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livoxGen1🐛 Call stop() on all producers before deleting in _exit

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This commit is contained in:
Hayodea Hekol
2026-06-14 15:34:07 -04:00
parent 24eee2d240
commit acb684ad35
5 changed files with 204 additions and 109 deletions
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stimBuffApis/lcameraBuff/lcameraBuff.cpp
+56 -27
View File
@@ -14,7 +14,47 @@ namespace smo::stim_buff::lcamera_buff {
const SmoCallbacks *lcameraBuffSmoHooksPtr = nullptr;
SmoThreadingModelDesc lcameraBuffThreadingModelDesc;
LcameraDevDllState lcameraDevDll;
std::vector<std::shared_ptr<YuvStimProducer>> attachedStimulusProducers;
std::vector<std::shared_ptr<YuvStimProducer>> managedStimulusProducers;
void addManagedStimulusProducer(
const std::shared_ptr<YuvStimProducer>& producer)
{
managedStimulusProducers.push_back(producer);
producer->start();
}
sscl::co::ViralNonPostingInvoker<void> removeManagedStimulusProducerIfUnused(
const std::shared_ptr<YuvStimProducer>& producer)
{
if (!producer) {
co_return;
}
if (!producer->attachedStimulusBuffers.empty()) {
co_return;
}
producer->stop();
managedStimulusProducers.erase(
std::remove_if(
managedStimulusProducers.begin(),
managedStimulusProducers.end(),
[&producer](const std::shared_ptr<YuvStimProducer>& candidate)
{
return candidate == producer;
}),
managedStimulusProducers.end());
const std::shared_ptr<lcamera_dev::CameraSession> deviceSession =
producer->deviceSession;
if (deviceSession) {
co_await (*lcameraDevDll.lcameraDev_releaseDeviceCReq)(deviceSession);
}
producer->deviceSession.reset();
}
void LcameraDevDllState::DlCloser::operator()(void *handle)
{
@@ -37,7 +77,7 @@ std::shared_ptr<YuvStimProducer> findStimProducerByCameraId(
const std::string& resolvedCameraId)
{
for (const std::shared_ptr<YuvStimProducer>& producer :
attachedStimulusProducers)
managedStimulusProducers)
{
assert(producer != nullptr);
if (producer->resolvedCameraId == resolvedCameraId) {
@@ -83,6 +123,16 @@ bool validateAttachRequest(
namespace {
void stopAllManagedProducersBeforeFinalize()
{
for (const std::shared_ptr<YuvStimProducer>& producer :
managedStimulusProducers)
{
assert(producer != nullptr);
producer->stop();
}
}
void loadLcameraDevSymbols()
{
lcameraDevDll.lcameraDev_main = reinterpret_cast<lcameraDev_mainFn *>(
@@ -171,7 +221,7 @@ attachByCreatingProducer(
parsedParams,
configuredMode);
attachedStimulusProducers.push_back(producer);
addManagedStimulusProducer(producer);
co_return co_await attachChannelBufferToProducer(desc, producer);
}
@@ -212,14 +262,8 @@ sscl::co::ViralNonPostingInvoker<int> lcameraBuff_initializeCInd()
sscl::co::ViralNonPostingInvoker<int> lcameraBuff_finalizeCInd()
{
for (const std::shared_ptr<YuvStimProducer>& producer :
attachedStimulusProducers)
{
assert(producer != nullptr);
producer->deviceSession.reset();
}
attachedStimulusProducers.clear();
stopAllManagedProducersBeforeFinalize();
managedStimulusProducers.clear();
if (lcameraDevDll.lcameraDev_exit) {
(*lcameraDevDll.lcameraDev_exit)();
@@ -284,26 +328,11 @@ lcameraBuff_detachDeviceCReq(
producer->destroyAttachedStimulusBuffer(stimBuffer);
const std::shared_ptr<lcamera_dev::CameraSession> deviceSession =
producer->deviceSession;
co_await (*lcameraDevDll.lcameraDev_releaseDeviceCReq)(deviceSession);
if (!producer->attachedStimulusBuffers.empty()) {
co_return StimBuffDeviceOpResult{true, desc};
}
attachedStimulusProducers.erase(
std::remove_if(
attachedStimulusProducers.begin(),
attachedStimulusProducers.end(),
[&producer](const std::shared_ptr<YuvStimProducer>& candidate)
{
return candidate == producer;
}),
attachedStimulusProducers.end());
producer->deviceSession.reset();
co_await removeManagedStimulusProducerIfUnused(producer);
co_return StimBuffDeviceOpResult{true, desc};
}
stimBuffApis/lcameraBuff/lcameraBuffInternal.h
+7 -1
View File
@@ -33,7 +33,13 @@ struct LcameraDevDllState
extern const SmoCallbacks *lcameraBuffSmoHooksPtr;
extern SmoThreadingModelDesc lcameraBuffThreadingModelDesc;
extern LcameraDevDllState lcameraDevDll;
extern std::vector<std::shared_ptr<YuvStimProducer>> attachedStimulusProducers;
extern std::vector<std::shared_ptr<YuvStimProducer>> managedStimulusProducers;
void addManagedStimulusProducer(
const std::shared_ptr<YuvStimProducer>& producer);
sscl::co::ViralNonPostingInvoker<void> removeManagedStimulusProducerIfUnused(
const std::shared_ptr<YuvStimProducer>& producer);
std::shared_ptr<YuvStimProducer> findStimProducerByCameraId(
const std::string& resolvedCameraId);
stimBuffApis/lcameraBuff/tests/lcameraBuff_configure_hil_tests.cpp
+2 -2
View File
@@ -235,10 +235,10 @@ TEST_F(LcameraBuffConfigureHilTest, AttachThreeYuvChannelsWithOptPlanar480p)
++expectedBufferCount;
ASSERT_EQ(
smo::stim_buff::lcamera_buff::attachedStimulusProducers.size(),
smo::stim_buff::lcamera_buff::managedStimulusProducers.size(),
1u);
producer = smo::stim_buff::lcamera_buff
::attachedStimulusProducers.front();
::managedStimulusProducers.front();
ASSERT_TRUE(producer != nullptr);
EXPECT_EQ(
producer->attachedStimulusBuffers.size(),
stimBuffApis/livoxGen1/livoxGen1.cpp
+130 -78
View File
@@ -20,7 +20,7 @@ const SmoCallbacks *smoHooksPtr = nullptr;
SmoThreadingModelDesc smoThreadingModelDesc;
// Local collection of stimulus producers
std::vector<std::shared_ptr<StimulusProducer>> attachedStimulusProducers;
std::vector<std::shared_ptr<StimulusProducer>> managedStimulusProducers;
LivoxProto1DllState::LivoxProto1DllState()
: dlopenHandle(nullptr, DlCloser),
@@ -46,7 +46,7 @@ LivoxProto1DllState livoxProto1;
std::shared_ptr<StimulusProducer> getStimulusProducer(
const std::shared_ptr<device::DeviceAttachmentSpec> &spec)
{
for (const auto &stimProducer : attachedStimulusProducers)
for (const auto &stimProducer : managedStimulusProducers)
{
if (livoxProto1::comms::deviceIdentifiersEqual(
stimProducer->deviceAttachmentSpec->deviceSelector,
@@ -189,6 +189,8 @@ LivoxProviderParams parseLivoxProviderParams(
return params;
}
constexpr size_t MAX_STIM_PRODUCERS_PER_DEVICE = 2;
// Helper method to ensure StimBuffer is attached
// Returns true if successful, false on error
bool ensureStimBufferAttachedWithoutDuplicates(
@@ -224,9 +226,125 @@ bool ensureStimBufferAttachedWithoutDuplicates(
return true;
}
void addManagedStimulusProducer(
const std::shared_ptr<PcloudStimulusProducer> &producer,
const std::shared_ptr<livoxProto1::Device> &device)
{
if (!producer || !device) {
throw std::runtime_error(
std::string(__func__) + ": producer and device must be non-null");
}
device->nAttachedStimulusProducers++;
if (device->nAttachedStimulusProducers > MAX_STIM_PRODUCERS_PER_DEVICE)
{
device->nAttachedStimulusProducers--;
throw std::runtime_error(
std::string(__func__) + ": Each LivoxGen1 device can only have "
"at most two StimulusProducers attached to it. Found "
+ std::to_string(device->nAttachedStimulusProducers + 1) + ".");
}
managedStimulusProducers.push_back(producer);
if (false
/*managedStimulusProducers.size() >= 2*nDevicesKnownToGen1Lib */)
{
/** TODO:
* It would be nice to add an nDevicesKnownToGen1Lib counter, and
* then add a check here to ensure that
* managedStimulusProducers.size() is always less than or equal to
* 2*nDevicesKnownToGen1Lib.
*
* (2 stim producers per device).
*/
#if 0
throw std::runtime_error(
std::string(__func__) + ": Number of StimulusProducers attached "
"to LivoxGen1 devices known to the library ("
+ std::to_string(managedStimulusProducers.size())
+ ") is greater than "
"expected. Lib knows about "
+ std::to_string(nDevicesKnownToGen1Lib) + " devices, "
"so there should be at most "
+ std::to_string(2*nDevicesKnownToGen1Lib)
+ " StimulusProducers attached to devices.");
#endif
}
producer->start();
}
sscl::co::ViralNonPostingInvoker<bool> removeManagedStimulusProducerIfUnused(
const std::shared_ptr<PcloudStimulusProducer> &producer,
const std::shared_ptr<sscl::ComponentThread> &/*componentThread*/)
{
if (!producer) {
co_return true;
}
if (!producer->attachedStimulusBuffers.empty()) {
co_return true;
}
// No other buffers - stop and remove StimProducer
producer->stop();
auto it = std::find_if(
managedStimulusProducers.begin(),
managedStimulusProducers.end(),
[&producer](const std::shared_ptr<StimulusProducer> &candidate)
{
/** FIXME:
* When we implement the ImuStimulusProducer, we need to make
* sure we handle that properly here.
*/
auto pcloudProducer =
std::dynamic_pointer_cast<PcloudStimulusProducer>(candidate);
return pcloudProducer && pcloudProducer == producer;
});
if (it != managedStimulusProducers.end()) {
managedStimulusProducers.erase(it);
}
if (!producer->device) {
co_return true;
}
if (producer->device->nAttachedStimulusProducers > 0) {
producer->device->nAttachedStimulusProducers--;
}
if (producer->device->nAttachedStimulusProducers > 0) {
co_return true;
}
const bool destroyed = co_await (*livoxProto1.livoxProto1_destroyDeviceCReq)(
producer->device);
if (!destroyed)
{
std::cerr << __func__ << ": Failed to destroy dev "
"device " << producer->deviceAttachmentSpec->deviceSelector
<< " for stim producer.\n";
co_return false;
}
co_return true;
}
namespace {
constexpr size_t MAX_STIM_PRODUCERS_PER_DEVICE = 2;
void stopAllManagedProducersBeforeFinalize()
{
for (const auto &producer : managedStimulusProducers)
{
if (!producer) {
continue;
}
producer->stop();
}
}
bool validateAttachRequest(
const std::shared_ptr<device::DeviceAttachmentSpec> &desc)
@@ -458,44 +576,7 @@ attachByCreatingProducer(
desc, deviceResult.device,
formatDesc, nDgramsPerFrame);
deviceResult.device->nAttachedStimulusProducers++;
if (deviceResult.device->nAttachedStimulusProducers
> MAX_STIM_PRODUCERS_PER_DEVICE)
{
throw std::runtime_error(
std::string(__func__) + ": Each LivoxGen1 device can only have "
"at most two StimulusProducers attached to it. Found "
+ std::to_string(deviceResult.device->nAttachedStimulusProducers)
+ ".");
}
attachedStimulusProducers.push_back(pcloudDataProducer);
if (false
/*attachedStimulusProducers.size() >= 2*nDevicesKnownToGen1Lib */)
{
/** TODO:
* It would be nice to add an nDevicesKnownToGen1Lib counter, and
* then add a check here to ensure that
* attachedStimulusProducers.size() is always less than or equal to
* 2*nDevicesKnownToGen1Lib.
*
* (2 stim producers per device).
*/
#if 0
throw std::runtime_error(
std::string(__func__) + ": Number of StimulusProducers attached "
"to LivoxGen1 devices known to the library ("
+ std::to_string(attachedStimulusProducers.size())
+ ") is greater than "
"expected. Lib knows about "
+ std::to_string(nDevicesKnownToGen1Lib) + " devices, "
"so there should be at most "
+ std::to_string(2*nDevicesKnownToGen1Lib)
+ " StimulusProducers attached to devices.");
#endif
}
pcloudDataProducer->start();
addManagedStimulusProducer(pcloudDataProducer, deviceResult.device);
// Ensure StimBuffer is attached
co_return co_await attachBufferAndEnablePcloud(
@@ -592,8 +673,8 @@ livoxGen1_detachDeviceCReq(
// Add 5ms delay before destroying device
// Helper method to delay and then call destroyDeviceReq
// Initialize timer with LivoxGen1 metadata io_context
// Helper method to delay and then call destroyDeviceReq
// Initialize timer with LivoxGen1 metadata io_context
boost::asio::deadline_timer commandDelayTimer(
requestComponentThread->getIoContext());
co_await adapters::boostAsio::getDeadlineTimerAReqAwaiter(
@@ -601,40 +682,9 @@ livoxGen1_detachDeviceCReq(
commandDelayTimer,
boost::posix_time::milliseconds(LIVOX_GEN1_DEVICE_COMMAND_DELAY_MS));
// No other buffers - stop and remove StimProducer
stimProducer->stop();
// Remove stimulus producer from collection before destroying device
stimProducer->device->nAttachedStimulusProducers--;
// Find and remove the producer from the collection by comparing device
auto it = std::find_if(
attachedStimulusProducers.begin(),
attachedStimulusProducers.end(),
[&stimProducer](const std::shared_ptr<StimulusProducer> &producer)
{
/** FIXME:
* When we implement the ImuStimulusProducer, we need to make
* sure we handle that properly here.
*/
auto pcloudProducer =
std::dynamic_pointer_cast<PcloudStimulusProducer>(producer);
return pcloudProducer && pcloudProducer->device == stimProducer->device;
});
if (it != attachedStimulusProducers.end()) {
attachedStimulusProducers.erase(it);
}
const bool destroyed = co_await (*livoxProto1.livoxProto1_destroyDeviceCReq)(
stimProducer->device);
if (!destroyed) {
std::cerr << __func__ << ": Failed to destroy dev "
"device " << desc->deviceSelector << " for stim "
"producer.\n";
/** NOTE:
* There's a decent argument for falling through here and still
* removing the stimulus producer from attachedStimulusProducers.
*/
const bool removedOk = co_await removeManagedStimulusProducerIfUnused(
stimProducer, requestComponentThread);
if (!removedOk) {
co_return StimBuffDeviceOpResult{false, desc};
}
@@ -723,7 +773,9 @@ sscl::co::ViralNonPostingInvoker<int> livoxGen1_initializeCInd()
sscl::co::ViralNonPostingInvoker<int> livoxGen1_finalizeCInd()
{
attachedStimulusProducers.clear();
stopAllManagedProducersBeforeFinalize();
managedStimulusProducers.clear();
if (livoxProto1.livoxProto1_exit) {
(*livoxProto1.livoxProto1_exit)();
}
stimBuffApis/livoxGen1/livoxGen1Internal.h
+9 -1
View File
@@ -29,7 +29,15 @@ struct LivoxProviderParams
extern const SmoCallbacks *smoHooksPtr;
extern SmoThreadingModelDesc smoThreadingModelDesc;
extern std::vector<std::shared_ptr<StimulusProducer>> attachedStimulusProducers;
extern std::vector<std::shared_ptr<StimulusProducer>> managedStimulusProducers;
void addManagedStimulusProducer(
const std::shared_ptr<PcloudStimulusProducer> &producer,
const std::shared_ptr<livoxProto1::Device> &device);
sscl::co::ViralNonPostingInvoker<bool> removeManagedStimulusProducerIfUnused(
const std::shared_ptr<PcloudStimulusProducer> &producer,
const std::shared_ptr<sscl::ComponentThread> &componentThread);
std::shared_ptr<StimulusProducer> getStimulusProducer(
const std::shared_ptr<device::DeviceAttachmentSpec> &spec);