}
+	var cup *SpatialGroundingRecord
+	var kitchen *SpatialGroundingRecord
+	for i := range records {
+		switch records[i].Path {
+		case "/World/Kitchen/CupBlue":
+			cup = &records[i]
+		case "/World/Kitchen":
+			kitchen = &records[i]
+		}
+	}
+	if cup == nil || cup.Name != "CupBlue" || cup.ParentPath != "/World/Kitchen" {
+		t.Fatalf("cup record=%+v", cup)
+	}
+	if len(cup.SiblingNames) != 2 || !hasString(cup.SiblingNames, "PlateGreen") || !hasString(cup.SiblingNames, "Stove") {
+		t.Fatalf("cup siblings=%v", cup.SiblingNames)
+	}
+	if len(cup.SemanticLabelSets) != 2 || cup.SemanticLabelSets[0].Name != "engine" || !hasString(cup.SemanticLabelSets[0].Labels, "pickup") || cup.SemanticLabelSets[1].Name != "somaHome" || !hasString(cup.SemanticLabelSets[1].Labels, "Crockery") {
+		t.Fatalf("cup semantic label sets=%v", cup.SemanticLabelSets)
+	}
+	if cup.WorldPosition != [3]float64{6, 2, 3} || !cup.HasWorldBound || cup.WorldBoundDimensions != [3]float64{0.5, 1.5, 0.25} || !cup.HasMassKg || math.Abs(cup.MassKg-0.35) > 1e-6 {
+		t.Fatalf("cup spatial values=%+v", cup)
+	}
+	// Xform prims without local bounds aggregate descendant world bounds.
+	if kitchen == nil || kitchen.ParentPath != "/World" || len(kitchen.SiblingNames) != 0 || len(kitchen.SemanticLabelSets) != 0 || kitchen.WorldPosition != [3]float64{10, 0, 0} || !kitchen.HasWorldBound || kitchen.WorldBoundDimensions != [3]float64{9.25, 4.25, 7.5} || kitchen.HasMassKg {
+		t.Fatalf("kitchen record=%+v", kitchen)
+	}
+}
+
+func TestUsdSemanticsLabels(t *testing.T) {
+	fixture := filepath.Join("..", "..", "tests", "fixtures", "parity_semantics_labels.usda")
+	st := OpenStageFromRootFile(fixture, RootSubDepthFirst)
+	if st == nil {
+		t.Fatalf("OpenStageFromRootFile: %s", LastErrorMessage())
+	}
+	defer st.Free()
+
+	sets, rc := st.ListSemanticLabelSets("/World/Kitchen/CupBlue")
+	if rc != 0 {
+		t.Fatalf("ListSemanticLabelSets rc=%d %s", rc, LastErrorMessage())
+	}
+	if len(sets) != 2 || !hasString(sets, "engine") || !hasString(sets, "somaHome") {
+		t.Fatalf("sets=%v", sets)
+	}
+	labels, rc := st.ReadSemanticLabels("/World/Kitchen/CupBlue", "somaHome")
+	if rc != 0 || len(labels) != 2 || labels[0] != "Crockery" || labels[1] != "DesignedContainer" {
+		t.Fatalf("labels=%v rc=%d", labels, rc)
+	}
+	stoveLabels, rc := st.ReadSemanticLabels("/World/Kitchen/Stove", "somaHome")
+	if rc != 0 || len(stoveLabels) != 1 || stoveLabels[0] != "Appliance" {
+		t.Fatalf("stoveLabels=%v rc=%d", stoveLabels, rc)
+	}
+	missing, rc := st.ReadSemanticLabels("/World/Kitchen/CupBlue", "missing")
+	if rc != 0 || len(missing) != 0 {
+		t.Fatalf("missing=%v rc=%d", missing, rc)
+	}
+	report, rc := st.AssessEngineRuntimeSupport()
+	if rc != 0 || !report.UsesSemanticLabels || report.RecommendedMode != EngineRuntimeHybrid {
+		t.Fatalf("semantic runtime report=%+v rc=%d", report, rc)
 	}
 }