We modify the semantics/meaning of the ambience stim feature.
It now represents the number of frames whose average intensity
is below the ambienceLowVal.
We can now implement the postrin as the event wherein the number
of frames whose intensity <= ambienceLowVal exceeds
postrin-interest-threshold.
See the diff of the todo file within this commit for more details.
In short, we do this to prevent the possibility of an in-flight async
contin accessing metadata that we've already destroyed after finalize()
has been called.
This change is a bit pedantic, but since these vars aren't accessed
in any hotpath, it's fine to be pedantic. We made these sh_ptrs
atomic so we can use acquire and release side effects when loading
and storing them. This doesn't eliminate the problem of seeing
inconsistent state across microcontrollers, but it helps with simple
accesses like these ones we already do.
PcloudStimulusBuffer::produceFrameReq():
Now correctly produces into the stim frames for the
PcloudIntensityStimulusBuffer object that's attached to the
PcloudStimulusProducer. If there's no attached I stimbuff, then
the OpenCL kernel will simply not write out the intensity data.
This is the first moment when we actually use the SP-MC ringbuffer
properly and actually cycle through the frames, producing into
them one by one.
Doing it this way enables us to get the mapBuffer() call working
during finalize. But we couldn't get the unmap call working. That
has to do with a bug in the Rusticl event waiting code.
For some reason, waiting on the event object returned by
clEnqueueUnmapMemObject, but only when called from within finalize().
Under normal operating conditions when we map and then unmap our
HOST_PTR buffers, everything works just fine.
I can't discern any relevant difference.
Adding a bridged 300ms delay in setup() doesn't help either so it
doesn't seem to be solved by allowing the rusticl worker threads
to finish initializing.
GDB output from the segfault appended. Sadly, no debug symbols for
the ubuntu rusticl package.
```
[New Thread 0xffffdd2ce140 (LWP 1056313)]
validateOpenClVersion: OpenCL platform version: OpenCL 3.0
validateOpenClVersion: OpenCL device version: OpenCL 3.0
[New Thread 0xffffdcabe140 (LWP 1056314)]
[New Thread 0xffffc9a8f140 (LWP 1056315)]
start: Starting stimulus buffer for device 3JEDK380010Z39
attachDeviceReq3: Got return mode (0) for device: 3JEDK380010Z39
discardHeartbeatAck: Lidar not ready for operation: work_state: 0x0 (Initializing), ack_msg: 0x1b
discardHeartbeatAck: Lidar not ready for operation: work_state: 0x0 (Initializing), ack_msg: 0x45
discardHeartbeatAck: Lidar not ready for operation: work_state: 0x0 (Initializing), ack_msg: 0x45
discardHeartbeatAck: Lidar not ready for operation: work_state: 0x0 (Initializing), ack_msg: 0x45
attachDeviceReq5: Failed to enable pcloud data for dev 3JEDK380010Z39
newDeviceAttachmentSpecInd2: Attach failed for device spec Device Identifier: avia0, Sensor Type: e, QualeIface API: structural-qualeiface, QualeIface API Params: (), StimBuff API: livoxGen1, StimBuff API Params: (), Provider: livoxProto1, Provider Params: (smo-ip=10.42.0.2 ), Device Selector: 3JEDK380010Z39
attachAllUnattachedDevicesFromReq2: Failed to attach device: avia0
Mrntt: attached 0 of 2 sense devices.
Mrntt: Body component initialized.
initializeReq2: Failed to initialize globalMind
marionetteInitializeReqCb: Failed to initialize Marionette. Shutting down.
Mrntt: About to detach all sense devices.
Mrntt: Successfully detached 0 of 0 sense devices.
Mrntt: About to finalize all stim buff api libs.
compactKernelCompletecalling w/mapFlags=4. INV=4; READ=1.
mapBuffer 1
mapBuffer 2
mapBuffer 3: cmdQ: 0xffffec013d68, buffer: 0xffffec07b6b8, mapflags: 4
mapBuffer 4
mapBuffer 5
unmapBuffer 1
unmapBuffer 2
unmapBuffer 3
unmapBuffer 4
unmapBuffer 4.1
unmapBuffer 5
Thread 9 "rusticl queue t" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0xffffdcabe140 (LWP 1056314)]
Download failed: Invalid argument. Continuing without source file ./string/../sysdeps/aarch64/multiarch/../memcpy.S.
__memcpy_generic () at ../sysdeps/aarch64/multiarch/../memcpy.S:155
warning: 155 ../sysdeps/aarch64/multiarch/../memcpy.S: No such file or directory
(gdb)
(gdb) bt
(gdb)
```
This makes the stop() method capable of synchronously stopping all
engine/server-type async services which don't act in a self-moved
fashion but instead wait for a request.
When mapping in the collationBuff we only need to supply CL_MAP_WRITE
and not CL_MAP_WRITE_INVALIDATE_REGION since we don't care to
preserve the contents of the collation buff as input to the
collation kernel.
It seems that whenever you have an HOST_PTR input buffer to be
"transferred" from the host to the GPU, whose contents must be
preserved, you must map it with WRITE_INVALIDATE_REGION on the
RPi5.
This makes little sense, but we'll have to let it be for now.
At least the code works now and we don't have to abandon using
OpenCL.
This method takes an input assembly buffer and selects which
OpenCL kernels need to be executed on that buffer to transform
the input data into the eventual output StimulusFrame for the
current timeslice period.
hayodea
latentprion