livoxG1:OCLEngine: compile compactor program

stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.cpp

@@ -8,6 +8,7 @@
 #include "openClCollatingAndMeshingEngine.h"
 #include "pcloudStimulusBuffer.h"
 #include "openClKernels.h"
+#include "frameAssemblyDesc.h"
 
 namespace smo {
 namespace stim_buff {
@@ -147,8 +148,8 @@ bool OpenClCollatingAndMeshingEngine::setup()
 	}
 
 	// Create program and kernel from external source
-	kernelSource = collateKernelStart;
-	kernelSourceLen = collateKernelNBytes;
+	kernelSource = slotCompactorKernelStart;
+	kernelSourceLen = slotCompactorKernelNBytes;
 	program = clCreateProgramWithSource(
 		context, 1, &kernelSource, &kernelSourceLen, &err);
 
@@ -181,7 +182,7 @@ bool OpenClCollatingAndMeshingEngine::setup()
 		goto cleanup;
 	}
 
-	kernel = clCreateKernel(program, "collate", &err);
+	kernel = clCreateKernel(program, "slotCompactor", &err);
 	if (err != CL_SUCCESS || !kernel)
 	{
 		std::cerr << __func__ << ": failed to create kernel: "
@@ -287,7 +288,8 @@ void CL_CALLBACK OpenClCollatingAndMeshingEngine::kernelEventCallback(
 
 void OpenClCollatingAndMeshingEngine::start(
 	StagingBuffer& assemblyBuff, StagingBuffer& collationBuff,
-	collateFrameReqCbFn callback)
+	collateFrameReqCbFn callback,
+	uint32_t nSucceeded)
 {
 	if (!isSetup)
 	{
@@ -322,7 +324,22 @@ void OpenClCollatingAndMeshingEngine::start(
 	// Store the caller's callback
 	collateFrameReqCb = callback;
 
-	// Set kernel arguments
+	// Get FrameAssemblyDesc from assembly buffer
+	std::shared_ptr<FrameAssemblyDesc> frameDesc =
+		static_cast<std::shared_ptr<FrameAssemblyDesc>>(assemblyBuff);
+	if (!frameDesc || frameDesc->slots.empty())
+	{
+		std::cerr << __func__ << ": invalid frame descriptor" << std::endl;
+		return;
+	}
+
+	// Extract parameters for slotCompactor kernel
+	uint32_t numSlots = static_cast<uint32_t>(frameDesc->numSlots);
+	uint32_t slotStride = static_cast<uint32_t>(assemblyBuff.slotStrideNBytes);
+	uint32_t slotSize = static_cast<uint32_t>(frameDesc->slotSizeBytes);
+	uint32_t firstSlotOffset = static_cast<uint32_t>(assemblyBuff.firstSlotOffsetNBytes);
+
+	// Set kernel arguments for slotCompactor
 	cl_int err;
 	err = clSetKernelArg(kernel, 0, sizeof(cl_mem), &clAssemblyBuffer);
 	if (err != CL_SUCCESS)
@@ -331,17 +348,44 @@ void OpenClCollatingAndMeshingEngine::start(
 		return;
 	}
 
-	err = clSetKernelArg(kernel, 1, sizeof(cl_mem), &clCollationBuffer);
+	err = clSetKernelArg(kernel, 1, sizeof(uint32_t), &numSlots);
 	if (err != CL_SUCCESS)
 	{
 		std::cerr << __func__ << ": failed to set kernel arg 1: " << err << std::endl;
 		return;
 	}
 
-	// TODO: Set additional kernel arguments as needed (e.g., buffer sizes, metadata)
+	err = clSetKernelArg(kernel, 2, sizeof(uint32_t), &slotStride);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 2: " << err << std::endl;
+		return;
+	}
 
-	// Enqueue kernel execution
-	size_t globalWorkSize = 1; // TODO: Calculate appropriate work size
+	err = clSetKernelArg(kernel, 3, sizeof(uint32_t), &slotSize);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 3: " << err << std::endl;
+		return;
+	}
+
+	err = clSetKernelArg(kernel, 4, sizeof(uint32_t), &firstSlotOffset);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 4: " << err << std::endl;
+		return;
+	}
+
+	uint32_t nSucceededUint = static_cast<uint32_t>(nSucceeded);
+	err = clSetKernelArg(kernel, 5, sizeof(uint32_t), &nSucceededUint);
+	if (err != CL_SUCCESS)
+	{
+		std::cerr << __func__ << ": failed to set kernel arg 5: " << err << std::endl;
+		return;
+	}
+
+	// Enqueue kernel execution (single work item for sequential processing)
+	size_t globalWorkSize = 1;
 	err = clEnqueueNDRangeKernel(
 		commandQueue, kernel, 1, nullptr, &globalWorkSize, nullptr,
 		0, nullptr, &currentKernelEvent);

stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.h

@@ -39,7 +39,8 @@ public:
 
 	void start(
 		StagingBuffer& assemblyBuff, StagingBuffer& collationBuff,
-		collateFrameReqCbFn callback);
+		collateFrameReqCbFn callback,
+		uint32_t nSucceeded);
 	void stop();
 
 private:

stimBuffApis/livoxGen1/stagingBuffer.h

@@ -163,8 +163,12 @@ private:
 
 	// Layout/invariants
 	size_t nDgramsPerFrame;
+
+public:
 	size_t slotStrideNBytes;
 	size_t firstSlotOffsetNBytes;  // offset from buffer start to first slot
+
+private:
 	IOEngineConstraints inputConstraints;
 
 	// Descriptor (computed once; reused across frames)