IoUringAsmEngn: Use pcloudDataSocket from UdpCmdDemux

commonLibs/livoxProto1/udpCommandDemuxer.h

@@ -61,6 +61,12 @@ public:
 		return pcloudDataSocketDesc;
 	}
 
+private:
+	// Socket and async objects
+	std::shared_ptr<boost::asio::posix::stream_descriptor> pcloudDataSocketDesc;
+	// Socket and async objects
+	std::shared_ptr<boost::asio::posix::stream_descriptor> cmdEndpointFdDesc;
+
 private:
 	void setupSockets();
 	void setupCommandSocket();
@@ -74,11 +80,6 @@ private:
 	uint16_t commandPort;
 	uint16_t dataPort;
 
-	// Socket and async objects
-	std::shared_ptr<boost::asio::posix::stream_descriptor> pcloudDataSocketDesc;
-	// Socket and async objects
-	std::shared_ptr<boost::asio::posix::stream_descriptor> cmdEndpointFdDesc;
-
 	// State management
 	std::atomic<bool> isActive{false};
 	std::atomic<bool> shouldStop{false};

stimBuffApis/livoxGen1/ioUringAssemblyEngine.cpp

@@ -3,6 +3,7 @@
 #include <sys/socket.h>
 #include <boost/system/error_code.hpp>
 #include <livoxProto1/device.h>
+#include <livoxProto1/livoxProto1.h>
 #include "ioUringAssemblyEngine.h"
 #include "pcloudStimulusBuffer.h"
 #include "livoxGen1.h"
@@ -45,7 +46,7 @@ bool IoUringAssemblyEngine::setup()
 	if (!frameAssemblyDesc || frameAssemblyDesc->slots.empty())
 		{ return false; }
 
-	// Get UDP socket file descriptor
+	// Get point cloud data socket descriptor from UdpCommandDemuxer
 	int udpFd = (*livoxProto1.livoxProto1_getPcloudDataFdDesc)()
 		->native_handle();
 	if (udpFd < 0)
@@ -86,7 +87,7 @@ void IoUringAssemblyEngine::resetAndAssembleFrame()
 	// 1. Submit frameAssemblyDesc->numSlots RECVMSG SQEs using io_uring_prep_recvmsg()
 	//    - Each SQE receives into frameAssemblyDesc->slots[i].vaddr
 	//    - With size frameAssemblyDesc->slots[i].nBytes
-	//    - Socket FD from parent.device->pcloudDataSocketDesc->native_handle()
+	//    - Socket FD from pcloudDataSocketDesc->native_handle()
 	// 2. Submit batch via io_uring_submit(&ring)
 	// 3. Set up stall timer using stallTimer with appropriate timeout
 	//    - SQEs are independent and can arrive out of order

stimBuffApis/livoxGen1/ioUringAssemblyEngine.h

@@ -46,6 +46,9 @@ private:
 	struct io_uring ring;
 	bool isSetup;
 
+	// Point cloud data socket descriptor
+	std::shared_ptr<boost::asio::posix::stream_descriptor> pcloudDataSocketDesc;
+
 	// Stall detection timer
 	boost::asio::deadline_timer stallTimer;