livoxGen1: Add StimBuffs to PcloudStimProd

* PcloudStimulusProducer now has member sh_ptr<StimulusBuffer>s.
* StimulusProducer now has a vector<sh_ptr<StimulusBuffer>s.

Created new stimbuff-type-specific
Pcloud[Xyz|I|Ambience]StimulusBuffer classes for representing each
stim feature exposed by livoxGen1's PcloudStimulusProducer.

commonLibs/attachmentSupport/stimulusProducer.cpp

@@ -9,10 +9,26 @@
 #include <componentThread.h>
 #include <spinLock.h>
 #include <user/stimulusProducer.h>
+#include <user/stimulusBuffer.h>
 
 namespace smo {
 namespace stim_buff {
 
+std::shared_ptr<StimulusBuffer> StimulusProducer::getAttachedStimulusBuffer(
+	const std::shared_ptr<device::DeviceAttachmentSpec>& spec) const
+{
+	for (const auto& buffer : attachedStimulusBuffers)
+	{
+		if (buffer && buffer->deviceAttachmentSpec &&
+			*buffer->deviceAttachmentSpec == *spec)
+		{
+			return buffer;
+		}
+	}
+
+	return nullptr;
+}
+
 void StimulusProducer::stop()
 {
 	{

include/user/stimulusBuffer.h

@@ -6,6 +6,7 @@
 #include <memory>
 #include <user/spMcRingBuffer.h>
 #include "stimulusFrame.h"
+#include "deviceAttachmentSpec.h"
 
 namespace smo {
 namespace stim_buff {
@@ -24,9 +25,12 @@ class StimulusBuffer
 public:
 	explicit StimulusBuffer(
 		std::shared_ptr<StimulusProducer> &producer,
+		const std::shared_ptr<device::DeviceAttachmentSpec>
+			&deviceAttachmentSpec,
 		int histbuffMs,
 		const SpMcRingBuffer::InputEngineConstraints& ringBufferConstraints)
 	: producer(producer),
+	deviceAttachmentSpec(deviceAttachmentSpec),
 	histbuffMs(histbuffMs),
 	frames_(static_cast<size_t>(histbuffMs / CONFIG_STIMBUFF_FRAME_PERIOD_MS)),
 	ringBufferConstraints(ringBufferConstraints),
@@ -45,10 +49,11 @@ public:
 
 public:
 	std::shared_ptr<StimulusProducer> producer;
+	std::shared_ptr<device::DeviceAttachmentSpec> deviceAttachmentSpec;
+	int histbuffMs;
 	std::vector<StimulusFrame> frames_;
 
 protected:
-	int histbuffMs;
 	SpMcRingBuffer::InputEngineConstraints ringBufferConstraints;
 	SpMcRingBuffer ringBuffer;
 };

include/user/stimulusProducer.h

@@ -19,6 +19,9 @@
 namespace smo {
 namespace stim_buff {
 
+// Forward declaration
+class StimulusBuffer;
+
 /**
  * StimulusProducer manages a collection of stimulus frames with simultaneity stamps.
  *
@@ -66,6 +69,9 @@ public:
 	void allowNextStimulusFrame()
 		{ frameAssemblyRateLimiter.release(); }
 
+	std::shared_ptr<StimulusBuffer> getAttachedStimulusBuffer(
+		const std::shared_ptr<device::DeviceAttachmentSpec>& spec) const;
+
 protected:
 	SpinLock frameAssemblyRateLimiter;
 
@@ -82,6 +88,7 @@ private:
 
 public:
 	std::shared_ptr<device::DeviceAttachmentSpec> deviceAttachmentSpec;
+	std::vector<std::shared_ptr<StimulusBuffer>> attachedStimulusBuffers;
 
 private:
 	boost::asio::io_service& ioService;

stimBuffApis/livoxGen1/pcloudAmbienceStimulusBuffer.h

@@ -0,0 +1,41 @@
+#ifndef _LIVOX_GEN1_PCLOUD_AMBIENCE_STIMULUS_BUFFER_H
+#define _LIVOX_GEN1_PCLOUD_AMBIENCE_STIMULUS_BUFFER_H
+
+#include <memory>
+#include <user/stimulusBuffer.h>
+
+namespace smo {
+namespace stim_buff {
+
+// Forward declaration
+class StimulusProducer;
+
+/**
+ * PcloudAmbienceStimulusBuffer is a specialized StimulusBuffer for ambience point cloud data.
+ */
+class PcloudAmbienceStimulusBuffer
+:	public StimulusBuffer
+{
+public:
+	explicit PcloudAmbienceStimulusBuffer(
+		std::shared_ptr<StimulusProducer>& producer,
+		const std::shared_ptr<device::DeviceAttachmentSpec>& deviceAttachmentSpec,
+		int histbuffMs,
+		const SpMcRingBuffer::InputEngineConstraints& ringBufferConstraints)
+	:	StimulusBuffer(
+			producer, deviceAttachmentSpec, histbuffMs, ringBufferConstraints)
+	{}
+
+	~PcloudAmbienceStimulusBuffer() = default;
+
+	// Non-copyable, movable
+	PcloudAmbienceStimulusBuffer(const PcloudAmbienceStimulusBuffer&) = delete;
+	PcloudAmbienceStimulusBuffer& operator=(const PcloudAmbienceStimulusBuffer&) = delete;
+	PcloudAmbienceStimulusBuffer(PcloudAmbienceStimulusBuffer&&) = default;
+	PcloudAmbienceStimulusBuffer& operator=(PcloudAmbienceStimulusBuffer&&) = default;
+};
+
+} // namespace stim_buff
+} // namespace smo
+
+#endif // _LIVOX_GEN1_PCLOUD_AMBIENCE_STIMULUS_BUFFER_H

stimBuffApis/livoxGen1/pcloudDataProducer.h

@@ -11,6 +11,9 @@
 #include "stagingBuffer.h"
 #include "ioUringAssemblyEngine.h"
 #include "openClCollatingAndMeshingEngine.h"
+#include "pcloudXyzStimulusBuffer.h"
+#include "pcloudIStimulusBuffer.h"
+#include "pcloudAmbienceStimulusBuffer.h"
 
 namespace smo {
 namespace stim_buff {
@@ -74,9 +77,12 @@ public:
 	StagingBuffer assemblyBuffer;
 	IoUringAssemblyEngine ioUringAssemblyEngine;
 	StagingBuffer collationBuffer;
-	std::atomic<size_t> nAttachedStimBuffs{0};
 	StimulusFrame tempStimulusFrame;
 
+	std::shared_ptr<PcloudXyzStimulusBuffer> xyzStimulusBuffer;
+	std::shared_ptr<PcloudIStimulusBuffer> iStimulusBuffer;
+	std::shared_ptr<PcloudAmbienceStimulusBuffer> ambienceStimulusBuffer;
+
 private:
 	class ProduceFrameReq;
 };

stimBuffApis/livoxGen1/pcloudIStimulusBuffer.h

@@ -0,0 +1,41 @@
+#ifndef _LIVOX_GEN1_PCLOUD_I_STIMULUS_BUFFER_H
+#define _LIVOX_GEN1_PCLOUD_I_STIMULUS_BUFFER_H
+
+#include <memory>
+#include <user/stimulusBuffer.h>
+
+namespace smo {
+namespace stim_buff {
+
+// Forward declaration
+class StimulusProducer;
+
+/**
+ * PcloudIStimulusBuffer is a specialized StimulusBuffer for intensity point cloud data.
+ */
+class PcloudIStimulusBuffer
+:	public StimulusBuffer
+{
+public:
+	explicit PcloudIStimulusBuffer(
+		std::shared_ptr<StimulusProducer>& producer,
+		const std::shared_ptr<device::DeviceAttachmentSpec>& deviceAttachmentSpec,
+		int histbuffMs,
+		const SpMcRingBuffer::InputEngineConstraints& ringBufferConstraints)
+	:	StimulusBuffer(
+			producer, deviceAttachmentSpec, histbuffMs, ringBufferConstraints)
+	{}
+
+	~PcloudIStimulusBuffer() = default;
+
+	// Non-copyable, movable
+	PcloudIStimulusBuffer(const PcloudIStimulusBuffer&) = delete;
+	PcloudIStimulusBuffer& operator=(const PcloudIStimulusBuffer&) = delete;
+	PcloudIStimulusBuffer(PcloudIStimulusBuffer&&) = default;
+	PcloudIStimulusBuffer& operator=(PcloudIStimulusBuffer&&) = default;
+};
+
+} // namespace stim_buff
+} // namespace smo
+
+#endif // _LIVOX_GEN1_PCLOUD_I_STIMULUS_BUFFER_H

stimBuffApis/livoxGen1/pcloudXyzStimulusBuffer.h

@@ -0,0 +1,41 @@
+#ifndef _LIVOX_GEN1_PCLOUD_XYZ_STIMULUS_BUFFER_H
+#define _LIVOX_GEN1_PCLOUD_XYZ_STIMULUS_BUFFER_H
+
+#include <memory>
+#include <user/stimulusBuffer.h>
+
+namespace smo {
+namespace stim_buff {
+
+// Forward declaration
+class StimulusProducer;
+
+/**
+ * PcloudXyzStimulusBuffer is a specialized StimulusBuffer for XYZ point cloud data.
+ */
+class PcloudXyzStimulusBuffer
+:	public StimulusBuffer
+{
+public:
+	explicit PcloudXyzStimulusBuffer(
+		std::shared_ptr<StimulusProducer>& producer,
+		const std::shared_ptr<device::DeviceAttachmentSpec>& deviceAttachmentSpec,
+		int histbuffMs,
+		const SpMcRingBuffer::InputEngineConstraints& ringBufferConstraints)
+	:	StimulusBuffer(
+			producer, deviceAttachmentSpec, histbuffMs, ringBufferConstraints)
+	{}
+
+	~PcloudXyzStimulusBuffer() = default;
+
+	// Non-copyable, movable
+	PcloudXyzStimulusBuffer(const PcloudXyzStimulusBuffer&) = delete;
+	PcloudXyzStimulusBuffer& operator=(const PcloudXyzStimulusBuffer&) = delete;
+	PcloudXyzStimulusBuffer(PcloudXyzStimulusBuffer&&) = default;
+	PcloudXyzStimulusBuffer& operator=(PcloudXyzStimulusBuffer&&) = default;
+};
+
+} // namespace stim_buff
+} // namespace smo
+
+#endif // _LIVOX_GEN1_PCLOUD_XYZ_STIMULUS_BUFFER_H