Move StagingBuffer+FrameAssemblyDesc into libattachmentSupport

This is in preparation for using StagingBuffer to implement StimulusFrame and StimulusBuffer.
2025-11-15 20:47:40 -04:00
parent 2d1c026cc2
commit d277c29394
10 changed files with 13 additions and 11 deletions
@@ -0,0 +1,64 @@
+#ifndef _LIVOX_GEN1_FRAME_ASSEMBLY_DESC_H
+#define _LIVOX_GEN1_FRAME_ASSEMBLY_DESC_H
+
+#include <cstddef>
+#include <cstdint>
+#include <vector>
+#include <string>
+#include <sstream>
+
+namespace smo {
+namespace stim_buff {
+
+class FrameAssemblyDesc
+{
+public:
+	struct SlotDesc
+	{
+		size_t offsetBytes;      // offset from frame base
+		uint8_t* vaddr;          // direct pointer into StagingBuffer memory
+		size_t nBytes;           // slot capacity in bytes
+	};
+
+public:	
+	FrameAssemblyDesc() = default;
+
+	FrameAssemblyDesc(
+		size_t n, size_t slotSize,
+		size_t frameStride,
+		std::vector<SlotDesc> slotList)
+		: numSlots(n), slotSizeBytes(slotSize),
+		frameStrideBytes(frameStride),
+		slots(std::move(slotList)) {}
+
+	inline std::string stringify() const {
+		std::ostringstream oss;
+		oss << "FrameAssemblyDesc{"
+			<< "numSlots=" << numSlots
+			<< ", slotSizeBytes=" << slotSizeBytes
+			<< ", frameStrideBytes=" << frameStrideBytes
+			<< ", slots=[";
+		const size_t preview = slots.size() < 4 ? slots.size() : 4;
+		for (size_t i = 0; i < preview; ++i) {
+			oss << "{off=" << slots[i].offsetBytes
+				<< ", nBytes=" << slots[i].nBytes
+				<< ", vaddr=" << (const void*)slots[i].vaddr << "}";
+			if (i + 1 < preview) oss << ",";
+		}
+		if (slots.size() > preview) oss << ", ...";
+		oss << "]}";
+		return oss.str();
+	}
+
+public:
+	size_t numSlots;
+	size_t slotSizeBytes;
+	size_t frameStrideBytes;
+	std::vector<SlotDesc> slots;
+};
+
+} // namespace stim_buff
+} // namespace smo
+
+#endif // _LIVOX_GEN1_FRAME_ASSEMBLY_DESC_H
+
@@ -0,0 +1,186 @@
+#ifndef STAGINGBUFFER_H
+#define STAGINGBUFFER_H
+
+#include <memory>
+#include <cstdint>
+#include <atomic>
+#include <string>
+#include <sstream>
+#include <sys/mman.h>
+#include <sys/uio.h>
+
+namespace smo {
+namespace stim_buff {
+
+// Forward declaration
+class FrameAssemblyDesc;
+
+/**
+ * StagingBuffer manages a large buffer to guide io_uring in assembling some
+ * number of Livox Avia pcloud UDP dgrams into a single stim frame.
+ *
+ * The buffer operates in a cycle:
+ * 1. io_uring assembles UDP dgrams into the buffer until it's full
+ * 2. Buffer is handed off to the stimbuff layer to be appended to the stimbuff.
+ * 3. When the stimbuff layer has appended the current assembled frame, the
+ *		assembly buffer is reset and cycle repeats.
+ */
+class StagingBuffer
+{
+public:
+	class IOEngineConstraints
+	{
+	public:
+		IOEngineConstraints(
+			size_t slotStartAlignmentByteVal_,
+			size_t slotPadToNBytes_,
+			size_t frameStartAlignmentByteVal_,
+			size_t framePadToNBytes_)
+		: slotStartAlignmentByteVal(slotStartAlignmentByteVal_),
+		slotPadToNBytes(slotPadToNBytes_),
+		frameStartAlignmentByteVal(frameStartAlignmentByteVal_),
+		framePadToNBytes(framePadToNBytes_)
+		{}
+
+		~IOEngineConstraints() = default;
+
+		size_t slotStartAlignmentByteVal, slotPadToNBytes,
+			frameStartAlignmentByteVal, framePadToNBytes;
+
+		// Static defaults for io_uring and OpenCL
+		static const IOEngineConstraints ioUringConstraints;
+		static const IOEngineConstraints openClInputConstraints;
+
+		inline std::string stringify() const
+		{
+			std::ostringstream oss;
+			oss << "IOEngineConstraints{"
+				<< "slotStartAlignmentByteVal=" << slotStartAlignmentByteVal
+				<< ", slotPadToNBytes=" << slotPadToNBytes
+				<< ", frameStartAlignmentByteVal=" << frameStartAlignmentByteVal
+				<< ", framePadToNBytes=" << framePadToNBytes
+				<< "}";
+			return oss.str();
+		}
+	};
+
+public:
+	/**	EXPLANATION:
+	 * We use the input and output engine constraints to determine the total
+	 * amount of memory required internally to assemble a single frame with
+	 * the given number of points per frame.
+	 */
+	explicit StagingBuffer(
+		const IOEngineConstraints& inputEngineConstraints,
+		const IOEngineConstraints& outputEngineConstraints,
+		size_t nDgramsPerFrame);
+	~StagingBuffer() = default;
+
+	// Non-copyable, movable
+	StagingBuffer(const StagingBuffer&) = delete;
+	StagingBuffer& operator=(const StagingBuffer&) = delete;
+	StagingBuffer(StagingBuffer&&) = default;
+	StagingBuffer& operator=(StagingBuffer&&) = default;
+
+public:
+	/**	EXPLANATION:
+	 * Returns an input-engine-agnostic descriptor describing per-frame packet
+	 * slot layout. Different input engines should be able to convert this into
+	 * engine-specific metadata. E.g: io_uring's SQE descriptor.
+	 */
+	operator std::shared_ptr<FrameAssemblyDesc>() const { return frameDesc; }
+	// operator OpenClSharedBufferDescriptor() const;
+
+	bool isAssembling() const { return assemblingFlag.load(); }
+	void startAssembly() { assemblingFlag.store(true); }
+	void stopAssembly() { assemblingFlag.store(false); }
+
+	/**	EXPLANATION:
+	 * Returns an iovec for io_uring registration.
+	 * The buffer is mmap()-allocated and suitable for IORING_REGISTER_BUFFERS.
+	 */
+	struct iovec getIoUringRegisterIoVec() const
+	{
+		struct iovec iov;
+		iov.iov_base = buffer.get();
+		iov.iov_len = bufferNBytes;
+		return iov;
+	}
+
+	/**	EXPLANATION:
+	 * Returns an iovec for OpenCL engine buffer access.
+	 * The buffer is mmap()-allocated and suitable for CL_MEM_USE_HOST_PTR.
+	 */
+	struct iovec getClEngineIovec() const
+	{
+		struct iovec iov;
+		iov.iov_base = buffer.get();
+		iov.iov_len = bufferNBytes;
+		return iov;
+	}
+
+	inline std::string stringify() const
+	{
+		std::ostringstream oss;
+		oss << "StagingBuffer{"
+			<< "nDgramsPerFrame=" << nDgramsPerFrame
+			<< ", bufferNBytes=" << bufferNBytes
+			<< ", slotStrideNBytes=" << slotStrideNBytes
+			<< ", constraints=" << inputConstraints.stringify()
+			<< "}";
+		return oss.str();
+	}
+
+private:
+	void computeSlotStrideAndBufferSize();
+	static size_t calculateFirstSlotOffsetAndValidate(
+		uint8_t* buffer,
+		size_t bufferNBytes,
+		size_t nDgramsPerFrame,
+		size_t slotStrideNBytes,
+		const IOEngineConstraints& inputConstraints);
+
+	// Custom deleter for mmap-allocated buffer
+	struct MmapDeleter
+	{
+		size_t size;
+		MmapDeleter(size_t s) : size(s) {}
+		
+		void operator()(uint8_t* ptr) const
+		{
+			if (ptr != nullptr && size > 0)
+			{
+				munlock(ptr, size);
+				munmap(ptr, size);
+			}
+		}
+	};
+
+	// Buffer data - mmap-allocated for io_uring registration
+	// Using unique_ptr<uint8_t, MmapDeleter> instead of array syntax
+	// since we have a custom deleter that knows the size
+	std::unique_ptr<uint8_t, MmapDeleter> buffer;
+	size_t bufferNBytes;
+
+	// 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)
+	mutable std::shared_ptr<FrameAssemblyDesc> frameDesc;
+
+	// Current state
+	std::atomic<size_t> currentNBytes;
+	std::atomic<bool> assemblingFlag;
+};
+
+} // namespace stim_buff
+} // namespace smo
+
+#endif // STAGINGBUFFER_H