Add AGENTS.md

The collation kernel now also produces the ambience stim feature
values into the ambience stimbuff frames.

.gitignore

@@ -12,3 +12,4 @@ config.h.in
 configure
 *.swp
 cscope.out
+*.tmp

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
     "files.associations": {
+		"*.cl": "c",
 		"cstdint": "cpp",
 		"array": "cpp",
 		"atomic": "cpp",
@@ -78,12 +79,23 @@
 		"*.ipp": "cpp",
 		"unordered_set": "cpp",
 		"forward_list": "cpp",
-		"barrier": "cpp"
+		"barrier": "cpp",
+		"strstream": "cpp",
+		"regex": "cpp",
+		"stacktrace": "cpp",
+		"stdfloat": "cpp",
+		"cfenv": "cpp",
+		"expected": "cpp",
+		"valarray": "cpp",
+		"core": "cpp",
+		"nonlinearoptimization": "cpp",
+		"*.txx": "cpp"
 	},
     "editor.rulers": [80, 120],
     "editor.tabSize": 4,
     "editor.insertSpaces": false,
     "editor.detectIndentation": false,
+    "editor.inlayHints.enabled": "off",
     "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
     "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
     "C_Cpp.default.browse.path": [

AGENTS.md

@@ -0,0 +1,10 @@
+# Project Instructions
+
+- Always break functions into logical subfunctions. No long-scrolling functions, in any language. This applies to source code, scripts, build scripts, CMake, Makefiles, and similar project files. Preserve this subfunction splitting discipline during refactors.
+- Modularity is non-negotiable. Always group logically related functions together into a module. Preserve modularity during refactors.
+- Reuse or extend existing abstractions instead of duplicating logic wherever possible. Don't repeat yourself. The goal here is to prevent duplication. Not to discourage appropriate logical separation of prior abstractions into new logical abstractions where sensible.
+- Always isolate configurable behaviour into configuration variables appropriate for the language and framework being used.
+- Never bake in literals; at minimum, declare them at the top of the file with a semantically meaningful name.
+- UI should be responsive. Always prefer to use pre-packaged UI toolkit widgets, containers and colour sets harmoniously, instead of writing custom CSS overrides. Write custom CSS only if there's no UI toolkit mechanism available.
+- Aggressively isolate, split off, deduplicate and reuse code which can be made into common library code. Do the same with UI elements. Do this both when implementing new features and opportunistically while refactoring or changing old code/UI elements.
+- Names of files, functions, classes, abstractions, database fields, etc should be aimed at disambiguating purpose and function, rather than at brevity.

CMakeLists.txt

@@ -1,17 +1,19 @@
 cmake_minimum_required(VERSION 3.16)
-project(salmanoff VERSION 0.01.000 LANGUAGES CXX)
+project(salmanoff VERSION 0.01.001 LANGUAGES CXX)
 
 include(CMakeDependentOption)
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/DAPSS.cmake)
 include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/DebugOpts.cmake)
+include(${CMAKE_CURRENT_SOURCE_DIR}/cmake/VerifyBoostDynamic.cmake)
 
 # Set C++ standard
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # Build type
 if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE Debug FORCE)
+	set(CMAKE_BUILD_TYPE Debug FORCE)
 endif()
 
 # Compiler flags
@@ -32,6 +34,22 @@ if(NOT MRNTT_DEVMGR_REATTACHER_PERIOD_MS GREATER 0)
 		"MRNTT_DEVMGR_REATTACHER_PERIOD_MS must be a positive integer > 0")
 endif()
 
+# Stimulus buffer frame period configuration
+set(STIMBUFF_FRAME_PERIOD_MS 33
+	CACHE STRING "Stimulus buffer frame period (ms)")
+if(NOT STIMBUFF_FRAME_PERIOD_MS GREATER 0)
+    message(FATAL_ERROR
+		"STIMBUFF_FRAME_PERIOD_MS must be a positive integer > 0")
+endif()
+
+# Stimulus buffer frame retry delay configuration
+set(STIMBUFF_FRAME_RETRY_DELAY_MS 1
+	CACHE STRING "Stimulus buffer frame retry delay (ms)")
+if(NOT STIMBUFF_FRAME_RETRY_DELAY_MS GREATER 0)
+    message(FATAL_ERROR
+		"STIMBUFF_FRAME_RETRY_DELAY_MS must be a positive integer > 0")
+endif()
+
 # World thread configuration
 option(WORLD_USE_BODY_THREAD
 	"Use body thread for world component instead of separate world thread" OFF)
@@ -44,6 +62,14 @@ if(ENABLE_DEBUG_LOCKS)
     set(CONFIG_ENABLE_DEBUG_LOCKS TRUE)
 endif()
 
+# Set the debug trace callables variable for config.h
+if(ENABLE_DEBUG_TRACE_CALLABLES)
+    set(CONFIG_DEBUG_TRACE_CALLABLES TRUE)
+    # Suppress frame-address warnings when using __builtin_return_address()
+	# with values above 0 (See callableTracer.h).
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-frame-address")
+endif()
+
 # Set the world thread variable for config.h
 if(WORLD_USE_BODY_THREAD)
     set(CONFIG_WORLD_USE_BODY_THREAD TRUE)
@@ -51,6 +77,10 @@ endif()
 
 # Set the timeout variable for config.h
 set(CONFIG_DEBUG_QUTEX_DEADLOCK_TIMEOUT_MS ${DEBUG_QUTEX_DEADLOCK_TIMEOUT_MS})
+# Set the stimulus buffer frame period variable for config.h
+set(CONFIG_STIMBUFF_FRAME_PERIOD_MS ${STIMBUFF_FRAME_PERIOD_MS})
+# Set the stimulus buffer frame retry delay variable for config.h
+set(CONFIG_STIMBUFF_FRAME_RETRY_DELAY_MS ${STIMBUFF_FRAME_RETRY_DELAY_MS})
 
 # Configure config.h
 configure_file(
@@ -67,14 +97,70 @@ include_directories(
 )
 
 # Find core dependencies
-# Boost 1.72.0 is required to ensure that a certain bug where boost::asio
-# objects depend on specific copies of symbols, and boost will cause a segfault
-# if boost::asio objects are used inside of a dlopen()'d library, is fixed.
-find_package(Boost 1.73.0 REQUIRED COMPONENTS system)
+# We cannot use header-only Boost.Asio because we need both our dlopen()'d
+# libraries and the main binary to refer to the same instances of boost::asio's
+# metadata. If we use header-only Boost.Asio, each dlopen()'d library will have
+# its own copy of boost::asio's metadata, which will cause a segfault if
+# boost::asio objects are used inside of a dlopen()'d library.
+#
+# Honestly, I never liked this whole "header-only" idea so I'm happy to be rid
+# of it.
+#
+# Tell CMake we're linking against the shared library (not header-only)
+set(Boost_USE_STATIC_LIBS OFF)
+set(Boost_USE_HEADER_ONLY OFF)
+find_package(Boost REQUIRED COMPONENTS system log)
+# Define BOOST_ALL_DYN_LINK project-wide to ensure all Boost libraries use dynamic linking
+add_compile_definitions(BOOST_ALL_DYN_LINK)
+
 find_package(PkgConfig REQUIRED)
 find_package(FLEX REQUIRED)
 find_package(BISON REQUIRED)
 
+# Find OpenCL 1.2 or higher: try find_package first, fall back to pkg-config
+find_package(OpenCL 1.2 QUIET)
+if(OpenCL_FOUND)
+	# Normalize find_package variables to match pkg_check_modules naming
+	set(OPENCL_FOUND TRUE)
+	set(OPENCL_INCLUDE_DIRS ${OpenCL_INCLUDE_DIRS})
+	# Handle both OpenCL_LIBRARY (singular) and OpenCL_LIBRARIES (plural)
+	if(OpenCL_LIBRARIES)
+		set(OPENCL_LIBRARIES ${OpenCL_LIBRARIES})
+	else()
+		set(OPENCL_LIBRARIES ${OpenCL_LIBRARY})
+	endif()
+	set(OPENCL_LIBRARY_DIRS "")
+	message(STATUS "Found OpenCL using find_package")
+
+	# Check if version is available and validate
+	if(OpenCL_VERSION)
+		if(OpenCL_VERSION VERSION_LESS "1.2")
+			message(FATAL_ERROR
+				"OpenCL version ${OpenCL_VERSION} found, but 1.2 or higher is required")
+		endif()
+		message(STATUS "OpenCL version: ${OpenCL_VERSION}")
+	else()
+		message(WARNING
+			"OpenCL version could not be determined. "
+			"Version 1.2+ is required at runtime.")
+	endif()
+else()
+	# Fall back to pkg-config
+	pkg_check_modules(OPENCL OpenCL)
+	if(NOT OPENCL_FOUND)
+		message(FATAL_ERROR
+			"Failed to find OpenCL: both find_package and "
+			"pkg_check_modules failed. Try installing the "
+			"'ocl-icd-opencl-dev' package (or the appropriate "
+			"OpenCL development package for your system)."
+		)
+	endif()
+	message(STATUS "Found OpenCL using pkg-config")
+	message(WARNING
+		"OpenCL version could not be determined via pkg-config. "
+		"Version 1.2+ is required at runtime.")
+endif()
+
 # Need dlopen() and dlsym()
 find_library(DL_LIBRARY NAMES dl ldl)
 if(NOT DL_LIBRARY)
@@ -85,19 +171,28 @@ endif()
 if(ENABLE_TESTS)
     add_subdirectory(third_party)
 endif()
+add_subdirectory(compile)
 # Add core components
 add_subdirectory(smocore)
 add_subdirectory(commonLibs)
-add_subdirectory(senseApis)
+add_subdirectory(stimBuffApis)
 add_subdirectory(wilzorApis)
 add_subdirectory(devices)
 
 # Main executable
 add_executable(salmanoff main.cpp)
 target_link_libraries(salmanoff
+	Boost::system Boost::log
     smocore
-    ${Boost_LIBRARIES}
     ${DL_LIBRARY}
+    attachmentSupport
+)
+
+# Verify Boost dynamic dependencies after build
+add_custom_command(TARGET salmanoff POST_BUILD
+	COMMAND ${CMAKE_COMMAND} -DVERIFY_FILE="$<TARGET_FILE:salmanoff>"
+		-P ${CMAKE_CURRENT_SOURCE_DIR}/cmake/VerifyBoostDynamic.cmake
+	COMMENT "Verifying Boost dynamic dependencies for salmanoff"
 )
 
 # Add all registered DAPSS targets as dependencies

bugs.log

@@ -0,0 +1,86 @@
+# Bug somehow related to either OpenClCollateAndMeshingEngine or PcloudStimBuff:
+
+printSlotBytes: Slot 21 vaddr=0xfffff7fb4000 (4 bytes):
+0000: 05 01 01 00                                      |....|
+printSlotBytes: Slot 22 vaddr=0xfffff7fb5000 (4 bytes):
+0000: 05 01 01 00                                      |....|
+printSlotBytes: Slot 23 vaddr=0xfffff7fb6000 (4 bytes):
+0000: 05 01 01 00                                      |....|
+printSlotBytes: Slot 24 vaddr=0xfffff7fb7000 (4 bytes):
+0000: 05 01 01 00                                      |....|
+printSlotBytes: Slot 25 vaddr=0xfffff7fb8000 (4 bytes):
+0000: 05 01 01 00                                      |....|
+printSlotBytes: Slot 26 vaddr=0xfffff7fb9000 (4 bytes):
+0000: 05 01 01 00                                      |....|
+printSlotBytes: Slot 27 vaddr=0xfffff7fba000 (4 bytes):
+0000: 05 01 01 00                                      |....|
+printSlotBytes: Slot 28 vaddr=0xfffff7fbb000 (4 bytes):
+0000: 05 01 01 00                                      |....|
+printSlotBytes: Slot 29 vaddr=0xfffff7fbc000 (4 bytes):
+0000: 05 01 01 00                                      |....|
+produceFrameReq2_assembleDone: Successfully assembled frame 29 slots succeeded out of 30 total slots
+compactCollateAndMeshFrameReq: Started compact kernel
+startKernel: already running, call stop() first
+produceFrameReq3_compactCollateDone: Failed to compact and collate frame
+Mrntt: About to detach all sense devices.
+xcbWindow_detachDeviceReq: Detached X11 window device:
+Device Identifier: win0, Sensor Type: e, QualeIface API: visual-qualeiface, QualeIface API Params: (), StimBuff API: xcb, StimBuff API Params: (dev-substring ), Provider: xorg, Provider Params: (display=1 screen=0 ), Device Selector: mut
+
+enDisablePcloudDataReq2: Command timeout for device 3JEDK380010Z39
+detachDeviceReq1: Failed to disable pcloud data for stimbuff 3JEDK380010Z39
+stop: Stopped stimulus buffer for device 3JEDK380010Z39
+disconnectReq: Sent disconnect message to 10.42.0.139:65000
+detachDeviceReq2: Successfully detached pcloud stimbuff for device 3JEDK380010Z39 and possibly also destroyed device.
+Mrntt: Successfully detached 2 of 2 sense devices.
+Mrntt: About to finalize all stim buff api libs.
+stop: UDP Command Demuxer stopped
+stop: BroadcastListener stopped
+
+Thread 9 "rusticl queue t" received signal SIGSEGV, Segmentation fault.
+[Switching to Thread 0xffffca4ee140 (LWP 11695)]
+0x0000fffff48517b0 in std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)>::_Bind(std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)> const&) (
+    this=0xffffdc000c70) at /usr/include/c++/13/functional:581
+581	      _Bind(const _Bind&) = default;
+(gdb) bt
+#0  0x0000fffff48517b0 in std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)>::_Bind(std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)> const&) (this=0xffffdc000c70) at /usr/include/c++/13/functional:581
+#1  0x0000fffff4851818 in std::_Function_base::_Base_manager<std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)> >::_M_create<std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)> const&>(std::_Any_data&, std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)> const&, std::integral_constant<bool, false>) (__dest=..., __f=...)
+    at /usr/include/c++/13/bits/std_function.h:161
+#2  0x0000fffff4850704 in std::_Function_base::_Base_manager<std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr--Type <RET> for more, q to quit, c to continue without paging--c
+<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)> >::_M_init_functor<std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)> const&>(std::_Any_data&, std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)> const&) (__functor=..., __f=...) at /usr/include/c++/13/bits/std_function.h:215
+#3  0x0000fffff484fbf0 in std::_Function_base::_Base_manager<std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)> >::_M_manager(std::_Any_data&, std::_Any_data const&, std::_Manager_operation) (__dest=..., 
+    __source=..., __op=std::__clone_functor) at /usr/include/c++/13/bits/std_function.h:198
+#4  0x0000fffff484f0bc in std::_Function_handler<void (int), std::_Bind<void (smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq::*(smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq*, std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::OpenClCollatingAndMeshingEngine::CompactCollateAndMeshFrameReq>, int)> >::_M_manager(std::_Any_data&, std::_Any_data const&, std::_Manager_operation) (__dest=..., 
+    __source=..., __op=std::__clone_functor) at /usr/include/c++/13/bits/std_function.h:282
+#5  0x0000fffff484f2b0 in std::function<void (int)>::function(std::function<void (int)> const&) (this=0xffffca4ecd40, __x=...) at /usr/include/c++/13/bits/std_function.h:391
+#6  0x0000fffff484e9c0 in std::_Bind<std::function<void (int)> (int)>::_Bind<int&>(std::function<void (int)> const&, int&) (this=0xffffca4ecd40, __f=...)
+    at /usr/include/c++/13/functional:572
+#7  0x0000fffff484e170 in std::bind<std::function<void (int)>&, int&>(std::function<void (int)>&, int&) (__f=...) at /usr/include/c++/13/functional:885
+#8  0x0000fffff484aa68 in smo::stim_buff::OpenClCollatingAndMeshingEngine::compactKernelEventCallback (event_command_exec_status=0, user_data=0xffffe4009e80)
+    at /home/latentprion/gits/salmanoff-git/stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.cpp:249
+#9  0x0000ffffcb3e34b4 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#10 0x0000ffffcb3d173c in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#11 0x0000ffffcb3d1d28 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#12 0x0000ffffcb3b0b34 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#13 0x0000ffffcb40886c in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#14 0x0000ffffcb39a728 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#15 0x0000ffffcb39a7b0 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#16 0x0000ffffcb3b0a40 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#17 0x0000ffffcb3b130c in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#18 0x0000ffffcb3d2dfc in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#19 0x0000ffffcb371148 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#20 0x0000ffffcb3f9b40 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#21 0x0000ffffcb3713c8 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#22 0x0000ffffcb378988 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#23 0x0000ffffcb37120c in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#24 0x0000ffffcb371000 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#25 0x0000ffffcb392888 in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#26 0x0000ffffcb45f23c in ?? () from /lib/aarch64-linux-gnu/libRusticlOpenCL.so.1
+#27 0x0000fffff7ac595c in start_thread (arg=0xfffff58cf880) at ./nptl/pthread_create.c:447
+#28 0x0000fffff7b2bb0c in thread_start () at ../sysdeps/unix/sysv/linux/aarch64/clone3.S:76
+(gdb) 
+
+## Race conditions in OClCollMeshEngn:
+
+engine not set up or invalid
+
+

cmake/CPackConfig.cmake

@@ -24,14 +24,21 @@ set(CPACK_RESOURCE_FILE_README "${CMAKE_CURRENT_SOURCE_DIR}/README.md")
 # Enable deb and rpm generators
 set(CPACK_GENERATOR "DEB;RPM")
 
-# DEB package specific settings
+# DEB package specific settings (Ubuntu)
 set(CPACK_DEBIAN_PACKAGE_MAINTAINER
     "Salmanoff Project <maintainer@salmanoff.org>")
 set(CPACK_DEBIAN_PACKAGE_SECTION "science")
 set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+# Target Ubuntu distribution
+set(CPACK_DEBIAN_PACKAGE_DISTRIBUTION "ubuntu")
+# Build dependencies (from builddeps file)
+# These are needed to build the package from source
+set(CPACK_DEBIAN_PACKAGE_BUILD_DEPENDS
+    "build-essential, cmake (>= 3.16), libboost-all-dev, flex, bison, ocl-icd-opencl-dev, liburing-dev")
+
+# Runtime dependencies (from builddeps file - runtime equivalents)
 set(CPACK_DEBIAN_PACKAGE_DEPENDS
-    "libboost-system1.74.0 | libboost-system1.73.0 | libboost-system1.72.0, "
-    "libc6, libstdc++6")
+    "libboost-system1.74.0 | libboost-system1.73.0 | libboost-system1.72.0, libboost-log1.74.0 | libboost-log1.73.0 | libboost-log1.72.0, libc6, libstdc++6, ocl-icd-libopencl1 | libopencl1, liburing2 | liburing1")
 set(CPACK_DEBIAN_PACKAGE_RECOMMENDS "libxcb1, libx11-6")
 set(CPACK_DEBIAN_PACKAGE_SUGGESTS "livox-sdk")
 
@@ -39,13 +46,17 @@ set(CPACK_DEBIAN_PACKAGE_SUGGESTS "livox-sdk")
 set(CPACK_RPM_PACKAGE_LICENSE "Proprietary")
 set(CPACK_RPM_PACKAGE_GROUP "Applications/Engineering")
 set(CPACK_RPM_PACKAGE_URL "https://github.com/salmanoff/salmanoff")
-set(CPACK_RPM_PACKAGE_REQUIRES "boost-system >= 1.72.0, glibc, libstdc++")
+set(CPACK_RPM_PACKAGE_REQUIRES "boost-system >= 1.72.0, boost-log >= 1.72.0, glibc, libstdc++, ocl-icd, liburing")
 set(CPACK_RPM_PACKAGE_SUGGESTS "xcb, libX11, livox-sdk")
 
 # Package file naming using project variables
 set(CPACK_PACKAGE_FILE_NAME
     "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}-${CMAKE_SYSTEM_PROCESSOR}")
 
+# Enable automatic dependency detection for Debian packages
+# This uses dpkg-shlibdeps to automatically detect shared library dependencies
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
+
 # Set compression
 set(CPACK_DEB_COMPONENT_INSTALL ON)
 set(CPACK_RPM_COMPONENT_INSTALL ON)

cmake/DebugOpts.cmake

@@ -3,6 +3,9 @@
 # Enable debug locking features
 option(ENABLE_DEBUG_LOCKS "Enable debug features for locking system" ON)
 
+# Enable callable tracing for debugging boost::asio post operations
+option(ENABLE_DEBUG_TRACE_CALLABLES "Enable callable tracing for debugging boost::asio post operations" OFF)
+
 # Qutex deadlock detection configuration
 # Always define the variable in cache so it appears in ccmake
 set(DEBUG_QUTEX_DEADLOCK_TIMEOUT_MS 500 CACHE STRING

cmake/VerifyBoostDynamic.cmake

@@ -0,0 +1,63 @@
+# SMO_VERIFY_BOOST_DYNAMIC_DEPENDENCY
+# Verifies that a target file (executable or shared library) has Boost libraries
+# in its dynamic dependency list via ldd.
+#
+# Usage as function:
+#   SMO_VERIFY_BOOST_DYNAMIC_DEPENDENCY(<target_file>)
+#
+# Usage as script (with -P):
+#   cmake -DVERIFY_FILE=<target_file> -P VerifyBoostDynamic.cmake
+#
+# This function/script:
+#   1. Runs ldd on the target file
+#   2. Checks for boost libraries in the dependency list
+#   3. Reports success or failure with appropriate messages
+#
+function(SMO_VERIFY_BOOST_DYNAMIC_DEPENDENCY target_file)
+	_verify_boost_dynamic_dependency("${target_file}")
+endfunction()
+
+# Internal implementation that can be called from script mode or function mode
+function(_verify_boost_dynamic_dependency target_file)
+	if(NOT EXISTS "${target_file}")
+		message(WARNING "SMO_VERIFY_BOOST_DYNAMIC_DEPENDENCY: Target file '${target_file}' does not exist")
+		return()
+	endif()
+
+	# Run ldd on the target file
+	execute_process(
+		COMMAND ldd "${target_file}"
+		OUTPUT_VARIABLE ldd_output
+		ERROR_VARIABLE ldd_error
+		RESULT_VARIABLE ldd_result
+	)
+
+	if(ldd_result)
+		message(WARNING "SMO_VERIFY_BOOST_DYNAMIC_DEPENDENCY: Failed to run ldd on '${target_file}': ${ldd_error}")
+		return()
+	endif()
+
+	# Check if output contains boost libraries
+	string(TOLOWER "${ldd_output}" ldd_output_lower)
+	string(FIND "${ldd_output_lower}" "libboost" boost_found)
+
+	if(boost_found EQUAL -1)
+		message(STATUS "SMO_VERIFY_BOOST_DYNAMIC_DEPENDENCY: WARNING - No Boost libraries found in dependencies of '${target_file}'")
+		message(STATUS "ldd output:")
+		message(STATUS "${ldd_output}")
+	else()
+		# Extract boost library lines
+		string(REGEX MATCHALL "libboost[^\n]*" boost_libs "${ldd_output}")
+		message(STATUS "SMO_VERIFY_BOOST_DYNAMIC_DEPENDENCY: SUCCESS - Boost libraries found in '${target_file}':")
+		foreach(boost_lib ${boost_libs})
+			string(STRIP "${boost_lib}" boost_lib_stripped)
+			message(STATUS "  ${boost_lib_stripped}")
+		endforeach()
+	endif()
+endfunction()
+
+# Script mode: if VERIFY_FILE is defined, run the verification
+if(VERIFY_FILE)
+	_verify_boost_dynamic_dependency("${VERIFY_FILE}")
+endif()
+

cmake/aarch64-linux-gnu.cmake

@@ -31,7 +31,7 @@ set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
 # Search for libraries and headers in the target directories
 set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
 set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
-set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE BOTH)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
 
 # Set pkg-config to use the cross-compiled libraries
 set(ENV{PKG_CONFIG_PATH} "/usr/aarch64-linux-gnu/lib/pkgconfig:/usr/lib/aarch64-linux-gnu/pkgconfig")

cmake/x86_64-linux-gnu.cmake

@@ -0,0 +1,70 @@
+# ----------------------------------------------------------------------------------
+# MANDATORY USER VARIABLE
+# ----------------------------------------------------------------------------------
+# IMPORTANT: This variable MUST be set when running CMake to specify where the
+# laptop's sysroot (the root directory of the mounted laptop filesystem) is located.
+#
+# Usage example: cmake -DCMAKE_TOOLCHAIN_FILE=laptop_x86_sysroot.cmake
+#                      -DTARGET_SYSROOT=/mnt/laptop_sysroot/ <path_to_source>
+#
+# If the variable is not defined, we fall back to a common system root path for safety.
+if(NOT DEFINED TARGET_SYSROOT)
+    set(TARGET_SYSROOT "/usr/lib/x86_64-linux-gnu")
+    message(STATUS "TARGET_SYSROOT not explicitly defined. Defaulting to ${TARGET_SYSROOT}")
+endif()
+message(STATUS "Using TARGET_SYSROOT: ${TARGET_SYSROOT}")
+
+set(TARGET_TRIPLE x86_64-linux-gnu) # Standard Debian/Ubuntu triple
+
+# ----------------------------------------------------------------------------------
+# SYSROOT and COMPILER CONFIGURATION
+# ----------------------------------------------------------------------------------
+
+set(CMAKE_CROSSCOMPILING TRUE)
+set(CMAKE_SYSROOT ${TARGET_SYSROOT})
+message(STATUS "Using CMAKE_SYSROOT: ${CMAKE_SYSROOT}")
+
+# The CMAKE_FIND_ROOT_PATH tells CMake where to look for programs, libraries, etc.
+set(CMAKE_FIND_ROOT_PATH ${CMAKE_SYSROOT})
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)
+
+# 1. Architecture and Platform Identification
+set(CMAKE_SYSTEM_NAME Linux)
+set(CMAKE_SYSTEM_PROCESSOR x86_64)
+
+set(CMAKE_C_COMPILER   ${TARGET_TRIPLE}-gcc)
+set(CMAKE_CXX_COMPILER ${TARGET_TRIPLE}-g++)
+
+# ----------------------------------------------------------------------------------
+# PKG-CONFIG CONFIGURATION (CRUCIAL FOR CROSS-COMPILING)
+# ----------------------------------------------------------------------------------
+
+# 1. Define the search path for .pc files, relative to the sysroot.
+# This ensures we look in the target's standard pkgconfig locations.
+set(PKG_CONFIG_SEARCH_PATHS
+    "${CMAKE_SYSROOT}/usr/lib/${TARGET_TRIPLE}/pkgconfig" # Primary location on Debian/Ubuntu
+    "${CMAKE_SYSROOT}/usr/share/pkgconfig"               # Secondary shared location
+    "${CMAKE_SYSROOT}/usr/lib/pkgconfig"                 # Another common location
+)
+
+# Join the paths using the system's path separator (colon on Linux)
+string(REPLACE ";" ":" PKG_CONFIG_LIBDIR_STRING "${PKG_CONFIG_SEARCH_PATHS}")
+
+# Set the environment variable PKG_CONFIG_LIBDIR
+# This tells pkg-config exactly where to find the x86_64 .pc files.
+# 2. Set the sysroot directory for pkg-config
+# This tells pkg-config to prepend CMAKE_SYSROOT to any paths it finds in the .pc files.
+set(ENV{PKG_CONFIG_SYSROOT_DIR} ${CMAKE_SYSROOT})
+set(ENV{PKG_CONFIG_LIBDIR} ${PKG_CONFIG_LIBDIR_STRING})
+set(ENV{PKG_CONFIG_PATH} "")
+
+message(STATUS "PKG_CONFIG_SYSROOT_DIR set to: ${CMAKE_SYSROOT}")
+message(STATUS "PKG_CONFIG_LIBDIR set to: ${PKG_CONFIG_LIBDIR_STRING}")
+
+# ----------------------------------------------------------------------------------
+# CMAkE FIND BEHAVIOR
+# ----------------------------------------------------------------------------------
+

commonLibs/CMakeLists.txt

@@ -1,2 +1,3 @@
 add_subdirectory(xcbXorg)
 add_subdirectory(livoxProto1)
+add_subdirectory(attachmentSupport)

commonLibs/attachmentSupport/CMakeLists.txt

@@ -0,0 +1,26 @@
+add_library(attachmentSupport SHARED
+	compute.cpp
+	stimulusProducer.cpp
+	stagingBuffer.cpp
+)
+
+target_include_directories(attachmentSupport PUBLIC
+	${Boost_INCLUDE_DIRS}
+	${CMAKE_SOURCE_DIR}/include
+	${CMAKE_BINARY_DIR}/include
+)
+
+target_link_libraries(attachmentSupport PUBLIC
+	Boost::system
+	Boost::log
+)
+
+# Verify Boost dynamic dependencies after build
+add_custom_command(TARGET attachmentSupport POST_BUILD
+	COMMAND ${CMAKE_COMMAND} -DVERIFY_FILE="$<TARGET_FILE:attachmentSupport>"
+		-P ${CMAKE_SOURCE_DIR}/cmake/VerifyBoostDynamic.cmake
+	COMMENT "Verifying Boost dynamic dependencies for attachmentSupport"
+)
+
+# Install rules
+install(TARGETS attachmentSupport DESTINATION lib)

commonLibs/attachmentSupport/compute.cpp

@@ -0,0 +1,147 @@
+#include <user/compute.h>
+#include <stdexcept>
+#include <string>
+#include <vector>
+#include <iostream>
+#include <string_view>
+
+namespace smo {
+namespace compute {
+
+// Helper function to parse OpenCL version string
+static std::pair<int, int> parseOpenClVersion(const std::string& versionStr)
+{
+	size_t spacePos = versionStr.find(' ');
+	if (spacePos == std::string::npos) { return {-1, -1}; }
+
+	std::string versionNum = versionStr.substr(spacePos + 1);
+	size_t dotPos = versionNum.find('.');
+	if (dotPos == std::string::npos) { return {-1, -1}; }
+
+	try {
+		int major = std::stoi(versionNum.substr(0, dotPos));
+		int minor = std::stoi(versionNum.substr(dotPos + 1));
+		return {major, minor};
+	} catch (const std::exception&) {
+		return {-1, -1};
+	}
+}
+
+// Implementation of validateOpenClVersion (declared in user/compute.h)
+bool validateOpenClVersion(
+	std::string_view versionStr, std::string_view versionType,
+	int minMajor, int minMinor)
+{
+	auto [major, minor] = parseOpenClVersion(std::string(versionStr));
+
+	if (major == -1 && minor == -1)
+	{
+		std::cerr << __func__ << ": failed to parse OpenCL " << versionType
+			<< " version: " << versionStr << std::endl;
+		return false;
+	}
+
+	if (major < minMajor || (major == minMajor && minor < minMinor))
+	{
+		std::cerr << __func__ << ": OpenCL " << versionType << " version "
+			<< major << "." << minor << " found, but " << minMajor << "."
+			<< minMinor << " or higher is required" << std::endl;
+		return false;
+	}
+
+	std::cout << __func__ << ": OpenCL " << versionType << " version: "
+		<< versionStr << std::endl;
+	return true;
+}
+
+ComputeDevice::ComputeDevice(cl_platform_id platformId, cl_device_id deviceId)
+: platform(platformId), device(deviceId),
+context(nullptr), commandQueue(nullptr)
+{
+	cl_int err;
+
+	// Create context for this device
+	context = clCreateContext(
+		nullptr, 1, &device,
+		nullptr, nullptr, &err);
+
+	if (err != CL_SUCCESS || !context)
+	{
+		throw std::runtime_error(
+			std::string(__func__) + ": failed to create context for device: " +
+			std::to_string(err));
+	}
+
+	// Create command queue
+	cl_command_queue_properties queueProps = 0;
+	commandQueue = clCreateCommandQueue(
+		context, device, queueProps, &err);
+
+	if (err != CL_SUCCESS || !commandQueue)
+	{
+		clReleaseContext(context);
+		context = nullptr;
+		throw std::runtime_error(
+			std::string(__func__) + ": failed to create command queue for "
+			"device: " + std::to_string(err));
+	}
+}
+
+ClBuffer::ClBuffer(void* hostPtr, size_t size, cl_mem_flags flags,
+	const std::vector<std::shared_ptr<ComputeDevice>>& devices)
+	: hostPtr(hostPtr), size(size), flags(flags)
+{
+	associations.reserve(devices.size());
+
+	// Create a buffer for each device's context
+	for (const auto& device : devices)
+	{
+		if (!device->context) { continue; }
+
+		cl_int err;
+		cl_mem_flags bufferFlags = CL_MEM_USE_HOST_PTR | flags;
+		cl_mem buffer = clCreateBuffer(
+			device->context,
+			bufferFlags,
+			size, hostPtr,
+			&err);
+
+		if (err != CL_SUCCESS || !buffer)
+		{
+			// Release any buffers already created before throwing
+			for (auto& assoc : associations)
+			{
+				if (assoc.buffer) {
+					clReleaseMemObject(assoc.buffer);
+				}
+			}
+			throw std::runtime_error(
+				std::string(__func__) + ": failed to create buffer for "
+				"device: " + std::to_string(err));
+		}
+
+		associations.emplace_back(buffer, device);
+	}
+}
+
+cl_mem ClBuffer::getAssociatedBufferHandleForDevice(
+	const std::shared_ptr<ComputeDevice>& device) const
+{
+	if (!device)
+	{
+		throw std::invalid_argument(std::string(__func__)
+			+ ": device is nullptr");
+	}
+
+	for (const auto& assoc : associations)
+	{
+		if (assoc.device == device) {
+			return assoc.buffer;
+		}
+	}
+
+	return nullptr;
+}
+
+} // namespace compute
+} // namespace smo

commonLibs/attachmentSupport/stagingBuffer.cpp

@@ -0,0 +1,236 @@
+#include <user/stagingBuffer.h>
+#include <unistd.h>
+#include <cstdint>
+#include <stdexcept>
+#include <sys/mman.h>
+#include <vector>
+
+#include <user/frameAssemblyDesc.h>
+
+namespace smo {
+namespace stim_buff {
+
+// Static defaults for io_uring
+const StagingBuffer::IOEngineConstraints
+StagingBuffer::IOEngineConstraints::ioUringConstraints(
+	// slotStartAlignmentByteVal (page alignment for DMA)
+	static_cast<size_t>(sysconf(_SC_PAGE_SIZE)),
+	// slotPadToNBytes (MTU 1500 - UDP/IP header 28)
+	1472,
+	// frameStartAlignmentByteVal (page alignment for DMA)
+	static_cast<size_t>(sysconf(_SC_PAGE_SIZE)),
+	// framePadToNBytes (MTU 1500 - UDP/IP header 28)
+	static_cast<size_t>(sysconf(_SC_PAGE_SIZE))
+);
+
+// Static defaults for OpenCL input
+const StagingBuffer::IOEngineConstraints
+StagingBuffer::IOEngineConstraints::openClInputConstraints(
+	// slotStartAlignmentByteVal (page alignment)
+	static_cast<size_t>(sysconf(_SC_PAGE_SIZE)),
+	// slotPadToNBytes (XYZI point size)
+	16,
+	// frameStartAlignmentByteVal (page alignment)
+	static_cast<size_t>(sysconf(_SC_PAGE_SIZE)),
+	// framePadToNBytes (pointer size)
+	static_cast<size_t>(sysconf(_SC_PAGE_SIZE))
+);
+
+// Helper function to calculate maximum alignment needed for first slot
+// (must satisfy both frame and slot alignment)
+static size_t calculateMaxAlignment(
+	size_t frameStartAlignmentByteVal,
+	size_t slotStartAlignmentByteVal)
+{
+	if (frameStartAlignmentByteVal >= slotStartAlignmentByteVal)
+	{
+		if (frameStartAlignmentByteVal % slotStartAlignmentByteVal == 0)
+			{ return frameStartAlignmentByteVal; }
+		else
+		{
+			// Need LCM, but for simplicity use the larger alignment
+			// In practice, alignments are usually powers of 2, so this should work
+			return std::max(
+				frameStartAlignmentByteVal, slotStartAlignmentByteVal);
+		}
+	}
+	else
+	{
+		if (slotStartAlignmentByteVal % frameStartAlignmentByteVal == 0)
+			{ return slotStartAlignmentByteVal; }
+		else
+		{
+			return std::max(
+				frameStartAlignmentByteVal, slotStartAlignmentByteVal);
+		}
+	}
+}
+
+void StagingBuffer::computeSlotStrideAndBufferSize()
+{
+	// Slot stride is the maximum of alignment and padding, rounded up to a multiple of alignment
+	size_t minSlotStride = std::max(
+		inputConstraints.slotStartAlignmentByteVal,
+		inputConstraints.slotPadToNBytes);
+	slotStrideNBytes = ((minSlotStride + inputConstraints.slotStartAlignmentByteVal - 1)
+		/ inputConstraints.slotStartAlignmentByteVal)
+		* inputConstraints.slotStartAlignmentByteVal;
+
+	// Calculate maximum alignment needed for first slot (must satisfy both frame and slot alignment)
+	size_t maxAlignment = calculateMaxAlignment(
+		inputConstraints.frameStartAlignmentByteVal,
+		inputConstraints.slotStartAlignmentByteVal);
+
+	// Calculate minimum buffer size
+	size_t minBufferSize = std::max(
+		inputConstraints.framePadToNBytes,
+		inputConstraints.slotPadToNBytes);
+
+	// Calculate total size needed for nSlots slots
+	size_t slotAreaSize = nSlots * slotStrideNBytes;
+
+	// Add padding space at buffer start for alignment offset (worst case: max alignment - 1)
+	size_t alignmentPadding = maxAlignment - 1;
+
+	// Total size needed: alignment padding + slot area, then ensure minimum is met
+	size_t rawSize = alignmentPadding + slotAreaSize;
+	if (rawSize < minBufferSize)
+		{ rawSize = minBufferSize; }
+
+	// Align up to the maximum alignment to ensure we can always find a valid offset
+	bufferNBytes = ((rawSize + maxAlignment - 1) / maxAlignment) * maxAlignment;
+}
+
+// Static member function to calculate offset and validate invariants
+size_t StagingBuffer::calculateFirstSlotOffsetAndValidate(
+	uint8_t* buffer,
+	size_t bufferNBytes,
+	size_t nSlots,
+	size_t slotStrideNBytes,
+	const StagingBuffer::IOEngineConstraints& inputConstraints)
+{
+	// Calculate maximum alignment needed for first slot
+	size_t maxAlignment = calculateMaxAlignment(
+		inputConstraints.frameStartAlignmentByteVal,
+		inputConstraints.slotStartAlignmentByteVal);
+
+	// Calculate offset to align first slot to both frame and slot alignment
+	uintptr_t bufferAddr = reinterpret_cast<uintptr_t>(buffer);
+	uintptr_t alignedAddr = ((bufferAddr + maxAlignment - 1) / maxAlignment)
+		* maxAlignment;
+	size_t firstSlotOffsetNBytes = alignedAddr - bufferAddr;
+
+	// Validate invariants with exceptions
+	uint8_t* firstSlotAddr = buffer + firstSlotOffsetNBytes;
+	if (
+		reinterpret_cast<uintptr_t>(firstSlotAddr)
+		% inputConstraints.frameStartAlignmentByteVal != 0)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": StagingBuffer: first slot address not aligned to "
+			+ std::to_string(inputConstraints.frameStartAlignmentByteVal));
+	}
+
+	if (
+		reinterpret_cast<uintptr_t>(firstSlotAddr)
+		% inputConstraints.slotStartAlignmentByteVal != 0)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": StagingBuffer: first slot address not aligned to "
+			+ std::to_string(inputConstraints.slotStartAlignmentByteVal));
+	}
+
+	size_t minBufferSize = std::max(
+		inputConstraints.framePadToNBytes,
+		inputConstraints.slotPadToNBytes);
+	if (bufferNBytes < minBufferSize)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": StagingBuffer: buffer size less than minimum required (max of "
+			+ std::to_string(inputConstraints.framePadToNBytes)
+			+ " and "
+			+ std::to_string(inputConstraints.slotPadToNBytes)
+			+ ")");
+	}
+
+	if (firstSlotOffsetNBytes + nSlots * slotStrideNBytes
+		> bufferNBytes)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": StagingBuffer: buffer size insufficient to hold "
+			+ std::to_string(nSlots)
+			+ " slots with proper alignment and padding");
+	}
+
+	return firstSlotOffsetNBytes;
+}
+
+StagingBuffer::StagingBuffer(
+	const IOEngineConstraints& inputEngineConstraints_,
+	const IOEngineConstraints& /*outputEngineConstraints*/,
+	size_t nSlots)
+: buffer(nullptr, MmapDeleter(0)), bufferNBytes(0),
+nSlots(nSlots), slotStrideNBytes(0),
+firstSlotOffsetNBytes(0),
+inputConstraints(inputEngineConstraints_),
+assemblingFlag(false)
+{
+	if (nSlots == 0)
+	{
+		throw std::invalid_argument(std::string(__func__)
+			+ ": StagingBuffer: nSlots must be > 0");
+	}
+
+	computeSlotStrideAndBufferSize();
+
+	/* Allocate buffer using mmap() for io_uring registration
+	 * MAP_ANONYMOUS | MAP_PRIVATE creates anonymous, non-file-backed memory
+	 */
+	void* mmapped = mmap(
+		nullptr, bufferNBytes,
+		PROT_READ | PROT_WRITE,
+		MAP_ANONYMOUS | MAP_PRIVATE,
+		-1, 0);
+
+	if (mmapped == MAP_FAILED)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": StagingBuffer: mmap() failed");
+	}
+
+	buffer = std::unique_ptr<uint8_t, MmapDeleter>(
+		static_cast<uint8_t*>(mmapped), MmapDeleter(bufferNBytes));
+	currentNBytes.store(0);
+
+	// Lock the buffer in memory to prevent swapping
+	if (mlock(buffer.get(), bufferNBytes) != 0)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": StagingBuffer: mlock() failed");
+	}
+
+	// Calculate offset and validate invariants (helper function in .cpp)
+	firstSlotOffsetNBytes = StagingBuffer::calculateFirstSlotOffsetAndValidate(
+		buffer.get(), bufferNBytes, nSlots,
+		slotStrideNBytes, inputConstraints);
+
+	// Build FrameAssemblyDesc once
+	std::vector<FrameAssemblyDesc::SlotDesc> slots;
+	slots.reserve(nSlots);
+	uint8_t *frameBase = buffer.get() + firstSlotOffsetNBytes;
+	for (size_t i = 0; i < nSlots; ++i)
+	{
+		size_t off = i * slotStrideNBytes;
+		FrameAssemblyDesc::SlotDesc s{
+			off, frameBase + off, inputConstraints.slotPadToNBytes};
+
+		slots.push_back(s);
+	}
+
+	frameDesc = std::make_shared<FrameAssemblyDesc>(
+		nSlots, inputConstraints.slotPadToNBytes, bufferNBytes,
+		std::move(slots));
+}
+
+} // namespace stim_buff
+} // namespace smo

commonLibs/attachmentSupport/stimulusProducer.cpp

@@ -0,0 +1,184 @@
+#include <boostAsioLinkageFix.h>
+#include <config.h>
+#include <iostream>
+#include <chrono>
+#include <algorithm>
+#include <boost/asio/io_service.hpp>
+#include <boost/asio/deadline_timer.hpp>
+#include <boost/system/error_code.hpp>
+#include <opts.h>
+#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;
+}
+
+bool StimulusProducer::hasBufferWithQualeIfaceApi(
+	const std::string& qualeIfaceApi) const
+{
+	for (const auto& buffer : attachedStimulusBuffers)
+	{
+		if (!buffer || !buffer->deviceAttachmentSpec)
+		{
+			throw std::runtime_error(
+				"StimulusProducer::hasBufferWithQualeIfaceApi: encountered "
+				"null buffer or null deviceAttachmentSpec in "
+				"attachedStimulusBuffers (should never happen)");
+		}
+
+		if (buffer->deviceAttachmentSpec->qualeIfaceApi != qualeIfaceApi)
+			{ continue; }
+
+		return true;
+	}
+
+	return false;
+}
+
+void StimulusProducer::destroyAttachedStimulusBuffer(
+	const std::shared_ptr<StimulusBuffer>& buffer)
+{
+	if (!buffer) { return; }
+
+	auto it = std::find(
+		attachedStimulusBuffers.begin(),
+		attachedStimulusBuffers.end(),
+		buffer);
+
+	if (it != attachedStimulusBuffers.end()) {
+		attachedStimulusBuffers.erase(it);
+	}
+}
+
+void StimulusProducer::stop()
+{
+	{
+		SpinLock::Guard lock(shouldContinueLock);
+		shouldContinue = false;
+	}
+
+	// Cancel timer immediately
+	timer.cancel();
+
+	std::cout << __func__ << ": Stopped stimulus producer for device "
+		<< deviceAttachmentSpec->deviceSelector << std::endl;
+}
+
+void StimulusProducer::scheduleNextTimeout(int delayMs)
+{
+	if (!shouldContinue)
+		{ return; }
+
+	// Schedule the next timeout using the provided delay
+	timer.expires_from_now(
+		boost::posix_time::milliseconds(delayMs));
+
+	timer.async_wait(
+		std::bind(
+			&StimulusProducer::onTimeout, this, std::placeholders::_1));
+}
+
+void StimulusProducer::onTimeout(const boost::system::error_code& error)
+{
+	// Timer was cancelled, which is expected when stopping
+	if (error == boost::asio::error::operation_aborted) {
+		return;
+	}
+
+	if (error)
+	{
+		std::cerr << "StimulusProducer: Timer error: " << error.message()
+			<< std::endl;
+		return;
+	}
+
+	SpinLock::Guard lock(shouldContinueLock);
+	if (!shouldContinue)
+		{ return; }
+
+	/**	EXPLANATION:
+	 * We need to ensure that there's only ever one stimframe being produced
+	 * during any CONFIG_STIMBUFF_FRAME_PERIOD_MS period. To guarantee this, we
+	 * use a spinlock.
+	 *
+	 * When a new frame is to be produced, the async producer will first acquire
+	 * the frameAssemblyLimiter spinlock. This way, when the next timeout is
+	 * fired it can check whether its predecessor stimframe has finished being
+	 * produced. If the preceding stimframe is still being produced, then we'll
+	 * sleep for CONFIG_STIMBUFF_FRAME_RETRY_DELAY_MS ms before trying again.
+	 */
+	int nextWakeupDelayMs;
+	bool deferred = false;
+	if (frameAssemblyRateLimiter.tryAcquire())
+	{
+		nextWakeupDelayMs = CONFIG_STIMBUFF_FRAME_PERIOD_MS;
+
+		// Check if we're ending a deferral period
+		if (nDeferrals > 0)
+		{
+			auto deferralEndTime = std::chrono::high_resolution_clock::now();
+			auto duration = deferralEndTime - deferralStartTime;
+			auto durationMs = std::chrono::duration_cast<
+				std::chrono::milliseconds>(duration);
+
+			std::cout << __func__ << ": Deferral period ended. "
+				<< "Total deferrals: " << nDeferrals
+				<< ", Duration: " << durationMs.count() << "ms" << std::endl;
+
+			nDeferrals = 0;
+		}
+
+		/**	EXPLANATION:
+		 * Call the derived class's frame production handler
+		 * Note: The derived class's frame production handler (aka
+		 * its implementation of stimFrameProductionTimesliceInd()) must
+		 * release the lock when frame production completes
+		 */
+		stimFrameProductionTimesliceInd();
+	}
+	else
+	{
+		nextWakeupDelayMs = CONFIG_STIMBUFF_FRAME_RETRY_DELAY_MS;
+		deferred = true;
+
+		++nDeferrals;
+		// If this is first deferral, capture start stamp and print message
+		if (nDeferrals == 1)
+		{
+			deferralStartTime = std::chrono::high_resolution_clock::now();
+			std::cerr << __func__ << ": Deferral period beginning. "
+				"Configured deferral period: " << nextWakeupDelayMs << "ms"
+				<< std::endl;
+		}
+	}
+
+	scheduleNextTimeout(nextWakeupDelayMs);
+
+	// FIXME: We should be able to release the start/stop lock at this point.
+
+	if (deferred && OptionParser::getOptions().verbose)
+	{
+		std::cerr << __func__ << ": Deferring frame by " << nextWakeupDelayMs
+			<< "ms due to rate limit." << std::endl;
+	}
+}
+
+} // namespace stim_buff
+} // namespace smo

commonLibs/livoxProto1/CMakeLists.txt

@@ -7,12 +7,22 @@ if(ENABLE_LIB_livoxProto1)
 		device.cpp
 		protocol.cpp
 		broadcastListener.cpp
+		udpCommandDemuxer.cpp
 	)
 
 	# Set config define for header generation
 	add_compile_definitions(CONFIG_LIB_LIVOXPROTO1_ENABLED)
 	target_include_directories(livoxProto1 PUBLIC ${Boost_INCLUDE_DIRS})
-	target_link_libraries(livoxProto1 ${Boost_LIBRARIES})
+	target_link_libraries(livoxProto1 PUBLIC
+		Boost::system Boost::log
+		attachmentSupport)
+
+	# Verify Boost dynamic dependencies after build
+	add_custom_command(TARGET livoxProto1 POST_BUILD
+		COMMAND ${CMAKE_COMMAND} -DVERIFY_FILE="$<TARGET_FILE:livoxProto1>"
+			-P ${CMAKE_SOURCE_DIR}/cmake/VerifyBoostDynamic.cmake
+		COMMENT "Verifying Boost dynamic dependencies for livoxProto1"
+	)
 
 	# Install rules
 	install(TARGETS livoxProto1 DESTINATION lib)

commonLibs/livoxProto1/broadcastListener.cpp

@@ -1,7 +1,10 @@
 #include <algorithm>
 #include <iostream>
+#include <functional>
 #include <opts.h>
+#include <componentThread.h>
 #include "broadcastListener.h"
+#include "core.h"
 
 namespace livoxProto1 {
 namespace comms {
@@ -52,7 +55,6 @@ void BroadcastListener::broadcastMsgInd(
 		return;
 	}
 
-
 	// Use placement new to construct BroadcastMessage in the buffer
 	BroadcastMessage* msg = new (bcastMsgRecvBuffer) BroadcastMessage;
 
@@ -92,30 +94,34 @@ void BroadcastListener::broadcastMsgInd(
 		reinterpret_cast<const char*>(msg->broadcast_code));
 
 	// Early return if device already exists
+	smo::SpinLock::Guard lock(isListeningLock);
+
 	if (deviceExists(broadcastCode))
 	{
 		// Device already exists, just log the update
-		if (OptionParser::getOptions().verbose)
+		if (getProtoState().smoCallbacks.OptionParser_getOptions().verbose)
 		{
 			std::cout << __func__
 				<< ": Received broadcast from known device: "
 				<< broadcastCode << " at " << senderIP << "\n";
 		}
-		return;
+	}
+	else
+	{
+		// Create new DiscoveredDevice using conversion constructor
+		auto device = std::make_shared<DiscoveredDevice>(*msg, senderIP);
+		discoveredDevices.push_back(device);
+		// Output device information using stringify
+		std::cout << __func__ << ": Discovered new Livox device: "
+			<< device->stringify() << "\n";
 	}
 
-	// Create new DiscoveredDevice using conversion constructor
-	auto device = std::make_shared<DiscoveredDevice>(*msg, senderIP);
-	discoveredDevices.push_back(device);
-
-	// Output device information using stringify
-	std::cout << __func__ << ": Discovered new Livox device: "
-		<< device->stringify() << "\n";
+	startReceive();
 }
 
 void BroadcastListener::start(void)
 {
-	if (isListening.load()) { return; }
+	if (isListening) { return; }
 
 	try
 	{
@@ -127,10 +133,15 @@ void BroadcastListener::start(void)
 		 * We should also set up a timer to check for devices that have gone
 		 * away.
 		 */
-		socket.open(boost::asio::ip::udp::v4());
-		socket.bind(listeningEndpoint);
+		{
+			smo::SpinLock::Guard lock(isListeningLock);
+
+			socket.open(boost::asio::ip::udp::v4());
+			socket.bind(listeningEndpoint);
+
+			isListening = true;
+		}
 
-		isListening.store(true);
 		// Start the first async receive operation
 		startReceive();
 		std::cout << __func__ << ": BroadcastListener started on port "
@@ -138,7 +149,7 @@ void BroadcastListener::start(void)
 	}
 	catch (const boost::system::system_error& e)
 	{
-		isListening.store(false);
+		isListening = false;
 		std::cerr << __func__ << ": Failed to start BroadcastListener: "
 			<< e.what() << std::endl;
 		throw;
@@ -147,27 +158,25 @@ void BroadcastListener::start(void)
 
 void BroadcastListener::startReceive(void)
 {
-	if (!isListening.load()) { return; }
+	if (!isListening) { return; }
 
 	socket.async_receive_from(
 		boost::asio::buffer(bcastMsgRecvBuffer, sizeof(bcastMsgRecvBuffer)),
 		senderEndpoint,
-		[this](const boost::system::error_code& ec, std::size_t bytes_received)
-		{
-			broadcastMsgInd(ec, bytes_received);
-
-			// Continue listening for the next packet
-			if (isListening.load())
-				{ startReceive(); }
-		}
+		std::bind(
+			&BroadcastListener::broadcastMsgInd, this,
+			std::placeholders::_1, std::placeholders::_2)
 	);
 }
 
 void BroadcastListener::stop(void)
 {
-	if (!isListening.load()) { return; }
+	{
+		smo::SpinLock::Guard lock(isListeningLock);
+		if (!isListening) { return; }
 
-	isListening.store(false);
+		isListening = false;
+	}
 
 	try
 	{

commonLibs/livoxProto1/broadcastListener.h

@@ -1,11 +1,14 @@
 #ifndef BROADCAST_LISTENER_H
 #define BROADCAST_LISTENER_H
 
+#include <boostAsioLinkageFix.h>
 #include <vector>
 #include <string>
 #include <memory>
 #include <atomic>
+#include <boost/asio/ip/udp.hpp>
 #include <user/senseApiDesc.h>
+#include <spinLock.h>
 #include "device.h"
 
 namespace livoxProto1 {
@@ -65,7 +68,8 @@ private:
 
 	boost::asio::ip::udp::socket socket;
 	boost::asio::ip::udp::endpoint listeningEndpoint, senderEndpoint;
-	std::atomic<bool> isListening;
+	smo::SpinLock isListeningLock;
+	bool isListening;
 
 	uint8_t bcastMsgRecvBuffer[UDP_BCAST_MSG_BUFFER_NBYTES];
 };

commonLibs/livoxProto1/core.cpp

@@ -29,7 +29,8 @@ ProtoState& getProtoState()
 }
 
 DeviceManager::DeviceManager()
-: broadcastListener(protoState.componentThread)
+: broadcastListener(protoState.componentThread),
+  udpCommandDemuxer(protoState.componentThread, *this)
 {
 	broadcastListener.setDeviceGoneAwayCb(deviceGoneAwayInd);
 }
@@ -113,7 +114,7 @@ public:
 
 		// Connection successful, add device to collection
 		context->deviceManager.devices.push_back(context->pendingDevice);
-		if (OptionParser::getOptions().verbose)
+		if (getProtoState().smoCallbacks.OptionParser_getOptions().verbose)
 		{
 			std::cout << __func__ << ": Successfully connected and added device "
 				<< context->pendingDevice->discoveredDevice.deviceIdentifier
@@ -128,7 +129,7 @@ public:
 void DeviceManager::getOrCreateDeviceReq(
 	const std::string &deviceIdentifier,
 	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	int handshakeTimeoutMs, int retryDelayMs,
+	int commandTimeoutMs, int retryDelayMs,
 	const std::string& smoIp, uint8_t smoSubnetNbits,
 	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
 	smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback)
@@ -162,7 +163,7 @@ void DeviceManager::getOrCreateDeviceReq(
 	// Device doesn't exist, create a new one but don't add it to collection yet
 	auto newDevice = std::make_shared<Device>(
 		deviceIdentifier, componentThread,
-		handshakeTimeoutMs, retryDelayMs,
+		commandTimeoutMs, retryDelayMs,
 		smoIp, smoSubnetNbits,
 		dataPort, cmdPort, imuPort);
 
@@ -229,7 +230,7 @@ void DeviceManager::destroyDeviceReq(
 	std::shared_ptr<Device> device = getDevice(dev->discoveredDevice).
 		value_or(nullptr);
 
-	if (!device)
+	if (!device || device->nAttachedStimulusProducers > 0)
 	{
 		callback.callbackFn(false);
 		return;
@@ -245,7 +246,7 @@ void DeviceManager::destroyDeviceReq(
 }
 
 void main(const std::shared_ptr<smo::ComponentThread> &componentThread,
-	const smo::sense_api::SmoCallbacks& smoCallbacks)
+	const smo::stim_buff::SmoCallbacks& smoCallbacks)
 {
 	if (protoState.isInitialized) {
 		return;
@@ -256,6 +257,7 @@ void main(const std::shared_ptr<smo::ComponentThread> &componentThread,
 	protoState.smoCallbacks = smoCallbacks;
 	protoState.deviceManager = std::make_unique<DeviceManager>();
 	protoState.deviceManager->broadcastListener.start();
+	protoState.deviceManager->udpCommandDemuxer.start();
 }
 
 void exit(void)
@@ -264,6 +266,7 @@ void exit(void)
 		return;
 	}
 
+	protoState.deviceManager->udpCommandDemuxer.stop();
 	protoState.deviceManager->broadcastListener.stop();
 	protoState.deviceManager.reset();
 	protoState.componentThread.reset();

commonLibs/livoxProto1/core.h

@@ -9,6 +9,7 @@
 #include <user/senseApiDesc.h>
 #include "device.h"
 #include "broadcastListener.h"
+#include "udpCommandDemuxer.h"
 #include "livoxProto1.h"
 #include <callback.h>
 
@@ -25,7 +26,7 @@ public:
 	void getOrCreateDeviceReq(
 		const std::string &deviceIdentifier,
 		const std::shared_ptr<smo::ComponentThread>& componentThread,
-		int handshakeTimeoutMs, int retryDelayMs,
+		int commandTimeoutMs, int retryDelayMs,
 		const std::string& smoIp, uint8_t smoSubnetNbits,
 		uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
 		smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);
@@ -50,6 +51,7 @@ private:
 public:
 	std::vector<std::shared_ptr<Device>> devices;
 	comms::BroadcastListener broadcastListener;
+	comms::UdpCommandDemuxer udpCommandDemuxer;
 
 	// Nested continuation class for async device creation
 	class GetOrCreateDeviceReq;
@@ -58,7 +60,7 @@ public:
 
 void main(
 	const std::shared_ptr<smo::ComponentThread> &componentThread,
-	const smo::sense_api::SmoCallbacks& smoCallbacks);
+	const smo::stim_buff::SmoCallbacks& smoCallbacks);
 void exit(void);
 
 // Global state structure
@@ -67,7 +69,7 @@ struct ProtoState
 	bool isInitialized = false;
 	std::shared_ptr<smo::ComponentThread> componentThread;
 	std::unique_ptr<DeviceManager> deviceManager;
-	smo::sense_api::SmoCallbacks smoCallbacks;
+	smo::stim_buff::SmoCallbacks smoCallbacks;
 };
 
 // Access to global state for extern "C" functions

commonLibs/livoxProto1/device.h

@@ -1,19 +1,35 @@
 #ifndef LIVOX_PROTO1_DEVICE_H
 #define LIVOX_PROTO1_DEVICE_H
 
+#include <boostAsioLinkageFix.h>
 #include <string>
 #include <cstdint>
+#include <cstddef>
 #include <memory>
 #include <atomic>
 #include <optional>
 #include <functional>
+#include <unordered_map>
+#include <stdexcept>
 #include <sys/socket.h>
 #include <netinet/in.h>
 #include <arpa/inet.h>
 #include <unistd.h>
-#include <boost/asio.hpp>
+#include <boost/asio/deadline_timer.hpp>
+#include <boost/asio/posix/stream_descriptor.hpp>
 #include "protocol.h"
 #include <callback.h>
+#include <spinLock.h>
+
+// Custom hash function for std::pair<uint8_t, uint8_t>
+namespace std {
+	template<>
+	struct hash<std::pair<uint8_t, uint8_t>> {
+		size_t operator()(const std::pair<uint8_t, uint8_t>& p) const noexcept {
+			return (static_cast<size_t>(p.first) << 8) | static_cast<size_t>(p.second);
+		}
+	};
+}
 
 // Forward declaration
 namespace smo {
@@ -62,25 +78,15 @@ class Device
 public:
 	Device(const std::string &deviceIdentifier,
 		const std::shared_ptr<smo::ComponentThread>& componentThread,
-		int handshakeTimeoutMs, int retryDelayMs,
+		int commandTimeoutMs, int retryDelayMs,
 		const std::string& smoIp, uint8_t smoSubnetNbits,
 		uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort);
 	~Device();
 
-public:
-	comms::DiscoveredDevice discoveredDevice;
-
-	// Configuration
-	std::shared_ptr<smo::ComponentThread> componentThread;
-	int handshakeTimeoutMs, retryDelayMs;
-	std::string smoIp;
-	std::string detectedSmoListeningIp;
-	uint8_t smoSubnetNbits;
-	uint16_t dataPort, cmdPort, imuPort;
-
 private:
 	// Heartbeat mechanism
 	void startHeartbeat();
+	void stopHeartbeat();
 	void sendHeartbeat();
 	void onHeartbeatTimer(const boost::system::error_code& error);
 	std::string generateClientDeviceIpFromSerialNumber(
@@ -95,21 +101,66 @@ private:
 	class ConnectByDeviceIdentifierReq;
 	class ExecuteHandshakeReq;
 	class DisconnectReq;
+	class EnablePcloudDataReq;
+	class DisablePcloudDataReq;
+	class SetReturnModeReq;
+	class GetReturnModeReq;
 
 public:
+	enum class ReturnMode : uint8_t
+	{
+		SingleFirst		= 0x00,
+		SingleStrongest	= 0x01,
+		Dual			= 0x02,
+		Triple			= 0x03
+	};
+
+	/**
+	 * Get the number of points per datagram based on return mode
+	 * @param returnMode The return mode (0=SingleFirst, 1=SingleStrongest, 2=Dual, 3=Triple)
+	 * @return Number of points per datagram
+	 */
+	static inline size_t getNPointsPerDgram(int returnMode)
+	{
+		/*
+		 * Map modes to points per datagram based on Livox docs
+		 * 1: first, 2: strongest -> 96 samples => 96 points
+		 * 3: dual -> 48 samples * 2 points = 96
+		 * 4: triple -> 30 samples * 3 points = 90
+		 */
+		switch (returnMode)
+		{
+		case static_cast<int>(ReturnMode::SingleFirst):
+		case static_cast<int>(ReturnMode::SingleStrongest):
+		case static_cast<int>(ReturnMode::Dual):
+			return 96u;
+		case static_cast<int>(ReturnMode::Triple):
+			return 90u;
+		default:
+			throw std::runtime_error(
+				std::string(__func__) + ": Unknown returnMode "
+				+ std::to_string(returnMode));
+		}
+	}
+
 	// Utility methods
 	std::optional<std::string> getSmoIp(const std::string& deviceIP);
 
 	// Callback function type definitions for async methods
 	typedef std::function<void(bool success)> connectReqCbFn;
 	typedef std::function<
-		void(bool success, const std::string& ipAddr, int fd)>
+		void(bool success, const std::string& ipAddr)>
 		connectToKnownDeviceReqCbFn;
 	typedef std::function<
-		void(bool success, const std::string& ipAddr, int fd)>
+		void(bool success, const std::string& ipAddr)>
 		connectByDeviceIdentifierReqCbFn;
-	typedef std::function<void(bool success, int fd)> executeHandshakeReqCbFn;
+	typedef std::function<void(bool success)> executeHandshakeReqCbFn;
 	typedef std::function<void(bool success)> disconnectReqCbFn;
+	typedef std::function<void(bool success)> enablePcloudDataReqCbFn;
+	typedef std::function<void(bool success)> disablePcloudDataReqCbFn;
+	typedef std::function<void(bool success)> setReturnModeReqCbFn;
+	typedef std::function<void(bool success, uint8_t returnMode)>
+		getReturnModeReqCbFn;
 
 	// Async connection methods
 	void connectReq(smo::Callback<connectReqCbFn> callback);
@@ -121,11 +172,97 @@ public:
 		const std::string& deviceIP,
 		smo::Callback<executeHandshakeReqCbFn> callback);
 	void disconnectReq(smo::Callback<disconnectReqCbFn> callback);
+	void enablePcloudDataReq(smo::Callback<enablePcloudDataReqCbFn> callback);
+	void disablePcloudDataReq(smo::Callback<disablePcloudDataReqCbFn> callback);
+	void setReturnModeReq(
+		uint8_t returnMode, smo::Callback<setReturnModeReqCbFn> callback);
+	void getReturnModeReq(smo::Callback<getReturnModeReqCbFn> callback);
+
+public:
+	comms::DiscoveredDevice discoveredDevice;
+	std::atomic<size_t> nAttachedStimulusProducers;
+
+	// Configuration
+	std::shared_ptr<smo::ComponentThread> componentThread;
+	int commandTimeoutMs, retryDelayMs;
+	std::string smoIp;
+	std::string detectedSmoListeningIp;
+	uint8_t smoSubnetNbits;
+	uint16_t dataPort, cmdPort, imuPort;
 
 	// Heartbeat state
 	std::unique_ptr<boost::asio::deadline_timer> heartbeatTimer;
-	int heartbeatFd;  // Socket file descriptor used for heartbeat
 	std::atomic<bool> heartbeatActive;
+	smo::SpinLock heartbeatActiveLock;
+
+	// Point cloud data state
+	std::atomic<bool> pcloudDataActive;
+
+	// Cached last-known return mode for this device
+	ReturnMode currentReturnMode = ReturnMode::SingleFirst;
+
+public:
+	// UDP datagram handling
+	void handleUdpDgram(
+		const uint8_t* data, ssize_t bytesReceived,
+		const struct sockaddr_in& senderAddr);
+
+	// Command handler registration
+	void registerUdpCommandHandler(
+		uint8_t cmd_set, uint8_t cmd_id,
+		std::function<void(
+			const uint8_t* data, ssize_t bytesReceived,
+			const struct sockaddr_in& senderAddr)> handler,
+		const std::string& deviceIP = "");
+
+	void unregisterUdpCommandHandler(
+		uint8_t cmd_set, uint8_t cmd_id, const std::string& deviceIP = "");
+
+private:
+	// Point cloud data setup
+	void cleanupPcloudDataSocket();
+
+	/**		EXPLANATION:
+	 * This is the "straightforward" map of command set and command id to
+	 * handlers. This is useful for any commands which are guaranteed to be
+	 * issued to the device *AFTER* the device has successfully been added
+	 * to the DeviceManager's list of devices.
+	 *
+	 * I.e: it cannot be used for commands which are issued to the device before
+	 * getOrCreateDevice() has added the device to the DeviceManager's list of
+	 * devices.
+	 */
+	// Command handler map
+	std::unordered_map<
+		std::pair<uint8_t, uint8_t>,
+		std::function<void(
+			const uint8_t* data, ssize_t bytesReceived,
+			const struct sockaddr_in& senderAddr)>> udpCommandHandlers;
+
+public:
+	/**		EXPLANATION:
+	 * This is the "temporary" map of command set and command id to
+	 * handlers. This is useful for any commands which are issued to the device
+	 * while it is being constructed.
+	 *
+	 * I.e: it shouldn't be used for cmds which are issued to the device after
+	 * getOrCreateDevice() has added the device to the DeviceManager's list of
+	 * devices. It will work for such commands, but we'd kind of prefer to use
+	 * the "straightforward" map above for such commands.
+	 *
+	 *	NOTE:
+	 * There's a strong argument to be made for just getting rid of the
+	 * "straightforward" map above and just using this one, tho.
+	 */
+	struct CommandHandler {
+		uint8_t cmd_set;
+		uint8_t cmd_id;
+		std::function<void(
+			const uint8_t* data, ssize_t bytesReceived,
+			const struct sockaddr_in& senderAddr)> handler;
+	};
+	static std::unordered_map<std::string, std::vector<CommandHandler>>
+		devicesUnderConstruction;
 };
 
 } // namespace livoxProto1

commonLibs/livoxProto1/livoxProto1.cpp

@@ -1,8 +1,11 @@
+#include <boostAsioLinkageFix.h>
 #include <stdexcept>
 #include <callback.h>
+#include <boost/asio/posix/stream_descriptor.hpp>
 #include "livoxProto1.h"
 #include "device.h"
 #include "core.h"
+#include "udpCommandDemuxer.h"
 
 
 extern "C" {
@@ -10,7 +13,7 @@ extern "C" {
 void livoxProto1_getOrCreateDeviceReq(
 	const std::string& deviceIdentifier,
 	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	int handshakeTimeoutMs, int retryDelayMs,
+	int commandTimeoutMs, int retryDelayMs,
 	const std::string& smoIp, uint8_t smoSubnetNbits,
 	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
 	smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback
@@ -28,7 +31,7 @@ void livoxProto1_getOrCreateDeviceReq(
 	// Delegate to DeviceManager
 	protoState.deviceManager->getOrCreateDeviceReq(
 		deviceIdentifier, componentThread,
-		handshakeTimeoutMs, retryDelayMs,
+		commandTimeoutMs, retryDelayMs,
 		smoIp, smoSubnetNbits,
 		dataPort, cmdPort, imuPort,
 		callback);
@@ -52,7 +55,7 @@ void livoxProto1_destroyDeviceReq(
 
 void livoxProto1_main(
 	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	const smo::sense_api::SmoCallbacks& smoCallbacks)
+	const smo::stim_buff::SmoCallbacks& smoCallbacks)
 {
 	livoxProto1::main(componentThread, smoCallbacks);
 }
@@ -62,4 +65,59 @@ void livoxProto1_exit(void)
 	livoxProto1::exit();
 }
 
+void livoxProto1_device_enablePcloudDataReq(
+	std::shared_ptr<livoxProto1::Device> device,
+	smo::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback
+)
+{
+	if (!device)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": Device pointer is null");
+	}
+
+	device->enablePcloudDataReq(callback);
+}
+
+void livoxProto1_device_disablePcloudDataReq(
+	std::shared_ptr<livoxProto1::Device> device,
+	smo::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback
+)
+{
+	if (!device)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": Device pointer is null");
+	}
+
+	device->disablePcloudDataReq(callback);
+}
+
+void livoxProto1_device_getReturnModeReq(
+	std::shared_ptr<livoxProto1::Device> device,
+	smo::Callback<livoxProto1_device_getReturnModeReqCbFn> callback
+)
+{
+	if (!device)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": Device pointer is null");
+	}
+
+	device->getReturnModeReq(callback);
+}
+
+std::shared_ptr<boost::asio::posix::stream_descriptor>
+livoxProto1_getPcloudDataFdDesc(void)
+{
+	auto& protoState = livoxProto1::getProtoState();
+	if (!protoState.deviceManager)
+	{
+		throw std::runtime_error(std::string(__func__)
+			+ ": DeviceManager not initialized");
+	}
+
+	return protoState.deviceManager->udpCommandDemuxer.getPcloudDataFdDesc();
+}
+
 } // extern "C"

commonLibs/livoxProto1/livoxProto1.h

@@ -1,15 +1,17 @@
 #ifndef LIVOXPROTO1_H
 #define LIVOXPROTO1_H
 
+#include <boostAsioLinkageFix.h>
 #include <memory>
 #include <string>
 #include <cstdint>
 #include <functional>
 #include <callback.h>
+#include <boost/asio/posix/stream_descriptor.hpp>
 
 // Forward declarations
 namespace smo {
-namespace sense_api {
+namespace stim_buff {
 	struct SmoCallbacks;
 }
 	class ComponentThread;
@@ -30,7 +32,7 @@ extern "C" {
  */
 typedef void livoxProto1_mainFn(
 	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	const smo::sense_api::SmoCallbacks& smoCallbacks);
+	const smo::stim_buff::SmoCallbacks& smoCallbacks);
 
 /**
  * Cleanup the Livox protocol library
@@ -41,7 +43,7 @@ typedef void livoxProto1_exitFn(void);
  * Create a new Livox device connection
  * @param deviceIdentifier The device identifier (broadcast code)
  * @param componentThread Component thread for async operations
- * @param handshakeTimeoutMs Handshake timeout in milliseconds (default: 1000)
+ * @param commandTimeoutMs Command timeout in milliseconds (default: 1000)
  * @param retryDelayMs Retry delay in milliseconds (default: 3000)
  * @param smoIp SMO IP address (empty string for auto-detection)
  * @param smoSubnetNbits SMO subnet mask bits (e.g., 24 for /24, 16 for /16)
@@ -57,7 +59,7 @@ typedef std::function<
 typedef void livoxProto1_getOrCreateDeviceReqFn(
 	const std::string& deviceIdentifier,
 	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	int handshakeTimeoutMs, int retryDelayMs,
+	int commandTimeoutMs, int retryDelayMs,
 	const std::string& smoIp, uint8_t smoSubnetNbits,
 	uint16_t dataPort,  uint16_t cmdPort, uint16_t imuPort,
 	smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);
@@ -67,11 +69,36 @@ typedef void livoxProto1_destroyDeviceReqFn(
 	std::shared_ptr<livoxProto1::Device> device,
 	smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback);
 
+typedef std::function<void(bool success)>
+	livoxProto1_device_enablePcloudDataReqCbFn;
+typedef void livoxProto1_device_enablePcloudDataReqFn(
+	std::shared_ptr<livoxProto1::Device> device,
+	smo::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback);
+
+typedef std::function<void(bool success)>
+	livoxProto1_device_disablePcloudDataReqCbFn;
+typedef void livoxProto1_device_disablePcloudDataReqFn(
+	std::shared_ptr<livoxProto1::Device> device,
+	smo::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback);
+
+typedef std::function<void(bool success, uint8_t returnMode)>
+	livoxProto1_device_getReturnModeReqCbFn;
+typedef void livoxProto1_device_getReturnModeReqFn(
+	std::shared_ptr<livoxProto1::Device> device,
+	smo::Callback<livoxProto1_device_getReturnModeReqCbFn> callback);
+
+typedef std::shared_ptr<boost::asio::posix::stream_descriptor>
+	livoxProto1_getPcloudDataFdDescFn(void);
 
 livoxProto1_mainFn livoxProto1_main;
 livoxProto1_exitFn livoxProto1_exit;
 livoxProto1_getOrCreateDeviceReqFn livoxProto1_getOrCreateDeviceReq;
 livoxProto1_destroyDeviceReqFn livoxProto1_destroyDeviceReq;
+livoxProto1_device_enablePcloudDataReqFn livoxProto1_device_enablePcloudDataReq;
+livoxProto1_device_disablePcloudDataReqFn
+	livoxProto1_device_disablePcloudDataReq;
+livoxProto1_device_getReturnModeReqFn livoxProto1_device_getReturnModeReq;
+livoxProto1_getPcloudDataFdDescFn livoxProto1_getPcloudDataFdDesc;
 
 #ifdef __cplusplus
 }

commonLibs/livoxProto1/protocol.cpp

@@ -230,7 +230,6 @@ uint32_t HandshakeRequest::calculateCrc32() const
 	return comms::calculateCrc32(messageData, messageSize);
 }
 
-
 void HandshakeRequest::swapContentsToProtocolEndianness()
 {
 	// Protocol uses little-endian, so on little-endian machines, no swap needed
@@ -246,26 +245,6 @@ void HandshakeRequest::swapContentsToProtocolEndianness()
 	// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
 }
 
-void HandshakeRequest::swapContentsToHostEndianness()
-{
-	if (endian::isLittleEndian()) { return; }
-	header.swapToHostEndianness();
-	command.swapToHostEndianness();
-	data_port = __builtin_bswap16(data_port);
-	cmd_port = __builtin_bswap16(cmd_port);
-	imu_port = __builtin_bswap16(imu_port);
-	// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
-}
-
-
-bool HandshakeRequest::sanityCheck() const
-{
-	return header.sanityCheck() &&
-		command.sanityCheck() &&
-		(command.cmd_set == 0x00) && (command.cmd_id == 0x01) &&
-		footer.sanityCheck();
-}
-
 // HandshakeResponse methods
 void HandshakeResponse::swapContentsToHostEndianness()
 {
@@ -583,7 +562,6 @@ uint32_t HeartbeatMessage::calculateCrc32() const
 	return comms::calculateCrc32(messageData, messageSize);
 }
 
-
 void HeartbeatMessage::swapContentsToProtocolEndianness()
 {
 	// Protocol is little-endian, so if host is already little-endian, no swap needed
@@ -598,46 +576,6 @@ void HeartbeatMessage::swapContentsToProtocolEndianness()
 	// Note: footer.swapToProtocolEndianness() swaps CRC, so we skip it here
 }
 
-void HeartbeatMessage::swapContentsToHostEndianness()
-{
-	// If host is already little-endian, no swap needed
-	if (endian::isLittleEndian()) {
-		return;
-	}
-
-	// Host is big-endian, need to swap from little-endian protocol to big-endian host
-	// Only swap content fields, not CRC fields
-	header.swapToHostEndianness();
-	command.swapToHostEndianness();
-	// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
-}
-
-
-bool HeartbeatMessage::sanityCheck() const
-{
-	return header.sanityCheck() &&
-		command.sanityCheck() &&
-		(command.cmd_set == 0x00) && (command.cmd_id == 0x03) &&
-		footer.sanityCheck();
-}
-
-bool HeartbeatMessage::validateCrc32() const
-{
-	// Use the calculateCrc32 method to avoid code duplication
-	uint32_t calculatedCrc = calculateCrc32();
-
-	// Compare with the CRC in the footer
-	bool isValid = (calculatedCrc == footer.crc_32);
-
-	// Debug output only if validation fails
-	if (!isValid) {
-		std::cout << "HeartbeatMessage CRC32 Debug: calculated=0x" << std::hex << calculatedCrc
-			<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
-	}
-
-	return isValid;
-}
-
 // DisconnectMessage methods
 DisconnectMessage::DisconnectMessage()
 {
@@ -681,26 +619,69 @@ void DisconnectMessage::swapContentsToProtocolEndianness()
 	// Note: footer.swapToProtocolEndianness() swaps CRC, so we skip it here
 }
 
-bool DisconnectMessage::sanityCheck() const
+// StartStopSamplingMessage methods
+StartStopSamplingMessage::StartStopSamplingMessage()
 {
-	return header.sanityCheck() &&
-		command.sanityCheck() &&
-		(command.cmd_set == 0x00) && (command.cmd_id == 0x06) &&
-		footer.sanityCheck();
+	// Initialize header
+	header.sof = 0xAA;
+	header.version = 1;
+	header.length = sizeof(StartStopSamplingMessage);
+	header.cmd_type = 0x02; // MSG type
+	header.seq_num = 0; // Will be set by caller if needed
+	header.crc_16 = 0; // Will be calculated
+
+	// Initialize command
+	command.cmd_set = 0x00; // General command set
+	command.cmd_id = 0x04;  // Sampling command ID
+
+	// Initialize data - enable flag will be set manually by caller
+	enable = 0x00; // Default to stop, caller will override
+
+	// Initialize footer
+	footer.crc_32 = 0; // Will be calculated
 }
 
-bool DisconnectMessage::validateCrc32() const
+uint32_t StartStopSamplingMessage::calculateCrc32() const
 {
-	// Use the calculateCrc32 method to avoid code duplication
-	uint32_t calculatedCrc = calculateCrc32();
+	// Calculate CRC32 for the entire message excluding the footer CRC32 field
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(StartStopSamplingMessage) - sizeof(footer.crc_32);
 
-	// Compare with the CRC in the footer
+	return comms::calculateCrc32(messageData, messageSize);
+}
+
+void StartStopSamplingMessage::swapContentsToProtocolEndianness()
+{
+	header.swapToProtocolEndianness();
+	command.swapToProtocolEndianness();
+}
+
+// SamplingResponse methods
+void SamplingResponse::swapContentsToHostEndianness()
+{
+	header.swapToHostEndianness();
+	command.swapToHostEndianness();
+	footer.swapToHostEndianness();
+}
+
+bool SamplingResponse::sanityCheck() const
+{
+	return header.sanityCheck() && command.sanityCheck() && footer.sanityCheck();
+}
+
+bool SamplingResponse::validateCrc32() const
+{
+	// Calculate CRC32 for the entire message excluding the footer CRC32 field
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(SamplingResponse) - sizeof(footer.crc_32);
+
+	uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
 	bool isValid = (calculatedCrc == footer.crc_32);
 
 	// Debug output only if validation fails
 	if (!isValid)
 	{
-		std::cout << "DisconnectMessage CRC32 Debug: calculated=0x"
+		std::cout << "SamplingResponse CRC32 Debug: calculated=0x"
 			<< std::hex << calculatedCrc
 			<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
 	}
@@ -708,5 +689,166 @@ bool DisconnectMessage::validateCrc32() const
 	return isValid;
 }
 
+// HeartbeatACK methods
+void HeartbeatACK::swapContentsToHostEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	// Only swap content fields, not CRC fields
+	header.swapToHostEndianness();
+	command.swapToHostEndianness();
+	ack_msg = __builtin_bswap32(ack_msg);
+	// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
+}
+
+bool HeartbeatACK::sanityCheck() const
+{
+	return header.sanityCheck() &&
+		command.sanityCheck() &&
+		(command.cmd_set == 0x00) && (command.cmd_id == 0x03) &&
+		footer.sanityCheck();
+}
+
+bool HeartbeatACK::validateCrc32() const
+{
+	// Calculate CRC32 for the entire message excluding the footer.crc_32 field
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(HeartbeatACK) - sizeof(footer.crc_32);
+	uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
+
+	// Compare with the CRC in the footer
+	bool isValid = (calculatedCrc == footer.crc_32);
+
+	// Debug output only if validation fails
+	if (!isValid) {
+		std::cout << "HeartbeatACK CRC32 Debug: calculated=0x" << std::hex << calculatedCrc
+			<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
+	}
+
+	return isValid;
+}
+
+// SetLiDARReturnMode methods
+SetLiDARReturnMode::SetLiDARReturnMode()
+{
+	// Initialize header
+	header.sof = 0xAA;
+	header.version = 0x01;
+	header.length = sizeof(SetLiDARReturnMode);
+	header.crc_16 = 0; // Will be calculated later
+
+	// Initialize command
+	command.cmd_set = 0x01; // LiDAR Command
+	command.cmd_id = 0x06;  // Set LiDAR Return Mode
+
+	// Initialize mode (default to Single Return First)
+	mode = 0x00;
+
+	// Initialize footer
+	footer.crc_32 = 0; // Will be calculated later
+}
+
+uint32_t SetLiDARReturnMode::calculateCrc32() const
+{
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(SetLiDARReturnMode) - sizeof(footer.crc_32);
+	return comms::calculateCrc32(messageData, messageSize);
+}
+
+void SetLiDARReturnMode::swapContentsToProtocolEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	header.swapToProtocolEndianness();
+	command.swapToProtocolEndianness();
+	// mode is uint8_t, no endianness conversion needed
+	footer.swapToProtocolEndianness();
+}
+
+// SetLiDARReturnModeResponse methods
+void SetLiDARReturnModeResponse::swapContentsToHostEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	header.swapToHostEndianness();
+	command.swapToHostEndianness();
+	// ret_code is uint8_t, no endianness conversion needed
+	// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
+}
+
+bool SetLiDARReturnModeResponse::sanityCheck() const
+{
+	return header.sanityCheck() &&
+		command.sanityCheck() &&
+		(command.cmd_set == 0x01) && (command.cmd_id == 0x06) &&
+		(ret_code <= 0x01) && // Valid return codes: 0x00-0x01
+		footer.sanityCheck();
+}
+
+bool SetLiDARReturnModeResponse::validateCrc32() const
+{
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(SetLiDARReturnModeResponse) - sizeof(footer.crc_32);
+	uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
+	return (calculatedCrc == footer.crc_32);
+}
+
+// GetLiDARReturnMode methods
+GetLiDARReturnMode::GetLiDARReturnMode()
+{
+	// Initialize header
+	header.sof = 0xAA;
+	header.version = 0x01;
+	header.length = sizeof(GetLiDARReturnMode);
+	header.crc_16 = 0; // Will be calculated later
+
+	// Initialize command
+	command.cmd_set = 0x01; // LiDAR Command
+	command.cmd_id = 0x07;  // Get LiDAR Return Mode
+
+	// Initialize footer
+	footer.crc_32 = 0; // Will be calculated later
+}
+
+uint32_t GetLiDARReturnMode::calculateCrc32() const
+{
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(GetLiDARReturnMode) - sizeof(footer.crc_32);
+	return comms::calculateCrc32(messageData, messageSize);
+}
+
+void GetLiDARReturnMode::swapContentsToProtocolEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	header.swapToProtocolEndianness();
+	command.swapToProtocolEndianness();
+	footer.swapToProtocolEndianness();
+}
+
+// GetLiDARReturnModeResponse methods
+void GetLiDARReturnModeResponse::swapContentsToHostEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	header.swapToHostEndianness();
+	command.swapToHostEndianness();
+	// ret_code and mode are uint8_t, no endianness conversion needed
+	// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
+}
+
+bool GetLiDARReturnModeResponse::sanityCheck() const
+{
+	return header.sanityCheck() &&
+		command.sanityCheck() &&
+		(command.cmd_set == 0x01) && (command.cmd_id == 0x07) &&
+		(ret_code <= 0x01) && // Valid return codes: 0x00-0x01
+		(mode <= 0x03) && // Valid modes: 0x00-0x03
+		footer.sanityCheck();
+}
+
+bool GetLiDARReturnModeResponse::validateCrc32() const
+{
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(GetLiDARReturnModeResponse) - sizeof(footer.crc_32);
+	uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
+	return (calculatedCrc == footer.crc_32);
+}
+
 } // namespace comms
 } // namespace livoxProto1

commonLibs/livoxProto1/protocol.h

@@ -1,6 +1,7 @@
 #ifndef LIVOXPROTO1_PROTOCOL_H
 #define LIVOXPROTO1_PROTOCOL_H
 
+#include <boostAsioLinkageFix.h>
 #include <vector>
 #include <string>
 #include <memory>
@@ -191,8 +192,6 @@ struct HandshakeRequest
 	// Calculate CRC32 for the entire message
 	uint32_t calculateCrc32() const;
 	void swapContentsToProtocolEndianness();
-	void swapContentsToHostEndianness();
-	bool sanityCheck() const;
 } __attribute__((packed));
 
 /**		EXPLANATION:
@@ -224,9 +223,6 @@ struct HeartbeatMessage
 	HeartbeatMessage();
 	uint32_t calculateCrc32() const;
 	void swapContentsToProtocolEndianness();
-	void swapContentsToHostEndianness();
-	bool sanityCheck() const;
-	bool validateCrc32() const;
 } __attribute__((packed));
 
 /**		EXPLANATION:
@@ -242,6 +238,119 @@ struct DisconnectMessage
 	DisconnectMessage();
 	uint32_t calculateCrc32() const;
 	void swapContentsToProtocolEndianness();
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Complete start/stop sampling command frame for enabling/disabling point cloud data from Livox devices.
+ * This is the complete wire format including header, command fields, data, and footer.
+ */
+struct StartStopSamplingMessage
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	uint8_t enable;		// 11: Enable flag (0x01 = Start, 0x00 = Stop)
+	Footer footer;			// 12-15: Protocol frame footer
+
+	StartStopSamplingMessage();
+	uint32_t calculateCrc32() const;
+	void swapContentsToProtocolEndianness();
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Complete sampling response frame from Livox devices.
+ * This is the complete wire format including header, command fields, data, and footer.
+ */
+struct SamplingResponse
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	uint8_t ret_code;		// 11: Return Code (0x00 = Success, 0x01 = Fail)
+	Footer footer;			// 12-15: Protocol frame footer
+
+	void swapContentsToHostEndianness();
+	bool sanityCheck() const;
+	bool validateCrc32() const;
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Complete heartbeat ACK response frame from Livox devices.
+ * This is the complete wire format including header, command fields, data, and footer.
+ */
+struct HeartbeatACK
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	uint8_t ret_code;		// 11: Return Code (0x00 = Success, 0x01 = Fail)
+	uint8_t work_state;		// 12: LiDAR/Hub State (0x00: Initializing, 0x01: Normal, 0x02: Power-Saving, 0x03: Standby, 0x04: Error)
+	uint8_t feature_msg;	// 13: LiDAR Feature Message (Bit0: Rain/Fog Suppression Switch)
+	uint32_t ack_msg;		// 14-17: ACK Message (Initialization Progress or Status Code)
+	Footer footer;			// 18-21: Protocol frame footer
+
+	void swapContentsToHostEndianness();
+	bool sanityCheck() const;
+	bool validateCrc32() const;
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Complete set LiDAR return mode command frame for Livox devices.
+ * This is the complete wire format including header, command fields, data, and footer.
+ */
+struct SetLiDARReturnMode
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	uint8_t mode;			// 11: Return Mode (0x00: Single Return First, 0x01: Single Return Strongest, 0x02: Dual Return, 0x03: Triple Return)
+	Footer footer;			// 12-15: Protocol frame footer
+
+	SetLiDARReturnMode();
+	uint32_t calculateCrc32() const;
+	void swapContentsToProtocolEndianness();
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Complete set LiDAR return mode response frame from Livox devices.
+ * This is the complete wire format including header, command fields, data, and footer.
+ */
+struct SetLiDARReturnModeResponse
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	uint8_t ret_code;		// 11: Return Code (0x00 = Success, 0x01 = Fail)
+	Footer footer;			// 12-15: Protocol frame footer
+
+	void swapContentsToHostEndianness();
+	bool sanityCheck() const;
+	bool validateCrc32() const;
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Complete get LiDAR return mode command frame for Livox devices.
+ * This is the complete wire format including header, command fields, data, and footer.
+ */
+struct GetLiDARReturnMode
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	Footer footer;			// 11-14: Protocol frame footer
+
+	GetLiDARReturnMode();
+	uint32_t calculateCrc32() const;
+	void swapContentsToProtocolEndianness();
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Complete get LiDAR return mode response frame from Livox devices.
+ * This is the complete wire format including header, command fields, data, and footer.
+ */
+struct GetLiDARReturnModeResponse
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	uint8_t ret_code;		// 11: Return Code (0x00 = Success, 0x01 = Fail)
+	uint8_t mode;			// 12: Return Mode (0x00: Single Return First, 0x01: Single Return Strongest, 0x02: Dual Return, 0x03: Triple Return)
+	Footer footer;			// 13-16: Protocol frame footer
+
+	void swapContentsToHostEndianness();
 	bool sanityCheck() const;
 	bool validateCrc32() const;
 } __attribute__((packed));

commonLibs/livoxProto1/udpCommandDemuxer.cpp

@@ -0,0 +1,347 @@
+#include <iostream>
+#include <cstring>
+#include <functional>
+#include <unistd.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <arpa/inet.h>
+#include <fcntl.h>
+#include <errno.h>
+
+#include "udpCommandDemuxer.h"
+#include "core.h"
+#include "device.h"
+
+namespace livoxProto1 {
+namespace comms {
+
+UdpCommandDemuxer::UdpCommandDemuxer(
+	const std::shared_ptr<smo::ComponentThread> &componentThread,
+	DeviceManager &deviceManager,
+	uint16_t commandPort,
+	uint16_t dataPort
+)
+: componentThread(componentThread), deviceManager(deviceManager),
+commandPort(commandPort), dataPort(dataPort),
+senderAddrLen(sizeof(senderAddr))
+{
+}
+
+UdpCommandDemuxer::~UdpCommandDemuxer()
+{
+	stop();
+}
+
+void UdpCommandDemuxer::start()
+{
+	if (isActive.load())
+	{
+		std::cerr << __func__ << ": Demuxer is already running"
+			<< std::endl;
+		return;
+	}
+
+	try
+	{
+		{
+			smo::SpinLock::Guard lock(isActiveAndShouldStopLock);
+
+			setupSockets();
+			isActive.store(true);
+			shouldStop.store(false);
+		}
+
+		// Start the async receive loop
+		startAsyncReceive();
+
+		std::cout
+			<< __func__ << ": UDP Command Demuxer started on port "
+			<< commandPort << std::endl;
+	}
+	catch (const std::exception &e)
+	{
+		std::cerr
+			<< __func__ << ": Failed to start demuxer: "
+			<< e.what() << std::endl;
+		isActive.store(false);
+		throw;
+	}
+}
+
+void UdpCommandDemuxer::stop()
+{
+	{
+		smo::SpinLock::Guard lock(isActiveAndShouldStopLock);
+		if (!isActive.load())
+			{ return; }
+
+		shouldStop.store(true);
+	}
+
+	// Close socket and cleanup
+	if (cmdEndpointFdDesc)
+	{
+		cmdEndpointFdDesc->cancel();
+		cmdEndpointFdDesc.reset();
+	}
+
+	if (pcloudDataFdDesc)
+	{
+		pcloudDataFdDesc->cancel();
+		pcloudDataFdDesc.reset();
+	}
+
+	isActive.store(false);
+	std::cout
+		<< __func__ << ": UDP Command Demuxer stopped"
+		<< std::endl;
+}
+
+void UdpCommandDemuxer::setupSockets()
+{
+	setupCommandSocket();
+	setupPcloudDataSocket();
+}
+
+void UdpCommandDemuxer::setupCommandSocket()
+{
+	// RAII class to manage socket file descriptor
+	struct SocketRAII
+	{
+		int fd;
+		SocketRAII(int socketFd) : fd(socketFd) {}
+		~SocketRAII() { if (fd >= 0) close(fd); }
+		void commit() { fd = -1; } // Transfer ownership, prevent close
+		int getFd() const { return fd; }
+		bool isValid() const { return fd >= 0; }
+	};
+
+	// Create UDP socket
+	SocketRAII socketGuard(socket(AF_INET, SOCK_DGRAM, 0));
+	if (!socketGuard.isValid())
+	{
+		throw std::runtime_error(
+			std::string(__func__)
+			+ ": Failed to create socket: " + strerror(errno));
+	}
+
+	// Set socket to non-blocking mode
+	int flags = fcntl(socketGuard.getFd(), F_GETFL, 0);
+	if (flags < 0 || fcntl(
+		socketGuard.getFd(), F_SETFL, flags | O_NONBLOCK) < 0)
+	{
+		throw std::runtime_error(
+			std::string(__func__)
+			+ ": Failed to set non-blocking mode: " + strerror(errno));
+	}
+
+	// Bind to command port
+	struct sockaddr_in localAddr;
+	memset(&localAddr, 0, sizeof(localAddr));
+	localAddr.sin_family = AF_INET;
+	localAddr.sin_addr.s_addr = INADDR_ANY;
+	localAddr.sin_port = htons(commandPort);
+
+	if (bind(
+		socketGuard.getFd(), (struct sockaddr *)&localAddr,
+		sizeof(localAddr)) < 0)
+	{
+		throw std::runtime_error(
+			std::string(__func__) + ": Failed to bind to port "
+			+ std::to_string(commandPort) + ": " + strerror(errno));
+	}
+
+	// Create boost wrapper for async operations
+	cmdEndpointFdDesc = std::make_shared<boost::asio::posix::stream_descriptor>(
+		componentThread->getIoService(), socketGuard.getFd());
+
+	// Transfer ownership, prevent auto-close
+	socketGuard.commit();
+}
+
+void UdpCommandDemuxer::setupPcloudDataSocket()
+{
+	// RAII class to manage socket file descriptor
+	struct SocketRAII
+	{
+		int fd;
+		SocketRAII(int socketFd) : fd(socketFd) {}
+		~SocketRAII() { if (fd >= 0) close(fd); }
+		void commit() { fd = -1; } // Transfer ownership, prevent close
+		int getFd() const { return fd; }
+		bool isValid() const { return fd >= 0; }
+	};
+
+	// Create UDP socket for point cloud data reception
+	SocketRAII socketGuard(socket(AF_INET, SOCK_DGRAM, 0));
+	if (!socketGuard.isValid())
+	{
+		throw std::runtime_error(
+			std::string(__func__)
+			+ ": Failed to create socket: " + strerror(errno));
+	}
+
+	// Set socket to non-blocking mode
+	int flags = fcntl(socketGuard.getFd(), F_GETFL, 0);
+	if (flags < 0 ||
+		fcntl(socketGuard.getFd(), F_SETFL, flags | O_NONBLOCK) < 0)
+	{
+		throw std::runtime_error(
+			std::string(__func__)
+			+ ": Failed to set non-blocking mode: " + strerror(errno));
+	}
+
+	// Bind to the data port
+	struct sockaddr_in localAddr;
+	memset(&localAddr, 0, sizeof(localAddr));
+	localAddr.sin_family = AF_INET;
+	localAddr.sin_addr.s_addr = INADDR_ANY;
+	localAddr.sin_port = htons(dataPort);
+
+	if (bind(
+		socketGuard.getFd(), (struct sockaddr *)&localAddr,
+		sizeof(localAddr)) < 0)
+	{
+		throw std::runtime_error(
+			std::string(__func__) + ": Failed to bind to data port: "
+			+ std::to_string(dataPort) + ": " + strerror(errno));
+	}
+
+	// Create boost wrapper for async operations
+	pcloudDataFdDesc = std::make_shared<boost::asio::posix::stream_descriptor>(
+		componentThread->getIoService(), socketGuard.getFd());
+
+	// Transfer ownership, prevent auto-close
+	socketGuard.commit();
+}
+
+void UdpCommandDemuxer::startAsyncReceive()
+{
+	if (!isActive.load() || shouldStop.load())
+		{ return; }
+
+	cmdEndpointFdDesc->async_wait(
+		boost::asio::posix::stream_descriptor::wait_read,
+		std::bind(
+			&UdpCommandDemuxer::onDataReady, this, std::placeholders::_1));
+}
+
+void UdpCommandDemuxer::onDataReady(const boost::system::error_code &error)
+{
+	if (error)
+	{
+		if (error != boost::asio::error::operation_aborted)
+		{
+			std::cerr
+				<< __func__ << ": Socket error: "
+				<< error.message() << std::endl;
+		}
+		return;
+	}
+
+	smo::SpinLock::Guard lock(isActiveAndShouldStopLock);
+
+	if (!isActive.load() || shouldStop.load())
+		{ return; }
+
+	// Read the data
+	bytesReceived = recvfrom(
+		cmdEndpointFdDesc->native_handle(), receiveBuffer,
+		sizeof(receiveBuffer), 0,
+		(struct sockaddr *)&senderAddr, &senderAddrLen);
+
+	if (bytesReceived > 0) {
+		processIncomingData();
+	}
+	else if (bytesReceived < 0)
+	{
+		if (errno != EAGAIN && errno != EWOULDBLOCK)
+		{
+			std::cerr << __func__ << ": recvfrom error: "
+				<< strerror(errno) << std::endl;
+		}
+	}
+
+	// Continue listening for more data
+	startAsyncReceive();
+}
+
+void UdpCommandDemuxer::processIncomingData()
+{
+	if (bytesReceived < 2)
+	{
+		// Too small to contain any meaningful data
+		return;
+	}
+
+	// Extract source IP address
+	char sourceIP[INET_ADDRSTRLEN];
+	inet_ntop(AF_INET, &senderAddr.sin_addr, sourceIP, INET_ADDRSTRLEN);
+
+	// First, find device with matching IP address in DeviceManager collection
+	for (const auto &device : deviceManager.devices)
+	{
+		if (device->discoveredDevice.ipAddr != sourceIP) { continue; }
+
+		// Found matching device, route the datagram to it
+		try
+		{
+			device->handleUdpDgram(
+				receiveBuffer, bytesReceived, senderAddr);
+		}
+		catch (const std::exception &e)
+		{
+			std::cerr
+				<< __func__ << ": Device handler exception for IP "
+				<< sourceIP << ": " << e.what() << std::endl;
+		}
+		return;
+	}
+
+	// If not found in DeviceManager, check temporary collection (devices under construction)
+	auto tempIt = livoxProto1::Device::devicesUnderConstruction.find(sourceIP);
+	if (tempIt != livoxProto1::Device::devicesUnderConstruction.end())
+	{
+		// Extract command set and command ID from the datagram
+		if (bytesReceived >= static_cast<ssize_t>(
+			sizeof(livoxProto1::comms::Header)
+			+ sizeof(livoxProto1::comms::Command)))
+		{
+			uint8_t cmd_set = receiveBuffer[
+				sizeof(livoxProto1::comms::Header)];
+			uint8_t cmd_id = receiveBuffer[
+				sizeof(livoxProto1::comms::Header) + 1];
+
+			// Found matching dev in temp collection, invoke matching handlers
+			for (const auto& cmdHandler : tempIt->second)
+			{
+				if (cmdHandler.cmd_set != cmd_set
+					|| cmdHandler.cmd_id != cmd_id)
+				{
+					continue;
+				}
+
+				try
+				{
+					cmdHandler.handler(
+						receiveBuffer, bytesReceived, senderAddr);
+				}
+				catch (const std::exception &e)
+				{
+					std::cerr << __func__ << ": Temporary device handler "
+						"exception for IP " << sourceIP << ": " << e.what()
+						<< std::endl;
+				}
+			}
+		}
+		return;
+	}
+
+	// No device found with matching IP in either collection, discard the data
+	std::cerr
+		<< __func__ << ": No device found for source IP "
+		<< sourceIP << ", discarding datagram" << std::endl;
+}
+
+} // namespace comms
+} // namespace livoxProto1

commonLibs/livoxProto1/udpCommandDemuxer.h

@@ -0,0 +1,99 @@
+#ifndef UDP_COMMAND_DEMUXER_H
+#define UDP_COMMAND_DEMUXER_H
+
+#include <boostAsioLinkageFix.h>
+#include <atomic>
+#include <memory>
+#include <boost/asio/posix/stream_descriptor.hpp>
+#include <componentThread.h>
+#include <spinLock.h>
+
+namespace livoxProto1 {
+
+// Forward declarations
+class DeviceManager;
+
+namespace comms {
+
+/**
+ * UdpCommandDemuxer - Routes UDP command datagrams to appropriate devices
+ *
+ * This class listens on the command port (65000) for incoming UDP datagrams
+ * from Livox devices and routes them to the appropriate Device based on
+ * the source IP address.
+ *
+ * The reason we need a whole class for this is because we use the same port
+ * numbers for all connected devices, so we have no way to distinguish between
+ * devices except based on the devices' IP addrs. Since all commands are sent
+ * over UDP, our sockets don't have built-in binding to a specific source IP.
+ *
+ * So we need to discriminate between source IPs manually, and demultiplex
+ * the dgrams received from different devices manually.
+ *
+ * We'll prolly also have to do the same thing for point cloud and IMU data, so
+ * we'll prolly end up renaming this class to UdpResponseDemuxer.
+ */
+class UdpCommandDemuxer
+{
+public:
+	UdpCommandDemuxer(
+		const std::shared_ptr<smo::ComponentThread>& componentThread,
+		DeviceManager& deviceManager,
+		uint16_t commandPort = 56001,
+		uint16_t dataPort = 56000);
+
+	~UdpCommandDemuxer();
+
+	void start();
+	void stop();
+	bool isRunning() const { return isActive.load(); }
+
+	// Get shared pointer to command endpoint for handshake use
+	std::shared_ptr<boost::asio::posix::stream_descriptor>
+	getCmdEndpointFdDesc() const
+	{
+		return cmdEndpointFdDesc;
+	}
+
+	// Get shared pointer to pcloud data fd for use in IoUringAssemblyEngine
+	std::shared_ptr<boost::asio::posix::stream_descriptor>
+	getPcloudDataFdDesc() const
+	{
+		return pcloudDataFdDesc;
+	}
+
+private:
+	// Socket and async objects
+	std::shared_ptr<boost::asio::posix::stream_descriptor> pcloudDataFdDesc;
+	// Socket and async objects
+	std::shared_ptr<boost::asio::posix::stream_descriptor> cmdEndpointFdDesc;
+
+private:
+	void setupSockets();
+	void setupCommandSocket();
+	void setupPcloudDataSocket();
+	void startAsyncReceive();
+	void onDataReady(const boost::system::error_code& error);
+	void processIncomingData();
+
+	std::shared_ptr<smo::ComponentThread> componentThread;
+	DeviceManager& deviceManager;
+	uint16_t commandPort;
+	uint16_t dataPort;
+
+	// State management
+	smo::SpinLock isActiveAndShouldStopLock;
+	std::atomic<bool> isActive{false};
+	std::atomic<bool> shouldStop{false};
+
+	// Receive buffer
+	uint8_t receiveBuffer[1024];
+	struct sockaddr_in senderAddr;
+	socklen_t senderAddrLen;
+	ssize_t bytesReceived;
+};
+
+} // namespace comms
+} // namespace livoxProto1
+
+#endif // UDP_COMMAND_DEMUXER_H

commonLibs/xcbXorg/CMakeLists.txt

@@ -13,7 +13,7 @@ if(ENABLE_LIB_xcbXorg)
     # Set config define for header generation
     add_compile_definitions(CONFIG_LIB_XCBXORG_ENABLED)
     target_include_directories(xcbXorg PUBLIC ${XCB_INCLUDE_DIRS})
-    target_link_libraries(xcbXorg ${XCB_LIBRARIES})
+    target_link_libraries(xcbXorg ${XCB_LIBRARIES} attachmentSupport)
 
     # Install rules
     install(TARGETS xcbXorg DESTINATION lib)

compile/CMakeLists.txt

@@ -0,0 +1,57 @@
+option(COMPILE_CL_CHECKS "Compile CL checks" OFF)
+
+if(COMPILE_CL_CHECKS)
+	# Find OpenCL: try find_package first, fall back to pkg-config
+	find_package(OpenCL QUIET)
+	if(OpenCL_FOUND)
+		# Normalize find_package variables to match pkg_check_modules naming
+		set(OPENCL_FOUND TRUE)
+		set(OPENCL_INCLUDE_DIRS ${OpenCL_INCLUDE_DIRS})
+		# Handle both OpenCL_LIBRARY (singular) and OpenCL_LIBRARIES (plural)
+		if(OpenCL_LIBRARIES)
+			set(OPENCL_LIBRARIES ${OpenCL_LIBRARIES})
+		else()
+			set(OPENCL_LIBRARIES ${OpenCL_LIBRARY})
+		endif()
+		set(OPENCL_LIBRARY_DIRS "")
+		message(STATUS "Found OpenCL using find_package")
+	else()
+		# Fall back to pkg-config
+		pkg_check_modules(OPENCL OpenCL)
+		if(NOT OPENCL_FOUND)
+			message(FATAL_ERROR
+				"Failed to find OpenCL: both find_package and "
+				"pkg_check_modules failed. Try installing the "
+				"'ocl-icd-opencl-dev' package (or the appropriate "
+				"OpenCL development package for your system)."
+			)
+		endif()
+		message(STATUS "Found OpenCL using pkg-config")
+	endif()
+
+	add_executable(clhostshmemptrcheck clhostshmemptrcheck.cpp)
+	target_include_directories(clhostshmemptrcheck
+		PUBLIC ${OPENCL_INCLUDE_DIRS})
+	target_link_libraries(clhostshmemptrcheck
+		${OPENCL_LIBRARIES})
+	add_executable(clshmemlatency clshmemlatency.cpp)
+	target_include_directories(clshmemlatency
+		PUBLIC ${OPENCL_INCLUDE_DIRS})
+	target_link_libraries(clshmemlatency
+		${OPENCL_LIBRARIES})
+	add_executable(clshmemlatency_callback clshmemlatency_callback.cpp)
+	target_include_directories(clshmemlatency_callback
+		PUBLIC ${OPENCL_INCLUDE_DIRS})
+	target_link_libraries(clshmemlatency_callback
+		${OPENCL_LIBRARIES})
+	add_executable(clshmemcheck clshmemcheck.cpp)
+	target_include_directories(clshmemcheck
+		PUBLIC ${OPENCL_INCLUDE_DIRS})
+	target_link_libraries(clshmemcheck
+		${OPENCL_LIBRARIES})
+	add_executable(clzerocopycheck clzerocopycheck.cpp)
+	target_include_directories(clzerocopycheck
+		PUBLIC ${OPENCL_INCLUDE_DIRS})
+	target_link_libraries(clzerocopycheck
+		${OPENCL_LIBRARIES})
+endif()

compile/clhostshmemptrcheck.cpp

@@ -0,0 +1,125 @@
+#define CL_TARGET_OPENCL_VERSION 300
+#include <CL/cl.h>
+#include <iostream>
+#include <vector>
+#include <cstring>
+
+static const char* clErrorToStr(cl_int err)
+{
+    switch(err) {
+        case CL_SUCCESS:                            return "CL_SUCCESS";
+        case CL_INVALID_VALUE:                      return "CL_INVALID_VALUE";
+        case CL_INVALID_CONTEXT:                    return "CL_INVALID_CONTEXT";
+        case CL_INVALID_MEM_OBJECT:                 return "CL_INVALID_MEM_OBJECT";
+        case CL_OUT_OF_HOST_MEMORY:                 return "CL_OUT_OF_HOST_MEMORY";
+        case CL_INVALID_OPERATION:                  return "CL_INVALID_OPERATION";
+        case CL_MEM_OBJECT_ALLOCATION_FAILURE:      return "CL_MEM_OBJECT_ALLOCATION_FAILURE";
+        default:                                    return "UNKNOWN_ERROR";
+    }
+}
+
+// Try creating a USE_HOST_PTR buffer on this device
+bool testUseHostPtr(cl_context ctx, cl_device_id dev)
+{
+    const size_t bufSize = 1024;
+    std::vector<char> host(bufSize, 0);
+
+    cl_int err = 0;
+    cl_mem buf = clCreateBuffer(
+        ctx,
+        CL_MEM_USE_HOST_PTR | CL_MEM_READ_WRITE,
+        bufSize,
+        host.data(),
+        &err
+    );
+
+    if(err != CL_SUCCESS) {
+        std::cerr << "  clCreateBuffer(CL_MEM_USE_HOST_PTR) failed: "
+                  << clErrorToStr(err) << "\n";
+        return false;
+    }
+
+    // Try to enqueue a trivial write to verify it works
+    cl_queue_properties queueProps[] = {CL_QUEUE_PROPERTIES, 0, 0};
+    cl_command_queue q = clCreateCommandQueueWithProperties(ctx, dev, queueProps, &err);
+    if(err != CL_SUCCESS){
+        std::cerr << "  Failed to create command queue: "
+                  << clErrorToStr(err) << "\n";
+        clReleaseMemObject(buf);
+        return false;
+    }
+
+    err = clEnqueueWriteBuffer(q, buf, CL_TRUE, 0, bufSize, host.data(), 0, nullptr, nullptr);
+    clFinish(q);
+
+    bool ok = (err == CL_SUCCESS);
+
+    if(!ok) {
+        std::cerr << "  clEnqueueWriteBuffer failed: " << clErrorToStr(err) << "\n";
+    }
+
+    clReleaseCommandQueue(q);
+    clReleaseMemObject(buf);
+
+    return ok;
+}
+
+int main()
+{
+    cl_uint numPlatforms = 0;
+    clGetPlatformIDs(0, nullptr, &numPlatforms);
+
+    if(numPlatforms == 0){
+        std::cout << "No OpenCL platforms.\n";
+        return 0;
+    }
+
+    std::vector<cl_platform_id> plats(numPlatforms);
+    clGetPlatformIDs(numPlatforms, plats.data(), nullptr);
+
+    for(cl_uint p = 0; p < numPlatforms; ++p)
+    {
+        char buf[256];
+
+        clGetPlatformInfo(plats[p], CL_PLATFORM_NAME, sizeof(buf), buf, nullptr);
+        std::cout << "Platform: " << buf << "\n";
+
+        cl_uint numDevs = 0;
+        clGetDeviceIDs(plats[p], CL_DEVICE_TYPE_ALL, 0, nullptr, &numDevs);
+
+        if(numDevs == 0) {
+            std::cout << "  No devices found on this platform.\n";
+            continue;
+        }
+
+        std::vector<cl_device_id> devs(numDevs);
+        clGetDeviceIDs(plats[p], CL_DEVICE_TYPE_ALL, numDevs, devs.data(), nullptr);
+
+        for(cl_uint d = 0; d < numDevs; ++d)
+        {
+            clGetDeviceInfo(devs[d], CL_DEVICE_NAME, sizeof(buf), buf, nullptr);
+            std::cout << "  Device: " << buf << "\n";
+
+            // Create a context for this device
+            cl_int err;
+            cl_context ctx = clCreateContext(nullptr, 1, &devs[d], nullptr, nullptr, &err);
+
+            if(err != CL_SUCCESS) {
+                std::cout << "    Failed to create context: "
+                          << clErrorToStr(err) << "\n";
+                continue;
+            }
+
+            bool supported = testUseHostPtr(ctx, devs[d]);
+
+            if(supported)
+                std::cout << "    HOST_PTR appears supported.\n";
+            else
+                std::cout << "    HOST_PTR appears NOT supported.\n";
+
+            clReleaseContext(ctx);
+        }
+    }
+
+    return 0;
+}

compile/clshmemcheck.cpp

@@ -0,0 +1,94 @@
+#define CL_TARGET_OPENCL_VERSION 300
+#include <CL/cl.h>
+#include <iostream>
+#include <vector>
+#include <chrono>
+#include <cstring>
+#include <cstdlib>
+
+void checkCLError(cl_int err, const char* msg) {
+    if (err != CL_SUCCESS) {
+        std::cerr << "OpenCL Error " << err << " at: " << msg << std::endl;
+        exit(1);
+    }
+}
+
+int main() {
+    cl_uint numPlatforms = 0;
+    checkCLError(clGetPlatformIDs(0, nullptr, &numPlatforms), "get num platforms");
+    std::vector<cl_platform_id> platforms(numPlatforms);
+    checkCLError(clGetPlatformIDs(numPlatforms, platforms.data(), nullptr), "get platforms");
+
+    std::cout << "Found " << numPlatforms << " OpenCL platforms\n\n";
+
+    for (cl_uint p = 0; p < numPlatforms; ++p) {
+        char platformName[256];
+        clGetPlatformInfo(platforms[p], CL_PLATFORM_NAME, sizeof(platformName), platformName, nullptr);
+        std::cout << "Platform " << p << ": " << platformName << "\n";
+
+        cl_uint numDevices = 0;
+        clGetDeviceIDs(platforms[p], CL_DEVICE_TYPE_ALL, 0, nullptr, &numDevices);
+        std::vector<cl_device_id> devices(numDevices);
+        clGetDeviceIDs(platforms[p], CL_DEVICE_TYPE_ALL, numDevices, devices.data(), nullptr);
+
+        for (cl_uint d = 0; d < numDevices; ++d) {
+            char deviceName[256];
+            clGetDeviceInfo(devices[d], CL_DEVICE_NAME, sizeof(deviceName), deviceName, nullptr);
+            std::cout << "  Device " << d << ": " << deviceName << "\n";
+
+            cl_bool unifiedMem = CL_FALSE;
+            clGetDeviceInfo(devices[d], CL_DEVICE_HOST_UNIFIED_MEMORY, sizeof(unifiedMem), &unifiedMem, nullptr);
+            std::cout << "    Host-Device unified memory: " << (unifiedMem ? "Yes" : "No") << "\n";
+
+#ifdef CL_DEVICE_SVM_CAPABILITIES
+            cl_device_svm_capabilities svmCaps = 0;
+            clGetDeviceInfo(devices[d], CL_DEVICE_SVM_CAPABILITIES, sizeof(svmCaps), &svmCaps, nullptr);
+            std::cout << "    SVM capabilities:\n";
+            if (!svmCaps) std::cout << "      None\n";
+            if (svmCaps & CL_DEVICE_SVM_COARSE_GRAIN_BUFFER)
+                std::cout << "      - Coarse-grain buffer sharing\n";
+            if (svmCaps & CL_DEVICE_SVM_FINE_GRAIN_BUFFER)
+                std::cout << "      - Fine-grain buffer sharing\n";
+            if (svmCaps & CL_DEVICE_SVM_FINE_GRAIN_SYSTEM)
+                std::cout << "      - Fine-grain system sharing\n";
+            if (svmCaps & CL_DEVICE_SVM_ATOMICS)
+                std::cout << "      - Atomics supported\n";
+#endif
+
+            // Optional runtime test: check if CL_MEM_USE_HOST_PTR buffer reuses pointer
+            const size_t bufSize = 1024 * 1024;
+            std::vector<char> hostBuffer(bufSize, 42);
+
+            cl_int err;
+            cl_context ctx = clCreateContext(nullptr, 1, &devices[d], nullptr, nullptr, &err);
+            checkCLError(err, "create context");
+
+            cl_mem buf = clCreateBuffer(ctx, CL_MEM_USE_HOST_PTR, bufSize, hostBuffer.data(), &err);
+            checkCLError(err, "create buffer");
+
+            cl_queue_properties queueProps[] = {CL_QUEUE_PROPERTIES, 0, 0};
+            cl_command_queue q = clCreateCommandQueueWithProperties(ctx, devices[d], queueProps, &err);
+            checkCLError(err, "create queue");
+
+            // Simple host → device → host round-trip test
+            cl_event evt;
+
+            auto start = std::chrono::high_resolution_clock::now();
+
+            void* mapped = clEnqueueMapBuffer(q, buf, CL_TRUE, CL_MAP_READ, 0, bufSize, 0, nullptr, &evt, &err);
+            checkCLError(err, "map buffer");
+            clWaitForEvents(1, &evt);
+
+            clEnqueueUnmapMemObject(q, buf, mapped, 0, nullptr, nullptr);
+            clReleaseMemObject(buf);
+            auto end = std::chrono::high_resolution_clock::now();
+            std::chrono::duration<double, std::milli> elapsed = end - start;
+            std::cout << "    Map latency: " << elapsed.count() << " ms (lower → likely zero-copy)\n";
+
+            clReleaseCommandQueue(q);
+            clReleaseContext(ctx);
+        }
+        std::cout << std::endl;
+    }
+    return 0;
+}

compile/clshmemlatency.cpp

@@ -0,0 +1,184 @@
+#define CL_TARGET_OPENCL_VERSION 300
+#include <CL/cl.h>
+#include <iostream>
+#include <vector>
+#include <chrono>
+#include <cstring>
+#include <cstdlib>
+
+void checkCLError(cl_int err, const char* msg) {
+    if (err != CL_SUCCESS) {
+        std::cerr << "OpenCL Error " << err << " at: " << msg << std::endl;
+        exit(1);
+    }
+}
+
+// --------------------
+// Kernel source
+// Simple mock kernel that simulates splitting XYZ/I
+// Each "point" is 16 bytes (XYZ + Intensity)
+const char* kernelSrc = R"CLC(
+__kernel void xyz_i_split(__global uchar* assembly,
+                          __global uchar* xyzOut,
+                          __global uchar* iOut,
+                          const uint numPoints) {
+    uint gid = get_global_id(0);
+    if (gid >= numPoints) return;
+
+    uint offset = gid * 16;
+    // Copy XYZ (12 bytes) to xyzOut
+    for (int i=0; i<12; ++i)
+        xyzOut[gid*12 + i] = assembly[offset + i];
+
+    // Copy Intensity (4 bytes) to iOut
+    for (int i=0; i<4; ++i)
+        iOut[gid*4 + i] = assembly[offset + 12 + i];
+}
+)CLC";
+
+int main() {
+    // --------------------
+    // CHANGE THIS VALUE to set number of points per assembly buffer
+    const size_t numPointsPerAssembly = 100000; // e.g., ~3333 points per fill
+    const size_t bytesPerPoint = 16;          // 12 bytes XYZ + 4 bytes I
+
+    const size_t assemblyBufSize = numPointsPerAssembly * bytesPerPoint;
+    const size_t xyzBufSize = numPointsPerAssembly * 12;
+    const size_t iBufSize = numPointsPerAssembly * 4;
+
+    cl_uint numPlatforms = 0;
+    checkCLError(clGetPlatformIDs(0, nullptr, &numPlatforms), "get num platforms");
+    std::vector<cl_platform_id> platforms(numPlatforms);
+    checkCLError(clGetPlatformIDs(numPlatforms, platforms.data(), nullptr), "get platforms");
+
+    std::cout << "Found " << numPlatforms << " OpenCL platforms\n\n";
+
+    for (cl_uint p = 0; p < numPlatforms; ++p) {
+        char platformName[256];
+        clGetPlatformInfo(platforms[p], CL_PLATFORM_NAME, sizeof(platformName), platformName, nullptr);
+        std::cout << "Platform " << p << ": " << platformName << "\n";
+
+        cl_uint numDevices = 0;
+        clGetDeviceIDs(platforms[p], CL_DEVICE_TYPE_ALL, 0, nullptr, &numDevices);
+        std::vector<cl_device_id> devices(numDevices);
+        clGetDeviceIDs(platforms[p], CL_DEVICE_TYPE_ALL, numDevices, devices.data(), nullptr);
+
+        for (cl_uint d = 0; d < numDevices; ++d) {
+            char deviceName[256];
+            clGetDeviceInfo(devices[d], CL_DEVICE_NAME, sizeof(deviceName), deviceName, nullptr);
+            std::cout << "  Device " << d << ": " << deviceName << "\n";
+
+            cl_int err;
+            cl_context ctx = clCreateContext(nullptr, 1, &devices[d], nullptr, nullptr, &err);
+            checkCLError(err, "create context");
+
+            cl_queue_properties queueProps[] = {CL_QUEUE_PROPERTIES, 0, 0};
+            cl_command_queue q = clCreateCommandQueueWithProperties(ctx, devices[d], queueProps, &err);
+            checkCLError(err, "create queue");
+
+            // --------------------
+            // Allocate host buffers
+            std::vector<unsigned char> assemblyHost(assemblyBufSize, 42);
+            std::vector<unsigned char> xyzHost(xyzBufSize, 0);
+            std::vector<unsigned char> iHost(iBufSize, 0);
+
+            std::vector<unsigned char> xyzHostCPU(xyzBufSize, 0);
+            std::vector<unsigned char> iHostCPU(iBufSize, 0);
+
+            // Create CL buffers
+            cl_mem assemblyBuf = clCreateBuffer(ctx, CL_MEM_USE_HOST_PTR, assemblyBufSize, assemblyHost.data(), &err);
+            checkCLError(err, "create assembly buffer");
+            cl_mem xyzBuf = clCreateBuffer(ctx, CL_MEM_USE_HOST_PTR, xyzBufSize, xyzHost.data(), &err);
+            checkCLError(err, "create xyz buffer");
+            cl_mem iBuf = clCreateBuffer(ctx, CL_MEM_USE_HOST_PTR, iBufSize, iHost.data(), &err);
+            checkCLError(err, "create i buffer");
+
+            // Build program
+            cl_program prog = clCreateProgramWithSource(ctx, 1, &kernelSrc, nullptr, &err);
+            checkCLError(err, "create program");
+
+            err = clBuildProgram(prog, 1, &devices[d], nullptr, nullptr, nullptr);
+            if (err != CL_SUCCESS) {
+                // Print build log
+                size_t logSize = 0;
+                clGetProgramBuildInfo(prog, devices[d], CL_PROGRAM_BUILD_LOG, 0, nullptr, &logSize);
+                std::vector<char> log(logSize);
+                clGetProgramBuildInfo(prog, devices[d], CL_PROGRAM_BUILD_LOG, logSize, log.data(), nullptr);
+                std::cerr << log.data() << "\n";
+            }
+            checkCLError(err, "build program");
+
+            cl_kernel kernel = clCreateKernel(prog, "xyz_i_split", &err);
+            checkCLError(err, "create kernel");
+
+            // Set kernel args
+            clSetKernelArg(kernel, 0, sizeof(cl_mem), &assemblyBuf);
+            clSetKernelArg(kernel, 1, sizeof(cl_mem), &xyzBuf);
+            clSetKernelArg(kernel, 2, sizeof(cl_mem), &iBuf);
+            clSetKernelArg(kernel, 3, sizeof(cl_uint), &numPointsPerAssembly);
+
+            const size_t globalWorkSize = numPointsPerAssembly;
+
+            // --------------------
+            // Run a few iterations
+            for (int iter = 0; iter < 10; ++iter) {
+                cl_event evt;
+                auto t0 = std::chrono::high_resolution_clock::now();
+
+                void* mappedAssembly = clEnqueueMapBuffer(q, assemblyBuf, CL_TRUE, CL_MAP_READ, 0, assemblyBufSize, 0, nullptr, &evt, &err);
+                checkCLError(err, "map assembly buffer");
+                clWaitForEvents(1, &evt);
+
+                auto t1 = std::chrono::high_resolution_clock::now();
+
+                err = clEnqueueNDRangeKernel(q, kernel, 1, nullptr, &globalWorkSize, nullptr, 0, nullptr, &evt);
+                checkCLError(err, "enqueue kernel");
+                clWaitForEvents(1, &evt);
+
+                auto t2 = std::chrono::high_resolution_clock::now();
+
+                cl_event unmapEvt;
+                err = clEnqueueUnmapMemObject(q, assemblyBuf, mappedAssembly, 0, nullptr, &unmapEvt);
+                checkCLError(err, "unmap assembly buffer");
+                clWaitForEvents(1, &unmapEvt);
+
+                auto t3 = std::chrono::high_resolution_clock::now();
+
+                // --------------------
+                // Host CPU split
+                auto cpuStart = std::chrono::high_resolution_clock::now();
+                for (size_t pt = 0; pt < numPointsPerAssembly; ++pt) {
+                    size_t off = pt * 16;
+                    for (int i = 0; i < 12; ++i)
+                        xyzHostCPU[pt*12 + i] = assemblyHost[off + i];
+                    for (int i = 0; i < 4; ++i)
+                        iHostCPU[pt*4 + i] = assemblyHost[off + 12 + i];
+                }
+                auto cpuEnd = std::chrono::high_resolution_clock::now();
+
+                std::chrono::duration<double, std::milli> mapElapsed = t1 - t0;
+                std::chrono::duration<double, std::milli> kernelElapsed = t2 - t1;
+                std::chrono::duration<double, std::milli> unmapElapsed = t3 - t2;
+                std::chrono::duration<double, std::milli> cpuElapsed = cpuEnd - cpuStart;
+
+                std::cout << "Iteration " << iter
+                          << " | Map: " << mapElapsed.count()
+                          << " ms | Kernel: " << kernelElapsed.count()
+                          << " ms | Unmap: " << unmapElapsed.count()
+                          << " ms | CPU Split: " << cpuElapsed.count() << " ms\n";
+            }
+
+            // Cleanup
+            clReleaseKernel(kernel);
+            clReleaseProgram(prog);
+            clReleaseMemObject(assemblyBuf);
+            clReleaseMemObject(xyzBuf);
+            clReleaseMemObject(iBuf);
+            clReleaseCommandQueue(q);
+            clReleaseContext(ctx);
+        }
+        std::cout << std::endl;
+    }
+    return 0;
+}
+

compile/clshmemlatency_callback.cpp

@@ -0,0 +1,300 @@
+#define CL_TARGET_OPENCL_VERSION 300
+#include <CL/cl.h>
+#include <iostream>
+#include <vector>
+#include <chrono>
+#include <cstring>
+#include <cstdlib>
+#include <mutex>
+#include <condition_variable>
+
+void checkCLError(cl_int err, const char* msg) {
+    if (err != CL_SUCCESS) {
+        std::cerr << "OpenCL Error " << err << " at: " << msg << std::endl;
+        exit(1);
+    }
+}
+
+// Callback context for waiting on events
+struct CallbackContext {
+    std::mutex mtx;
+    std::condition_variable cv;
+    bool completed;
+    cl_int status;
+    std::chrono::high_resolution_clock::time_point* timestamp;
+};
+
+// Helper function to wait for callback completion
+void waitForCallback(CallbackContext& ctx) {
+    std::unique_lock<std::mutex> lock(ctx.mtx);
+    ctx.cv.wait(lock, [&ctx] { return ctx.completed; });
+std::cout <<"waitForCallback cv.wait() returned.\n";
+}
+
+// Static callback for map buffer event
+void CL_CALLBACK mapEventCallback(cl_event /*event*/, cl_int event_command_exec_status, void* user_data) {
+    CallbackContext* ctx = static_cast<CallbackContext*>(user_data);
+std::cout <<"mapEventCallback called and about to lock mutex.\n";
+    std::unique_lock<std::mutex> lock(ctx->mtx);
+    ctx->status = event_command_exec_status;
+    if (ctx->timestamp) {
+        *ctx->timestamp = std::chrono::high_resolution_clock::now();
+    }
+    ctx->completed = true;
+    ctx->cv.notify_one();
+std::cout <<"mapEventCallback just notified.\n";
+}
+
+// Static callback for kernel execution event
+void CL_CALLBACK kernelEventCallback(cl_event /*event*/, cl_int event_command_exec_status, void* user_data) {
+    CallbackContext* ctx = static_cast<CallbackContext*>(user_data);
+std::cout <<"mapEventCallback called and about to lock mutex.\n";
+    std::unique_lock<std::mutex> lock(ctx->mtx);
+    ctx->status = event_command_exec_status;
+    if (ctx->timestamp) {
+        *ctx->timestamp = std::chrono::high_resolution_clock::now();
+    }
+    ctx->completed = true;
+    ctx->cv.notify_one();
+std::cout <<"mapEventCallback just notified.\n";
+}
+
+// Static callback for unmap buffer event
+void CL_CALLBACK unmapEventCallback(cl_event /*event*/, cl_int event_command_exec_status, void* user_data) {
+    CallbackContext* ctx = static_cast<CallbackContext*>(user_data);
+std::cout <<"mapEventCallback called and about to lock mutex.\n";
+    std::unique_lock<std::mutex> lock(ctx->mtx);
+    ctx->status = event_command_exec_status;
+    if (ctx->timestamp) {
+        *ctx->timestamp = std::chrono::high_resolution_clock::now();
+    }
+    ctx->completed = true;
+    ctx->cv.notify_one();
+std::cout <<"mapEventCallback just notified.\n";
+}
+
+// --------------------
+// Kernel source
+// Simple mock kernel that simulates splitting XYZ/I
+// Each "point" is 16 bytes (XYZ + Intensity)
+const char* kernelSrc = R"CLC(
+__kernel void xyz_i_split(__global uchar* assembly,
+                          __global uchar* xyzOut,
+                          __global uchar* iOut,
+                          const uint numPoints) {
+    uint gid = get_global_id(0);
+    if (gid >= numPoints) return;
+
+    uint offset = gid * 16;
+    // Copy XYZ (12 bytes) to xyzOut
+    for (int i=0; i<12; ++i)
+        xyzOut[gid*12 + i] = assembly[offset + i];
+
+    // Copy Intensity (4 bytes) to iOut
+    for (int i=0; i<4; ++i)
+        iOut[gid*4 + i] = assembly[offset + 12 + i];
+}
+)CLC";
+
+int main() {
+    // --------------------
+    // CHANGE THIS VALUE to set number of points per assembly buffer
+    const size_t numPointsPerAssembly = 100000; // e.g., ~3333 points per fill
+    const size_t bytesPerPoint = 16;          // 12 bytes XYZ + 4 bytes I
+
+    const size_t assemblyBufSize = numPointsPerAssembly * bytesPerPoint;
+    const size_t xyzBufSize = numPointsPerAssembly * 12;
+    const size_t iBufSize = numPointsPerAssembly * 4;
+
+    cl_uint numPlatforms = 0;
+    checkCLError(clGetPlatformIDs(0, nullptr, &numPlatforms), "get num platforms");
+    std::vector<cl_platform_id> platforms(numPlatforms);
+    checkCLError(clGetPlatformIDs(numPlatforms, platforms.data(), nullptr), "get platforms");
+
+    std::cout << "Found " << numPlatforms << " OpenCL platforms\n\n";
+
+    for (cl_uint p = 0; p < numPlatforms; ++p) {
+        char platformName[256];
+        clGetPlatformInfo(platforms[p], CL_PLATFORM_NAME, sizeof(platformName), platformName, nullptr);
+        std::cout << "Platform " << p << ": " << platformName << "\n";
+
+        cl_uint numDevices = 0;
+        clGetDeviceIDs(platforms[p], CL_DEVICE_TYPE_ALL, 0, nullptr, &numDevices);
+        std::vector<cl_device_id> devices(numDevices);
+        clGetDeviceIDs(platforms[p], CL_DEVICE_TYPE_ALL, numDevices, devices.data(), nullptr);
+
+        for (cl_uint d = 0; d < numDevices; ++d) {
+            char deviceName[256];
+            clGetDeviceInfo(devices[d], CL_DEVICE_NAME, sizeof(deviceName), deviceName, nullptr);
+            std::cout << "  Device " << d << ": " << deviceName << "\n";
+
+            cl_int err;
+            cl_context ctx = clCreateContext(nullptr, 1, &devices[d], nullptr, nullptr, &err);
+            checkCLError(err, "create context");
+
+            cl_queue_properties queueProps[] = {CL_QUEUE_PROPERTIES, 0, 0};
+            cl_command_queue q = clCreateCommandQueueWithProperties(ctx, devices[d], queueProps, &err);
+            checkCLError(err, "create queue");
+
+            // --------------------
+            // Allocate host buffers
+            std::vector<unsigned char> assemblyHost(assemblyBufSize, 42);
+            std::vector<unsigned char> xyzHost(xyzBufSize, 0);
+            std::vector<unsigned char> iHost(iBufSize, 0);
+
+            std::vector<unsigned char> xyzHostCPU(xyzBufSize, 0);
+            std::vector<unsigned char> iHostCPU(iBufSize, 0);
+
+            // Create CL buffers
+            cl_mem assemblyBuf = clCreateBuffer(ctx, CL_MEM_USE_HOST_PTR, assemblyBufSize, assemblyHost.data(), &err);
+            checkCLError(err, "create assembly buffer");
+            cl_mem xyzBuf = clCreateBuffer(ctx, CL_MEM_USE_HOST_PTR, xyzBufSize, xyzHost.data(), &err);
+            checkCLError(err, "create xyz buffer");
+            cl_mem iBuf = clCreateBuffer(ctx, CL_MEM_USE_HOST_PTR, iBufSize, iHost.data(), &err);
+            checkCLError(err, "create i buffer");
+
+            // Build program
+            cl_program prog = clCreateProgramWithSource(ctx, 1, &kernelSrc, nullptr, &err);
+            checkCLError(err, "create program");
+
+            err = clBuildProgram(prog, 1, &devices[d], nullptr, nullptr, nullptr);
+            if (err != CL_SUCCESS) {
+                // Print build log
+                size_t logSize = 0;
+                clGetProgramBuildInfo(prog, devices[d], CL_PROGRAM_BUILD_LOG, 0, nullptr, &logSize);
+                std::vector<char> log(logSize);
+                clGetProgramBuildInfo(prog, devices[d], CL_PROGRAM_BUILD_LOG, logSize, log.data(), nullptr);
+                std::cerr << log.data() << "\n";
+            }
+            checkCLError(err, "build program");
+
+            cl_kernel kernel = clCreateKernel(prog, "xyz_i_split", &err);
+            checkCLError(err, "create kernel");
+
+            // Set kernel args
+            clSetKernelArg(kernel, 0, sizeof(cl_mem), &assemblyBuf);
+            clSetKernelArg(kernel, 1, sizeof(cl_mem), &xyzBuf);
+            clSetKernelArg(kernel, 2, sizeof(cl_mem), &iBuf);
+            clSetKernelArg(kernel, 3, sizeof(cl_uint), &numPointsPerAssembly);
+
+            const size_t globalWorkSize = numPointsPerAssembly;
+
+            // --------------------
+            // Run a few iterations
+            for (int iter = 0; iter < 10; ++iter) {
+                auto t0 = std::chrono::high_resolution_clock::now();
+                std::chrono::high_resolution_clock::time_point t1, t2, t3;
+
+                cl_event mapEvt;
+                void* mappedAssembly = clEnqueueMapBuffer(q, assemblyBuf, CL_FALSE, CL_MAP_READ, 0, assemblyBufSize, 0, nullptr, &mapEvt, &err);
+                checkCLError(err, "map assembly buffer");
+
+                // Retain event to keep it alive until callback completes
+                err = clRetainEvent(mapEvt);
+                checkCLError(err, "retain map event");
+
+                // Wait for map event using callback
+                CallbackContext mapCtx;
+                mapCtx.completed = false;
+                mapCtx.timestamp = &t1;
+                err = clSetEventCallback(mapEvt, CL_COMPLETE, mapEventCallback, &mapCtx);
+                checkCLError(err, "set map event callback");
+                // Force queue flush to ensure event processing
+                err = clFlush(q);
+                checkCLError(err, "flush queue");
+std::cout <<"About to waitForCalllback for clEnqueueMapBuffer.\n";
+                waitForCallback(mapCtx);
+                checkCLError(mapCtx.status, "map buffer");
+
+                // Release event after callback completes
+                err = clReleaseEvent(mapEvt);
+                checkCLError(err, "release map event");
+
+                cl_event kernelEvt;
+                err = clEnqueueNDRangeKernel(q, kernel, 1, nullptr, &globalWorkSize, nullptr, 0, nullptr, &kernelEvt);
+                checkCLError(err, "enqueue kernel");
+
+                // Retain event to keep it alive until callback completes
+                err = clRetainEvent(kernelEvt);
+                checkCLError(err, "retain kernel event");
+
+                // Wait for kernel event using callback
+                CallbackContext kernelCtx;
+                kernelCtx.completed = false;
+                kernelCtx.timestamp = &t2;
+                err = clSetEventCallback(kernelEvt, CL_COMPLETE, kernelEventCallback, &kernelCtx);
+                checkCLError(err, "set kernel event callback");
+                // Force queue flush to ensure event processing
+                err = clFlush(q);
+                checkCLError(err, "flush queue");
+std::cout <<"About to waitForCalllback for clEnqueueNDRangeKernel.\n";
+                waitForCallback(kernelCtx);
+                checkCLError(kernelCtx.status, "kernel execution");
+
+                // Release event after callback completes
+                err = clReleaseEvent(kernelEvt);
+                checkCLError(err, "release kernel event");
+
+                cl_event unmapEvt;
+                err = clEnqueueUnmapMemObject(q, assemblyBuf, mappedAssembly, 0, nullptr, &unmapEvt);
+                checkCLError(err, "unmap assembly buffer");
+
+                // Retain event to keep it alive until callback completes
+                err = clRetainEvent(unmapEvt);
+                checkCLError(err, "retain unmap event");
+
+                // Wait for unmap event using callback
+                CallbackContext unmapCtx;
+                unmapCtx.completed = false;
+                unmapCtx.timestamp = &t3;
+                err = clSetEventCallback(unmapEvt, CL_COMPLETE, unmapEventCallback, &unmapCtx);
+                checkCLError(err, "set unmap event callback");
+                // Force queue flush to ensure event processing
+                err = clFlush(q);
+                checkCLError(err, "flush queue");
+std::cout <<"About to waitForCalllback for clEnqueueUnmapMemObject.\n";
+                waitForCallback(unmapCtx);
+                checkCLError(unmapCtx.status, "unmap buffer");
+
+                // Release event after callback completes
+                err = clReleaseEvent(unmapEvt);
+                checkCLError(err, "release unmap event");
+
+                // --------------------
+                // Host CPU split
+                auto cpuStart = std::chrono::high_resolution_clock::now();
+                for (size_t pt = 0; pt < numPointsPerAssembly; ++pt) {
+                    size_t off = pt * 16;
+                    for (int i = 0; i < 12; ++i)
+                        xyzHostCPU[pt*12 + i] = assemblyHost[off + i];
+                    for (int i = 0; i < 4; ++i)
+                        iHostCPU[pt*4 + i] = assemblyHost[off + 12 + i];
+                }
+                auto cpuEnd = std::chrono::high_resolution_clock::now();
+
+                std::chrono::duration<double, std::milli> mapElapsed = t1 - t0;
+                std::chrono::duration<double, std::milli> kernelElapsed = t2 - t1;
+                std::chrono::duration<double, std::milli> unmapElapsed = t3 - t2;
+                std::chrono::duration<double, std::milli> cpuElapsed = cpuEnd - cpuStart;
+
+                std::cout << "Iteration " << iter
+                          << " | Map: " << mapElapsed.count()
+                          << " ms | Kernel: " << kernelElapsed.count()
+                          << " ms | Unmap: " << unmapElapsed.count()
+                          << " ms | CPU Split: " << cpuElapsed.count() << " ms\n";
+            }
+
+            // Cleanup
+            clReleaseKernel(kernel);
+            clReleaseProgram(prog);
+            clReleaseMemObject(assemblyBuf);
+            clReleaseMemObject(xyzBuf);
+            clReleaseMemObject(iBuf);
+            clReleaseCommandQueue(q);
+            clReleaseContext(ctx);
+        }
+        std::cout << std::endl;
+    }
+    return 0;
+}
+

compile/clzerocopycheck.cpp

@@ -0,0 +1,117 @@
+#define CL_TARGET_OPENCL_VERSION 300
+#include <CL/cl.h>
+#include <iostream>
+#include <vector>
+#include <cstring>
+
+#define CHECK(err, msg) \
+    if (err != CL_SUCCESS) { \
+        std::cerr << "ERROR: " << msg << " (" << err << ")\n"; \
+        return 1; \
+    }
+
+const char *kernelSrc = R"CLC(
+__kernel void check_shared(__global const int* in, __global int* out) {
+    int gid = get_global_id(0);
+    out[gid] = in[gid] + 42;  // simple deterministic transform
+}
+)CLC";
+
+int main() {
+    cl_int err;
+
+    // Pick first available device
+    cl_uint numPlatforms;
+    CHECK(clGetPlatformIDs(0, nullptr, &numPlatforms), "clGetPlatformIDs count");
+    std::vector<cl_platform_id> plats(numPlatforms);
+    CHECK(clGetPlatformIDs(numPlatforms, plats.data(), nullptr), "clGetPlatformIDs");
+
+    cl_platform_id plat = plats[0];
+    cl_device_id dev;
+    CHECK(clGetDeviceIDs(plat, CL_DEVICE_TYPE_GPU, 1, &dev, nullptr), "clGetDeviceIDs");
+
+    cl_context ctx = clCreateContext(nullptr, 1, &dev, nullptr, nullptr, &err);
+    CHECK(err, "clCreateContext");
+
+    cl_queue_properties queueProps[] = {CL_QUEUE_PROPERTIES, 0, 0};
+    cl_command_queue q = clCreateCommandQueueWithProperties(ctx, dev, queueProps, &err);
+    CHECK(err, "clCreateCommandQueueWithProperties");
+
+    // Create program and kernel
+    const size_t srcLen = std::strlen(kernelSrc);
+    cl_program prog = clCreateProgramWithSource(ctx, 1, &kernelSrc, &srcLen, &err);
+    CHECK(err, "clCreateProgramWithSource");
+
+    err = clBuildProgram(prog, 1, &dev, nullptr, nullptr, nullptr);
+    if (err != CL_SUCCESS) {
+        size_t logSize;
+        clGetProgramBuildInfo(prog, dev, CL_PROGRAM_BUILD_LOG, 0, nullptr, &logSize);
+        std::vector<char> log(logSize);
+        clGetProgramBuildInfo(prog, dev, CL_PROGRAM_BUILD_LOG, logSize, log.data(), nullptr);
+        std::cerr << "--- Build Log ---\n" << log.data() << "\n";
+        return 1;
+    }
+
+    cl_kernel krn = clCreateKernel(prog, "check_shared", &err);
+    CHECK(err, "clCreateKernel");
+
+    const size_t N = 8;
+    size_t bufSize = N * sizeof(int);
+
+    // Allocate host-visible buffer
+    cl_mem bufIn = clCreateBuffer(ctx, CL_MEM_READ_ONLY | CL_MEM_ALLOC_HOST_PTR, bufSize, nullptr, &err);
+    CHECK(err, "clCreateBuffer input");
+    cl_mem bufOut = clCreateBuffer(ctx, CL_MEM_WRITE_ONLY | CL_MEM_ALLOC_HOST_PTR, bufSize, nullptr, &err);
+    CHECK(err, "clCreateBuffer output");
+
+    // Map the buffer (should return pointer to real host memory if unified)
+    int* hostPtr = (int*)clEnqueueMapBuffer(q, bufIn, CL_TRUE, CL_MAP_WRITE, 0, bufSize, 0, nullptr, nullptr, &err);
+    CHECK(err, "clEnqueueMapBuffer");
+
+    std::cout << "Mapped host pointer: " << static_cast<void*>(hostPtr) << "\n";
+
+    // Write pattern directly into mapped memory
+    for (size_t i = 0; i < N; ++i)
+        hostPtr[i] = 100 + i;
+
+    // No clEnqueueWriteBuffer call!  We rely on shared memory.
+    clEnqueueUnmapMemObject(q, bufIn, hostPtr, 0, nullptr, nullptr);
+    clFinish(q);
+
+    // Set kernel args
+    clSetKernelArg(krn, 0, sizeof(cl_mem), &bufIn);
+    clSetKernelArg(krn, 1, sizeof(cl_mem), &bufOut);
+
+    size_t global = N;
+    err = clEnqueueNDRangeKernel(q, krn, 1, nullptr, &global, nullptr, 0, nullptr, nullptr);
+    CHECK(err, "clEnqueueNDRangeKernel");
+    clFinish(q);
+
+    // Read back result
+    int* outPtr = (int*)clEnqueueMapBuffer(q, bufOut, CL_TRUE, CL_MAP_READ, 0, bufSize, 0, nullptr, nullptr, &err);
+    CHECK(err, "map output");
+
+    std::cout << "Result: ";
+    for (size_t i = 0; i < N; ++i)
+        std::cout << outPtr[i] << " ";
+    std::cout << "\n";
+
+    // Validate
+    bool ok = true;
+    for (size_t i = 0; i < N; ++i)
+        if (outPtr[i] != static_cast<int>(142 + i)) ok = false;
+
+    std::cout << (ok ? "✅ GPU saw host writes (zero-copy confirmed)\n"
+                     : "❌ GPU did not see host writes (copying or staging occurred)\n");
+
+    clEnqueueUnmapMemObject(q, bufOut, outPtr, 0, nullptr, nullptr);
+    clFinish(q);
+
+    clReleaseMemObject(bufIn);
+    clReleaseMemObject(bufOut);
+    clReleaseKernel(krn);
+    clReleaseProgram(prog);
+    clReleaseCommandQueue(q);
+    clReleaseContext(ctx);
+    return 0;
+}

devices/avia0.dapss

@@ -1,3 +1,3 @@
-+edev|avia0|
-	structural-implexor|livoxGen1()|livoxProto1()
-	|3JEDK380010Z39
++edev|avia0|mesh()|livoxGen1()|livoxProto1()|3JEDK380010Z39||
++edev|avia0|pcloudIntensity()|livoxGen1()|livoxProto1()|3JEDK380010Z39||
++edev|avia0|pcloudAmbience()|livoxGen1()|livoxProto1()|3JEDK380010Z39

devices/win0.dapss

@@ -1,3 +1 @@
-+edev|win0|
-	visual-implexor|xcb(dev-substring)|xorg(display=1|screen=0)
-	|mut
++edev|win0|visual-qualeiface()|xcb(dev-substring)|xorg(display=1|screen=0)|mut

docs/api-drm-server-linux.md

@@ -1,10 +1,11 @@
-# DeviceSpec: API `drm()` from server `linux()`:
+# DeviceSpec: stim-buff-api `drm()` from provider `linux()`:
 
-The API is Linux DRM/KMS. The server is Linux itself. This server provides
-direct capture of frames at the kernel so it works for both Linux and Wayland.
-There's a program known as GPU Screen Recorder that is able to use this to
-capture specific windows on X11, but the window-specific capture doesn't work
-with Wayland. Irrespective, whole-screen capture works on both GFX servers.
+The stim-buff-api is Linux DRM/KMS. The provider is Linux itself. This provider
+enables direct capture of frames at the kernel level, so it works for both X11
+and Wayland. There is a program called GPU Screen Recorder that can use this
+API to capture specific windows on X11, but window-specific capture does not
+work with Wayland. However, whole-screen capture works on both graphics
+servers.
 
 Notes:
 * `modetest` utility in ubuntu package `libdrm-tests` is relevant.

docs/api-xcb-provider-xorg.md

@@ -1,24 +1,25 @@
-# DeviceSpec: API `xcb`, provider `xorg`
+# DAP Spec: stim-buff-api `xcb`, provider `xorg`
 
 ## Overview
 
-The `xcb` API with the `xorg` provider allows Salmanoff to interact with Xorg
+The `xcb` stim-buff-api with the `xorg` provider allows Salmanoff to interact with Xorg
 server windows. This can be used to capture visual data from specific windows 
 or entire screens managed by the Xorg server.
 
-## DeviceSpec Format
+## DAP Spec Format
 
-The general format of a device-spec for the `xcb` API with the `xorg` provider 
+The general format of a DAP spec for the `xcb` stim-buff-api with the `xorg` provider 
 is:
 ```
-sensor-type|implexor|xcb(api-params)|xorg(provider-params)|deviceSelector
+sensor-type|dev-identifier|quale-iface-api|xcb(stim-buff-api-params)|xorg(provider-params)|deviceSelector
 ```
 
 * `sensor-type` is always either '`+idev`' (interoceptor), '`+edev`' 
   (extrospector), or '`+adev`' (actuator).
-* `implexor` is the name of the implexor algorithm that should be used with 
-  the data that is provided by the `provider` via the `api`.
-* `api` is `xcb` in this case, and the `api-params` in parentheses may be 
+* `dev-identifier` is a user-defined name for this specific device instance.
+* `quale-iface-api` is the name of the StimIface library that should be used to 
+  process the data from the stim buffer.
+* `stim-buff-api` is `xcb` in this case, and the `stim-buff-api-params` in parentheses may be 
   omitted, in which case the parentheses will be empty, but the parentheses 
   must always be written out.
 * `provider` is `xorg` in this case, and the `provider-params` in parentheses 
@@ -28,11 +29,11 @@ sensor-type|implexor|xcb(api-params)|xorg(provider-params)|deviceSelector
   identify the specific window or screen you want to access via that 
   `provider`.
 
-## `api-params` and `provider-params`
+## `stim-buff-api-params` and `provider-params`
 
-### `api-params`
+### `stim-buff-api-params`
 
-The `api-params` for the `xcb` API can include the following:
+The `stim-buff-api-params` for the `xcb` stim-buff-api can include the following:
 
 * `dev-id` or `devid`: Specifies that the `deviceSelector` is a numeric window 
   ID. The ID can be specified in decimal or hexadecimal format.
@@ -97,25 +98,25 @@ xcb(dev-string)|My\ Exact\ Window\ Name
 
 ### To attach a specific window by name (substring match):
 ```
-+edev|visual-implexor|xcb(dev-substring)|xorg(display=0|screen=0)|my-window
++edev|my-window|visual-qualeiface|xcb(dev-substring)|xorg(display=0|screen=0)|my-window
 ```
 This will attach to a window whose name contains "my-window" as a substring.
 
 ### To attach a specific window by exact name:
 ```
-+edev|visual-implexor|xcb(dev-string)|xorg(display=0|screen=0)|My\ Exact\ Window\ Name
++edev|my-window|visual-qualeiface|xcb(dev-string)|xorg(display=0|screen=0)|My\ Exact\ Window\ Name
 ```
 This will attach to a window whose name exactly matches "My Exact Window Name".
 
 ### To attach a specific window by numeric ID:
 ```
-+edev|visual-implexor|xcb(dev-id)|xorg(display=0|screen=0)|123456
++edev|my-window|visual-qualeiface|xcb(dev-id)|xorg(display=0|screen=0)|123456
 ```
 This will attach to a window with the numeric ID `123456`.
 
 ### To attach the entire screen:
 ```
-+edev|visual-implexor|xcb()|xorg(display=0|screen=0)|all
++edev|my-screen|visual-qualeiface|xcb()|xorg(display=0|screen=0)|all
 ```
 This will attach to the entire screen `0` of display `0`.
 

docs/design/postrin-path.md

@@ -0,0 +1,17 @@
+# Postrin path design:
+
+## Negtrin and postrin weighting:
+
+I am skeptical that treating negtrins and postrins as having equal importance
+will produce a working system.
+
+### Frustrator Negtrin model: Postrins as intrinsically desirable:
+
+In the frustrator model, postrins are intrinsically desirable and negtrins are
+only grasped as important in that they forcibly direct Drctr's attention away
+from its sampling/pursuit of a postrin. Because of this they're grasped as being
+bad because they frustrate the intrinsic goal of pursuing/sampling a postrin.
+
+### Equiprioritized intrin model:
+
+In this model 

docs/deviceAttachmentPipelineSpec.md

@@ -0,0 +1,294 @@
+# Device Attachment Pipeline (DAP) Specification DSL: attaching sensors and actuators to SMO.
+
+## DAP Specs vs DA Specs:
+
+**DAP (Device Attachment Pipeline) specs** are human-readable DSL
+specifications that describe a pipeline of steps to connect a particular
+device role on a particular device-identifier to Salmanoff. This document
+describes the DAP specification format.
+
+**DA (Device Attachment) specs** are compiled binary structs used internally
+by SMO after DAP specs have been parsed into binary format. DA specs are the
+internal representation that the system actually uses.
+
+**Multiple Input Formats**: DAP specs can be parsed from multiple
+human-readable formats. For example, we intend to eventually extend ROS's
+URDF XML format to specify device attachment specs (URDFDA specs), which
+would also get compiled into the same DA spec binary format.
+
+## Attaching sensors:
+
+Sensors are input devices to Salmanoff. Salmanoff will perceive them as
+perceptual inputs -- like your own sense organs. For example, if you attach a
+camera as a sensor, salmanoff will experience it in the same way that you
+experience the visual sense data from your eyes.
+
+## QualeIface (Quale Interface):
+
+A QualeIface is a **Quale** **I**nter**face** library that connects to a
+particular stim buffer and allows the mind to process the stim features
+presented in the device's stim buffers. QualeIface libraries replace the
+previous notion of an implexor. They provide the interface between raw device
+data and the mind's processing capabilities.
+
+## Device Attachment Pipeline (DAP) Specification Format:
+
+The general format of a DAP specification is:
+```
+sensor-type|dev-identifier|quale-iface-api(quale-iface-api-params)|stim-buff-api(api-params)|provider(provider-params)|dev-selector
+```
+
+* `sensor-type` is always either '`+idev`' (interoceptor), '`+edev`'
+  (extrospector), or '`+adev`' (actuator).
+* `dev-identifier` is a user-defined name for this specific device instance.
+  This represents a logical device that can be accessed through multiple
+  providers and may expose multiple stim features. In a sense it's like a
+  sense organ or sense modality.
+* `quale-iface-api` is the name of the QualeIface library that should be used to
+  process the data from the stim buffer. This replaces the previous implexor
+  concept. The `quale-iface-api-params` in parentheses may be omitted, in which
+  case the parentheses will be empty, but the parentheses must always be written out.
+* `stim-buff-api` is the interface that provides access to a specific stim
+  buffer from the device. A single device may have multiple stim buffers
+  (e.g., audio output, microphone input, different data streams). The
+  `api-params` in parentheses may be omitted, in which case the parentheses
+  will be empty, but the parentheses must always be written out.
+* `provider` may be a userspace daemon or an OS kernel that provides access to
+  the device's I/O functionality; and thereby allows the `stim-buff-api` to
+  construct and present a stim-buffer to Salmanoff. The `provider-params` in
+  parentheses may be omitted, in which case the parentheses will be empty, but
+  the parentheses must always be written out.
+* `dev-selector` is the idiosyncratic label/name used by the `provider` to
+  identify the specific device you want to attach via that `provider`.
+
+## `quale-iface-api-params`, `stim-buff-api-params` and `provider-params`:
+
+If there's more than one parameter item in a list of `quale-iface-api-params`,
+`stim-buff-api-params`, or `provider-params`, then the individual items in a
+list should be separated by the h-bar character (`|`). E.g:
+```
++edev|soundcard0|audio-qualeiface(param1|param2)|alsa-audio(shmem|param2|param3)|alsa()|cardname
+```
+
+Each parameter must be in one of these forms:
+* key=value
+* key=
+* key
+
+### Important Note on `stim-buff-api-params`:
+
+The `stim-buff-api-params` should **never** include options related to the
+stim buffer's type or format. The `stim-buff-api` must read and infer such
+configuration details from the `quale-iface-api` portion of the DAP spec, and
+configure itself accordingly to enable connection by the specified
+quale-iface library in the way that it has been configured.
+
+`stim-buff-api-params` are for options that are:
+- Device-specific (not modality-wide)
+- Specific to this particular stim-feature as provided by this device
+- Configuration parameters needed by the stim-buff-api to properly interface
+  with the device
+
+Examples of appropriate `stim-buff-api-params`:
+- Buffer size settings
+- Device-specific communication parameters
+- Hardware-specific configuration options
+- Connection timeouts or retry settings
+
+Examples of **inappropriate** `stim-buff-api-params`:
+- Data format specifications (should be inferred from stim-iface-api)
+- Color space settings (should be determined by the stim-iface library)
+- Processing algorithm parameters (belong to the stim-iface library)
+
+## Logical View and Multiple Access Patterns:
+
+### Single Device, Multiple Providers:
+
+A single `dev-identifier` can unite several `dev-selectors` from multiple
+providers. For example, a sound card device `soundcard0` could be accessed
+through:
+
+* `ident: soundcard0, provider: alsa` - Provides access to the card via ALSA
+  API for audio output
+* `ident: soundcard0, provider: linux-driver-direct-file-ops` - Provides direct
+  connection to Linux driver via read/write posix FD calls for beeper sound
+  output
+* `ident: soundcard0, provider: alsa` - Provides access to the card via ALSA
+  for microphone input
+
+So a single physical device is accessed via multiple providers, each with
+different selectors.
+
+### Single Device, Same Provider, Different Stim-Buff-APIs:
+
+A device could have different `stim-buff-apis`, possibly provided by different
+shared libraries:
+
+* `ident: soundcard0, provider: alsa, stim-buff-api: alsa-audio` - For audio
+  output
+* `ident: soundcard0, provider: alsa, stim-buff-api: alsa-mic` - For microphone
+  input
+
+Different stim-buff-apis may be packaged into the same shared library, or
+multiple libraries may dlopen a common library behind the scenes.
+
+### Stim Features and Buffers:
+
+Logically, a `dev-identifier` represents a sense modality. Each device can
+export multiple stim features. For example, an eye can export:
+- Color data
+- Light intensity data
+- Thermal heat data
+- Pain input data
+
+Each stim feature is exposed as a stim buffer, provided by a `stim-buff-api`.
+Stim-buff-apis rely upon providers to implement the device-specific operations
+required to effectuate the stim-buff controls.
+
+## Examples:
+
+### To attach a particular window from a window manager:
+```
++edev|my-window|visual-qualeiface()|wayland()|wayland(server-socket)|window0
+```
+Connect to the Wayland server that's listening on `server-socket`, using the
+`wayland` stim-buff-api. Ask that Wayland server to give salmanoff read-access to all of
+the frames composited into the window buffer for `window0`. Use salmanoff's
+`visual-qualeiface` to process the visual data from that `window0`'s compositor buffer.
+
+### To attach a window manager's entire rendered desktop:
+```
++edev|my-desktop|visual-qualeiface()|wayland()|wayland(listen-socket)|all
+```
+In most cases, this is basically the same as attempting to attach all of the
+underlying GFX server's output.
+
+Connect to the Wayland server that's listening on `listen-socket`, using the
+`wayland` stim-buff-api. Ask that Wayland server to give salmanoff read-access to the
+entire compositor framebuffer. Use salmanoff's `visual-qualeiface` to process the visual data from
+that Wayland server's compositor buffer.
+
+### To attach all of an Xorg server's gfx output to all screens:
+```
++edev|my-xorg-display|visual-qualeiface()|x11()|xorg(listen-socket)|all
+```
+
+Connect to the Xorg server that's listening on `listen-socket`, using the `x11`
+stim-buff-api. Ask that Xorg server to let Salmanoff read out all of the frames written
+out to all screens. Use salmanoff's `visual-qualeiface` to process the visual data from the
+server's gfx framebuffer.
+
+In most cases, this is basically the same as attempting to attach all of the
+WM's output.
+
+* Implementation note:
+  https://stackoverflow.com/questions/33845447/how-do-i-talk-to-an-x-server-in-c-without-a-graphics-library
+  Seems relevant.
+
+### To attach all of an Xorg server's gfx output to a particular screen:
+```
++edev|my-screen|visual-qualeiface()|x11()|xorg(listen-socket)|:0
+```
+Connect to the Xorg server that's listening on `listen-socket`, using the `x11`
+stim-buff-api. Ask that Xorg server to let Salmanoff read out all of the frames written
+out to display `:0`. Use salmanoff's `visual-qualeiface` to process the visual data from display
+`:0`'s framebuffer.
+
+* Implementation note:
+  https://stackoverflow.com/questions/33845447/how-do-i-talk-to-an-x-server-in-c-without-a-graphics-library
+  Seems relevant.
+
+### To attach a camera device by connecting directly to its Linux driver:
+```
++edev|my-camera|visual-qualeiface()|v4l()|linux()|/dev/video0
+```
+We specify that we want to use the `linux` kernel's loaded driver to connect
+to communicate with `/dev/video0`, via the `Video4Linux` stim-buff-api. We want salmanoff
+to use the `visual-qualeiface` library to process the visual data from `/dev/video0`'s stim buffer.
+
+If `/dev/video0` is already consumed by another process, this may likely fail.
+
+### To attach a microphone that's managed by ALSA server:
+```
++edev|my-microphone|audio-qualeiface()|alsa-mic(shmem)|alsa()|cardname
+```
+
+Connect to the ALSA server via `shmem`, using the `alsa-mic` stim-buff-api. Request access to
+the microphone function of the sound card with the name `cardname`. Use the
+`audio-qualeiface` library to process the audio data from `cardname`'s microphone stim buffer.
+
+### To attach a thermal sensor managed by Linux:
+```
++idev|my-thermal|thermal-qualeiface()|thermal-zone()|linux()|/sys/class/thermal_zone0
+```
+
+Use the `thermal-zone` SysFS stim-buff-api provided by `linux` to connect to the sensor
+`/sys/class/thermal_zone0`. Use the `thermal-qualeiface` library to process the thermal data from
+`thermal_zone0`'s heat stim buffer.
+
+## Multiple Provider Examples:
+
+### Single Sound Card Device with Multiple Providers:
+
+The same physical sound card `soundcard0` can be accessed through different providers:
+
+```
++edev|soundcard0|audio-qualeiface()|alsa-audio()|alsa()|card0
+|| +edev|soundcard0|audio-qualeiface()|direct-file-ops()|linux()|/dev/snd/pcmC0D0p
+|| +idev|soundcard0|audio-qualeiface()|alsa-mic()|alsa()|card0
+```
+
+This shows:
+- `soundcard0` accessed via ALSA provider for audio output (`alsa-audio` stim-buff-api)
+- `soundcard0` accessed via Linux provider for direct file operations (`direct-file-ops` stim-buff-api)  
+- `soundcard0` accessed via ALSA provider for microphone input (`alsa-mic` stim-buff-api)
+
+### Single Camera Device with Multiple Stim-Buff-APIs:
+
+A camera device `camera0` might expose different data streams:
+
+```
++edev|camera0|visual-qualeiface()|v4l-rgb()|linux()|/dev/video0
+|| +edev|camera0|visual-qualeiface()|v4l-yuv()|linux()|/dev/video0
+|| +idev|camera0|thermal-qualeiface()|v4l-thermal()|linux()|/dev/video0
+```
+
+This shows the same camera device providing:
+- RGB color data via `v4l-rgb` stim-buff-api
+- YUV color data via `v4l-yuv` stim-buff-api
+- Thermal data via `v4l-thermal` stim-buff-api
+
+## Attaching actuators:
+
+Actuators are Salmanoff's way of enacting changes in the external world.
+They're like your libs, or your mouth. Actuators enable salmanoff to write
+outputs to the world outside.
+
+### Wilzors:
+
+Actuator devices are analogous to your body's limbs. Salmanoff controls these
+by using `wilzor` algorithms. Wilzor is a contraction of **Wil**lpower
+Actuat**Or** but with a 'Z' in the middle to make it sound cooler. Different
+types of devices will require different wilzor algorithms. You need to know
+what type of wilzor algorithm needs to be used to enable salmanoff to control
+your actuator device.
+
+The general format for an actuator's device attachment specification follows the same pattern:
+```
++adev|dev-identifier|wilzor-algorithm(quale-iface-api-params)|stim-buff-api(api-params)|provider(provider-params)|dev-selector
+```
+
+Where `wilzor-algorithm` is the specific wilzor algorithm needed to control the actuator device.
+
+## Device Attachment Pipeline (DAP) specification files:
+
+Inside of a DAP specification file, you can list any number of
+DAP specifications.
+Separate individual DAP specifications with two consecutive h-bar
+characters (`||`),
+like this:
+```
++edev|my-window|visual-qualeiface()|wayland()|wayland(server-socket)|window0
+|| +edev|my-xorg-display|visual-qualeiface()|x11()|xorg(listen-socket)|all
+|| +idev|my-thermal|thermal-qualeiface()|thermal-zone()|linux()|/sys/class/thermal_zone0
+```

docs/deviceAttachmentSpec.md

@@ -1,168 +0,0 @@
-# Device Attachment Specification DSL: attaching sensors and actuators to SMO.
-
-## Attaching sensors:
-
-Sensors are input devices to Salmanoff. Salmanoff will perceive them as
-perceptual inputs -- like your own sense organs. For example, if you attach a
-camera as a sensor, salmanoff will experience it in the same way that you
-experience the visual sense data from your eyes.
-
-## Implexors:
-
-An implexor is an **Imp**licit **Ex**istent isolat**Or** algorithm. It's
-basically what conventional ML/LLM/ANN developers call an ROI ("Region of
-Interest") extraction algorithm. An Implex algorithm is used to scan a frame
-of input sensor data and detect objects and patterns within it.
-
-## Sensor device attachment specification:
-
-The general format of a device attachment specification for a sensor is:
-```
-sensor-type|dev-identifier
-  |implexor|api(api-params)|provider(provider-params)|deviceselector
-```
-
-* `sensor-type` is always either '`+idev`' (interoceptor), '`+edev`'
-  (extrospector), or '`+adev`' (actuator).
-* `dev-identifier` is a user-defined name for this specific device instance.
-* `implexor` is the name of the implexor algorithm that should be used with
-  the data that is provided by the `provider` via the `api`.
-* `api` is the interface that the provider uses to export perceptual data for
-  salmanoff to read. Salmanoff will run the `implexor` algorithm on the data
-  from this `api`. The `api-param` in parentheses may be omitted, in which
-  case the parentheses will be empty, but the parentheses must always be
-  written out.
-* `provider` may be a userspace daemon or an OS kernel that provides perceptual
-  data via the `api`. The `provider-params` in parentheses may be omitted, in
-  which case the parenthesis will be empty, but the parentheses must always be
-  written out.
-* `device selector` is the idiosyncratic label/name used by the `provider` to
-  identify the specific device you want to attach via that `provider`.
-
-## `API-params` and `provider-params`:
-
-If there's more than one parameter item in a list of `api-params` or
-`provider-params`, then the individual items in a list of `api-param` or
-`provider-params` should be separated by the h-bar character (`|`). E.g:
-```
-+edev|audio-implexor|alsa(shmem|param2|param3)|alsa()|cardname
-```
-
-Each parameter must be in one of these forms:
-* key=value
-* key=
-* key
-
-Some examples follow:
-
-### To attach a particular window from a window manager:
-```
-+edev|my-window|visual-implexor|wayland()|wayland(server-socket)|window0
-```
-Connect to the Wayland server that's listening on `server-socket`, using the
-`wayland` api. Ask that Wayland server to give salmanoff read-access to all of
-the frames composited into the window buffer for `window0`. Use salmanoff's
-`visual-implexor` to implex from that `window0`'s compositor data.
-
-### To attach a window manager's entire rendered desktop:
-```
-+edev|my-desktop|visual-implexor|wayland()|wayland(listen-socket)|all
-```
-In most cases, this is basically the same as attempting to attach all of the
-underlying GFX server's output.
-
-Connect to the Wayland server that's listening on `listen-socket`, using the
-`wayland` api. Ask that Wayland server to give salmanoff read-access to the
-entire compositor framebuffer. Use salmanoff's `visual-implexor` to implex from
-that Wayland server's compositor data.
-
-### To attach all of an Xorg server's gfx output to all screens:
-```
-+edev|my-xorg-display|visual-implexor|x11()|xorg(listen-socket)|all
-```
-
-Connect to the Xorg server that's listening on `listen-socket`, using the `x11`
-api. Ask that Xorg server to let Salmanoff read out all of the frames written
-out to all screens. Use salmanoff's `visual-implexor` to implex from the
-server's gfx framebuffer data.
-
-In most cases, this is basically the same as attempting to attach all of the
-WM's output.
-
-* Implementation note:
-  https://stackoverflow.com/questions/33845447/how-do-i-talk-to-an-x-server-in-c-without-a-graphics-library
-  Seems relevant.
-
-### To attach all of an Xorg server's gfx output to a particular screen:
-```
-+edev|my-screen|visual-implexor|x11()|xorg(listen-socket)|:0
-```
-Connect to the Xorg server that's listening on `listen-socket`, using the `x11`
-api. Ask that Xorg server to let Salmanoff read out all of the frames written
-out to display `:0`. Use salmanoff's `visual-implexor` to implex from display
-`:0`'s framebuffer data.
-
-* Implementation note:
-  https://stackoverflow.com/questions/33845447/how-do-i-talk-to-an-x-server-in-c-without-a-graphics-library
-  Seems relevant.
-
-### To attach a camera device by connecting directly to its Linux driver:
-```
-+edev|my-camera|visual-implexor|v4l()|linux()|/dev/video0
-```
-We specify that we want to use the `linux` kernel's loaded driver to connect
-to communicate with `/dev/video0`, via the `Video4Linux` API. We want salmanoff
-to use the `visual-implexor` algorithm to implex from `/dev/video0`'s data.
-
-If `/dev/video0` is already consumed by another process, this may likely fail.
-
-### To attach a microphone that's managed by ALSA server:
-```
-+edev|my-microphone|audio-implexor|alsa(shmem)|alsa()|cardname
-```
-
-Connect to the ALSA server via `shmem`, using the `alsa` API. Request access to
-the microphone function of the sound card with the name `cardname`. Use the
-`audio-implexor` algorithm to implex from `cardname`'s microphone data.
-
-### To attach a thermal sensor managed by Linux:
-```
-+idev|my-thermal|thermal-implexor|thermal-zone()|linux()|/sys/class/thermal_zone0
-```
-
-Use the `thermal-zone` SysFS API provided by `linux` to connect to the sensor
-`/sys/class/thermal_zone0`. Use the `thermal-implexor` implexor to implex from
-`thermal_zone0`'s heat data.
-
-## Attaching actuators:
-
-Actuators are Salmanoff's way of enacting changes in the external world.
-They're like your libs, or your mouth. Actuators enable salmanoff to write
-outputs to the world outside.
-
-### Wilzors:
-
-Actuator devices are analogous to your body's limbs. Salmanoff controls these
-by using `wilzor` algorithms. Wilzor is a contraction of **Wil**lpower
-Actuat**Or** but with a 'Z' in the middle to make it sound cooler. Different
-types of devices will require different wilzor algorithms. You need to know
-what type of wilzor algorithm needs to be used to enable salmanoff to control
-your actuator device.
-
-The general format for an actuator's device attachment specification is:
-```
-WIP: TBD.
-```
-
-## Device attachment specification files:
-
-Inside of a device attachment specification file, you can list any number of
-device attachment specifications.
-Separate individual device attachment specifications with two consecutive h-bar
-characters (`||`),
-like this:
-```
-+edev|my-window|visual-implexor|wayland()|wayland(server-socket)|window0
-|| +edev|my-xorg-display|visual-implexor|x11()|xorg(listen-socket)|all
-|| +idev|my-thermal|thermal-implexor|thermal-zone()|linux()|/sys/class/thermal_zone0
-```

docs/livox-gen1-lidar-dap-spec.md

@@ -1,14 +1,23 @@
-# LivoxGen1Lidar Device Attachment Protocol (DAP) Specification
+# LivoxGen1Lidar Device Attachment Pipeline (DAP) Specification
 
 ## Overview
 
-The LivoxGen1Lidar DAP specification defines how to attach to Livox Gen1 LiDAR devices and access their various data streams using a unified API with mode-based parameter selection.
+The LivoxGen1Lidar DAP specification describes how to attach to Livox Gen1
+LiDAR devices and access their various data streams. The Livox Gen1 LiDAR
+presents multiple stim features, each with its own dedicated stim-buff-api.
 
-## API Structure
+## Stim-Buff-API Structure
 
-The LivoxGen1Lidar DAP uses a unified API name `livoxGen1` with mode-based parameters to specify which data interface to present.
+The LivoxGen1Lidar DAP uses multiple stim-buff-api names, one for each stim feature it presents:
 
-## Device Attachment Specifications
+* `livoxGen1-pcloud` - Point cloud coordinate data
+* `livoxGen1-pcloudIntensity` - Point cloud intensity/reflectivity data  
+* `livoxGen1-gyro` - Gyroscope data from internal IMU
+* `livoxGen1-accel` - Accelerometer data from internal IMU
+
+Each stim-buff-api is designed to work with specific stim-iface libraries that understand the data format and processing requirements for that particular stim feature.
+
+## DAP Specifications
 
 ### 1. Point Cloud Intensity Data Device (Interoceptor)
 
@@ -16,37 +25,58 @@ The LivoxGen1Lidar DAP uses a unified API name `livoxGen1` with mode-based param
 
 **Syntax**:
 ```
-+idev | avia0 | structural-implexor | livoxGen1(mode=pointCloudIntensity) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++idev | avia0 | pcloudIntensity | livoxGen1-pcloudIntensity(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
-**Alternative Syntax** (all equivalent):
+**Stim-Buff-API**: `livoxGen1-pcloudIntensity`
+**Quale-Iface-API**: `pcloudIntensity` - Processes intensity/reflectivity data from point clouds
+
+### 2. Point Cloud Ambience Data Device (Interoceptor)
+
+**Purpose**: Provides ambience data from the LiDAR point cloud, counting high-intensity points per slot.
+
+**Syntax**:
 ```
-+idev | avia0 | structural-implexor | livoxGen1(stim=pcloudIntensity) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
-+idev | avia0 | structural-implexor | livoxGen1(affordance=pCloudI) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++idev | avia0 | pcloudAmbience | livoxGen1-pcloud(high-val=120) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
-**Mode Parameter Values** (synonymous):
-- `pointCloudIntensity`
-- `pcloudIntensity`
-- `pCloudIntensity`
-- `pCloudI`
-- `pcloudI`
+**Stim-Buff-API**: `livoxGen1-pcloud`
+**Quale-Iface-API**: `pcloudAmbience` - Counts points with intensity >= threshold per slot
 
-### 2. Point Cloud Coordinate Data Device (Extrospector)
+**Ambience High Value Parameter** (for pcloudAmbience quale-iface-api):
+- **Parameter names**: `high-value` or `high-val` (synonyms)
+- **Purpose**: Threshold value for counting high-intensity points in the ambience buffer
+- **Default value**: 116
+- **Usage**: Points with intensity >= `ambienceHighVal` are counted in the ambience buffer per slot
+- **Configuration**: Specified in `stim-buff-api-params` when using `pcloudAmbience` quale interface
+- **Example**: `high-val=120` or `high-value=120`
+
+### 3. Point Cloud Coordinate Data Device (Extrospector)
 
 **Purpose**: Provides spatial coordinate data from the LiDAR point cloud.
 
 **Syntax**:
 ```
-+edev | avia0 | structural-implexor | livoxGen1(mode=pcloud,format=xyz) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++edev | avia0 | pcloud(format=xyz) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
-**Mode Parameter Values** (synonymous):
-- `pcloud`
-- `pCloud`
-- `pointCloud`
+**Example with n-dgrams-per-frame parameter**:
+```
++edev | avia0 | pcloud(format=xyz) | livoxGen1-pcloud(data-rate-hz=10,n-dgrams-per-frame=84) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
+```
 
-**Format Parameter** (for point cloud modes):
+**Alternative Format Examples**:
+```
++edev | avia0 | pcloud(format=spherical) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++edev | avia0 | pcloud(format=spherical-cartesian) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++edev | avia0 | pcloud(format=dual-cartesian) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++edev | avia0 | pcloud(format=dual-spherical) | livoxGen1-pcloud(data-rate-hz=10) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
+```
+
+**Stim-Buff-API**: `livoxGen1-pcloud`
+**Quale-Iface-API**: `pcloud` - Processes spatial coordinate data from point clouds
+
+**Format Parameter Values** (for pcloud quale-iface-api):
 - `xyz`: Standard Cartesian coordinates (X, Y, Z)
 - `spherical`: Raw spherical coordinates
 - `spherical-cartesian`: Spherical coordinates converted to Cartesian
@@ -56,29 +86,29 @@ The LivoxGen1Lidar DAP uses a unified API name `livoxGen1` with mode-based param
 **Alternative Format Parameter Names** (synonymous):
 - `format` or `fmt`
 
-### 3. IMU Gyroscope Data Device (Interoceptor)
+### 4. IMU Gyroscope Data Device (Interoceptor)
 
 **Purpose**: Provides gyroscope data from the LiDAR's internal IMU.
 
 **Syntax**:
 ```
-+idev | avia0 | gyro-implexor | livoxGen1(mode=gyro) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++idev | avia0 | gyro | livoxGen1-gyro(data-rate-hz=100) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
-**Mode Parameter Values**:
-- `gyro`
+**Stim-Buff-API**: `livoxGen1-gyro`
+**Quale-Iface-API**: `gyro` - Processes gyroscope angular velocity data
 
-### 4. IMU Accelerometer Data Device (Interoceptor)
+### 5. IMU Accelerometer Data Device (Interoceptor)
 
 **Purpose**: Provides accelerometer data from the LiDAR's internal IMU.
 
 **Syntax**:
 ```
-+idev | avia0 | accel-implexor | livoxGen1(mode=accel) | livoxProto1(handshake-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
++idev | avia0 | accel | livoxGen1-accel(data-rate-hz=100) | livoxProto1(command-timeout-ms=1000,retry-delay-ms=3000,smo-ip=192.168.1.50,smo-subnet-nbits=24) | 3JEDK380010Z39
 ```
 
-**Mode Parameter Values**:
-- `accel`
+**Stim-Buff-API**: `livoxGen1-accel`
+**Quale-Iface-API**: `accel` - Processes accelerometer linear acceleration data
 
 ## Provider Parameters
 
@@ -86,10 +116,10 @@ The LivoxGen1Lidar DAP uses a unified API name `livoxGen1` with mode-based param
 
 The `livoxProto1` provider accepts the following parameters:
 
-**handshake-timeout-ms** (optional):
-- Specifies the timeout for handshake operations when connecting to devices
+**command-timeout-ms** / **cmd-timeout-ms** (optional, synonyms):
+- Specifies the timeout for command operations when communicating with devices
 - Value: Integer number of milliseconds
-- Example: `handshake-timeout-ms=1000` (1 second timeout)
+- Example: `command-timeout-ms=1000` or `cmd-timeout-ms=1000` (1 second timeout)
 - Default: 1000ms if not specified
 
 **retry-delay-ms** (optional):
@@ -124,16 +154,29 @@ The `livoxProto1` provider accepts the following parameters:
 
 ## Parameter Summary
 
-### Mode/Stim/Affordance Parameter Values
+### Stim-Buff-API Names
 
-| Data Type | Mode Values | Description |
-|-----------|-------------|-------------|
-| Point Cloud Intensity | `pointCloudIntensity`, `pcloudIntensity`, `pCloudIntensity`, `pCloudI`, `pcloudI` | Light intensity/reflectivity data |
-| Point Cloud Coordinates | `pcloud`, `pCloud`, `pointCloud` | Spatial coordinate data |
-| Gyroscope | `gyro` | Angular velocity measurements |
-| Accelerometer | `accel` | Linear acceleration measurements |
+| Stim Feature | Stim-Buff-API | Quale-Iface-API | Description |
+|--------------|---------------|----------------|-------------|
+| Point Cloud Intensity | `livoxGen1-pcloudIntensity` | `pcloudIntensity` | Light intensity/reflectivity data |
+| Point Cloud Ambience | `livoxGen1-pcloud` | `pcloudAmbience` | High-intensity point count per slot |
+| Point Cloud Coordinates | `livoxGen1-pcloud` | `pcloud` | Spatial coordinate data |
+| Gyroscope | `livoxGen1-gyro` | `gyro` | Angular velocity measurements |
+| Accelerometer | `livoxGen1-accel` | `accel` | Linear acceleration measurements |
 
-### Format Parameter Values (for point cloud modes)
+### Stim-Buff-API Parameters
+
+Each stim-buff-api accepts device-specific parameters:
+
+| Parameter | Description | Default | Example |
+|-----------|-------------|---------|---------|
+| `data-rate-hz` | Data sampling rate in Hz | - | `data-rate-hz=10` |
+| `n-dgrams-per-frame` / `num-dgrams-per-frame` | Number of UDP datagrams per staging buffer frame | 84 | `n-dgrams-per-frame=84` or `num-dgrams-per-frame=84` |
+| `high-value` / `high-val` | Threshold for counting high-intensity points in ambience buffer (for `pcloudAmbience` quale-iface-api) | 116 | `high-val=120` or `high-value=120` |
+
+### Quale-Iface-API Parameters
+
+The `pcloud` quale-iface-api accepts format parameters:
 
 | Format | Description |
 |--------|-------------|
@@ -143,6 +186,8 @@ The `livoxProto1` provider accepts the following parameters:
 | `dual-cartesian` | Dual Cartesian coordinate system |
 | `dual-spherical` | Dual spherical coordinate system |
 
+The `pcloudAmbience` quale-iface-api uses the `high-value` / `high-val` parameter (documented in Stim-Buff-API Parameters above) to determine the intensity threshold for counting high-intensity points per slot.
+
 ## Device Discovery and Connection
 
 The specification uses a retry-based connection strategy with two different approaches:

docs/pcloud-visualization.md

@@ -0,0 +1,16 @@
+This guy talks about getting it to work using a fake transform:
+
+https://stackoverflow.com/questions/52420672/ros-rviz-how-to-visualize-a-point-cloud-that-doesnt-have-a-fixed-frame-transfo
+
+This thread contains some info about what a transform is:
+
+https://answers.ros.org/question/328839/
+
+Somewhat useful troubleshooter:
+
+https://www.youtube.com/watch?v=b9YZITmCWe4
+
+Excellent, full-featured explanation:
+
+https://www.youtube.com/watch?v=QyvHhY4Y_Y8
+

docs/quale-iface-apis.md

@@ -0,0 +1,146 @@
+# Quale Interface APIs (QualeIface APIs)
+
+## Overview
+
+QualeIface APIs are libraries that connect to particular stim buffers and allow the mind to process the stim features presented in the device's stim buffers. They provide the interface between raw device data and the mind's processing capabilities.
+
+## Universally Understood Parameters
+
+The following parameters are universally understood across all QualeIface API implementations.
+
+### `history-buffer-duration-ms` / `hist-buff-duration-ms` / `histbuff-duration-ms` / `histbuff-ms`
+
+**Synonyms:**
+- `history-buffer-duration-ms`
+- `hist-buff-duration-ms`
+- `histbuff-duration-ms`
+- `histbuff-ms`
+
+**Description:**
+This parameter determines how long the history of the particular StimBuff being attached to the DAP spec's device role will be. The value is specified in milliseconds and determines the duration of historical data that will be maintained in the stimulus buffer.
+
+**Specification:**
+- The parameter is specified as part of the `quale-iface-api-params` in the DAP specification
+- The value is an integer representing milliseconds
+- If multiple synonyms are specified, the lattermost (last encountered) synonym takes precedence
+- If not specified, a default value of 30000ms (30 seconds) is used
+
+**Example:**
+```
++edev|my-device|visual-qualeiface(histbuff-ms=60000)|v4l()|linux()|/dev/video0
+```
+
+This example sets the history buffer duration to 60000ms (60 seconds).
+
+**Note:**
+This parameter is specific to each stimbuff/deviceRole combination. Different device roles can have different history buffer durations based on their requirements.
+
+## Overview
+
+QualeIface APIs are interface libraries that connect to particular stim buffers and allow the mind to process the stim features presented in the device's stim buffers. They provide the interface between raw device data and the mind's processing capabilities.
+
+## Universally Understood QualeIface API Parameters
+
+This document describes quale-iface-api-params that are universally understood across all QualeIface implementations.
+
+### history-buffer-duration-ms / hist-buff-duration-ms / histbuff-duration-ms / histbuff-ms
+
+**Purpose:** Determines how long the history of the particular StimBuff being attached to the DAP spec's device role will be.
+
+**Synonyms:**
+- `history-buffer-duration-ms` (full canonical name)
+- `hist-buff-duration-ms` (abbreviated)
+- `histbuff-duration-ms` (shortened)
+- `histbuff-ms` (shortest)
+
+**Type:** Integer (milliseconds)
+
+**Scope:** Specific to each stimbuff/deviceRole. Each device attachment can specify its own history buffer duration independently.
+
+**Default:** If not specified, implementations typically use a default value (commonly 30000ms = 30 seconds).
+
+**Usage:** The value specifies the duration in milliseconds for which stimulus frames will be retained in the history buffer. This affects how many slots are allocated in the ring buffer: `nSlots = histbuffMs / CONFIG_STIMBUFF_FRAME_PERIOD_MS`.
+
+**Example:**
+```
++edev|my-camera|visual-qualeiface(histbuff-ms=60000)|v4l()|linux()|/dev/video0
+```
+
+This example sets a 60-second history buffer duration for the visual qualeiface processing the camera's point cloud data.
+
+**Notes:**
+- If multiple synonyms are specified in the same parameter list, the lattermost one takes precedence
+- The parameter is parsed from the `quale-iface-api-params` section of the DAP specification
+- This parameter is specific to each device attachment, allowing different devices to have different history durations
+
+
+This document describes universally understood quale-iface-api-params that can be used across different QualeIface implementations.
+
+## history-buffer-duration-ms
+
+### Synonyms
+The `history-buffer-duration-ms` parameter can be specified using any of the following names:
+- `history-buffer-duration-ms` (full form)
+- `hist-buff-duration-ms` (abbreviated)
+- `histbuff-duration-ms` (abbreviated, no dashes)
+- `histbuff-ms` (shortest form)
+
+### Description
+The `history-buffer-duration-ms` parameter determines how long the history of the particular StimBuff being attached to the DAP spec's device role will be. This value specifies the duration in milliseconds for which stimulus frame history will be maintained in the buffer.
+
+### Usage
+This parameter is **specific to each stimbuff/deviceRole**. Each device attachment can have its own history buffer duration, allowing fine-grained control over memory usage and history retention for different sensor types.
+
+### Example
+```
++edev|my-camera|visual-qualeiface(histbuff-ms=30000)|v4l()|linux()|/dev/video0
+```
+
+This example sets a 30-second history buffer for the camera device's stimulus buffer.
+
+### Default Value
+If not specified, the default value is **30000 milliseconds (30 seconds)**.
+
+### Notes
+- The parameter value should be specified as an integer representing milliseconds
+- Later synonyms in the parameter list will override earlier ones if multiple are specified
+- The actual number of buffer slots allocated will be calculated based on this duration divided by the frame period (CONFIG_STIMBUFF_FRAME_PERIOD_MS)
+
+
+This document describes universally understood parameters that can be used in quale-iface-api-params for device attachment specifications.
+
+## history-buffer-duration-ms
+
+**Synonyms:**
+- `history-buffer-duration-ms`
+- `hist-buff-duration-ms`
+- `histbuff-duration-ms`
+- `histbuff-ms`
+
+**Description:**
+
+The `history-buffer-duration-ms` parameter determines how long the history of the particular StimBuff being attached to the DAP spec's device role will be. This parameter is specific to each stimbuff/deviceRole combination.
+
+**Usage:**
+
+This parameter specifies the duration in milliseconds for which historical stimulus frame data will be retained in the buffer. The value determines the number of frames that can be stored, based on the frame period configured for the stimulus buffer.
+
+**Example:**
+
+```
++edev|avia0|structural-qualeiface(histbuff-ms=60000)|livoxGen1()|livoxProto1()|3JEDK380010Z39
+```
+
+This example sets the history buffer duration to 60000ms (60 seconds) for the avia0 device.
+
+**Default Value:**
+
+If not specified, the default value is 30000ms (30 seconds).
+
+**Notes:**
+
+- The parameter value should be specified in milliseconds
+- Multiple synonyms can be used, with later synonyms in the parameter list taking precedence
+- This parameter is parsed from the quale-iface-api-params, not from stim-buff-api-params or provider-params
+- The actual number of buffer slots is calculated as: `histbuffMs / CONFIG_STIMBUFF_FRAME_PERIOD_MS`
+

docs/rusticl-mapping-coherency-bug.md

@@ -0,0 +1,122 @@
+# The reason why Rusticl behaves so weirdly with USE_HOST_PTR
+
+```
+[18:21] == rusticluser [~oftc-webi@2803:1500:c00:eb3:c450:9864:8f21:f2fb] has joined #rusticl
+[18:22] <rusticluser> Hey guys, I have questions about the implementation of clEnqueueMapBuffer/clEnqueueUnmapMemObject in Rusticl.
+[18:22] <rusticluser> This webpage says I should ping karolherbst
+[18:22] <rusticluser> https://docs.mesa3d.org/rusticl.html
+[18:23] <rusticluser> I am finding some very odd behaviour on the Raspberry Pi 5, when using the v3d GPU via Rusticl
+[18:24] <rusticluser> (Gimme a bit to write up my questions)
+[18:25] == pbrobinson [~pbrobinso@2001:8b0:fb11:2681:e9:f8b:31b:f797] has joined #rusticl
+[18:29] <rusticluser> Here's a dump of the output from running `RUSTICL_ENABLE=v3d clinfo` on my Raspberry Pi 5: https://gist.github.com/latentPrion/9843ff5b98f21b20b9f6d5bce43006b3
+[18:30] <rusticluser> Of particular note is that it says that the V3D GPU has a unified memory architecture with the main ARM CPU complex:
+[18:30] <rusticluser> >   Unified memory for Host and Device              Yes
+[18:32] <rusticluser> Because all of my target platforms seem to have unified memory with the CL GPUs, I decided that I would aim to optimize my program by using CL_MEM_USE_HOST_PTR, and avoiding using clEnqueueRead/WriteBuffer. I have indeed got it working on both the RPi5 and on my x86 laptop, but some of the things that were required to get it working on the RPi5+Rusticl implementation are a bit odd, and I wanted to confirm whether these behaviours and apparent eccentricities are
+[18:32] <rusticluser> intentional
+[18:34] <rusticluser> Here is my code, for your perusal and reference.
+[18:34] <rusticluser> https://gist.github.com/latentPrion/d9fb3f0604a957d2055786a118072482
+[18:36] <rusticluser> So: the long and short of it is: I have an input buffer (called "assemblyBuffer") that was filled with data by io_uring. I create an openCL buffer for assemblyBuff, using CL_MEM_USE_HOST_PTR. I then want to pass this assemblyBuffer into an OpenCL kernel.
+[18:37] <rusticluser>  The OpenCL kernel doesn't see the data that was written into the buffer unless I use CL_MAP_WRITE_INVALIDATE. I can understand the reasoning behind this, if the reasoning is that the cache invalidation op is performed on the GPU side.
+[18:38] <rusticluser> That makes sense because the GPU's caches may hold stale data that prevent it from seeing the data I put into the HOST_PTR buffer. So the need to invalidate the GPU's caches makes perfect sense and I'm not complaining about this.
+[18:39] <rusticluser> It's the next bit that is a bit confusing to me, and which I suspect is a bug in RustIcl or the MESA driver behind it.
+[18:40] <rusticluser> I have a 2nd buffer, called the "collateBuffer", which is distinct from the "assemblyBuffer". I run a 2nd kernel after the first kernel, which takes the assemblyBuffer as input, and produces its output into the collationBuffer.
+[18:42] <rusticluser> Now, since the 1st kernel wrote its output data into the assemblyBuffer, this should mean that the GPU's caches should be up to date with the data that was just written into the assemblyBuffer by the 1st kernel -- because it was the GPU itself which wrote that data into the assembyBuffer
+[18:43] <rusticluser> Yet, for some reason, I'm still required to remap the assemblyBuffer with CL_MEM_WRITE_INVALIDATE_REGION when I want to run the 2nd kernel.
+[18:43] <rusticluser> 1. I have not modified the assemblyBuffer's data at all on the host CPU. The data in the assemblyBuffer is exactly what was written into it by the 1st kernel when it was running on the GPU.
+[18:44] <rusticluser> 2. The 2nd kernel doesn't write into, or modify the assemblyBuffer at all in any way. The 2nd kernel uses the assemblyBuffer as input *ONLY*.
+[18:44] <rusticluser>  
+[18:46] <rusticluser> I guess my question is: why am I required to first map and unmap the assemblyBuffer as CL_MAP_WRITE_INVALIDATE_REGION before the GPU can see the contents of the assemblyBuffer, even though the GPU itself just wrote that data into it, and the GPU's caches should be in sync with it?
+[18:47] <rusticluser> (You can see the remapping with CL_MAP_WRITE_INVALIDATE_REGION for the 2nd kernel's execution here: https://gist.github.com/latentPrion/d9fb3f0604a957d2055786a118072482#file-openclcollatingandmeshingengine-cpp-L343)
+[18:48] <rusticluser> Technically, I should be able to just map it as CL_MAP_WRITE without needing to specify INVALIDATE_REGION -- am I incorrect?
+[18:49] <rusticluser> Basically what you see in that pasted gist is what is required to get this to work on the RPi5, so any decisions you see in the code are constrained by either (1) Rusticl, (2) MESA drivers, (3) the RPi5 hardware
+[18:51] <rusticluser> I downloaded the Mesa source code and asked Cursor to scan it and find out what's going on (I don't know Rust, so I can't read the code myself very well) and Cursor says that there's an interediate layer of "shadow buffering" implemented by Rusticl between the host and GPU
+[18:52] <rusticluser> And that this intermediate shadow buffering layer is the source of the unexpected behaviours
+[19:11] <karolherbst> rusticluser: launching kernels on mapped buffers is undefined behavior
+[19:14] <karolherbst> though not sure if that's what you run into, just sounded like it
+[19:17] <rusticluser> karolherbst: Yea, but I don't keep them mapped -- notice that I map and then immediately unmap
+[19:18] <rusticluser> Literally: mapBuffer(); unmapBuffer() back to back lol -- good pointer though
+[19:18] <karolherbst> I'm a bit confused by the code, how do you verify that the GPU is or isn't reading the correct data?
+[19:18] <karolherbst> or do you access it through the host pointer directly?
+[19:19] <rusticluser> karolherbst: I check using printf() (OpenCL 1.2 extension) inside of the running kernel, and also I check the resulting output after the kernel has been executed
+[19:19] <karolherbst> ahh
+[19:19] <rusticluser> Would you like to see the kernels? They're just clutter for your headspace, but maybe they might give you some kind of information I don't know about
+[19:19] <karolherbst> USE_HOST_PTR is a bit weird, because it doesn't guarnatee coherency
+[19:20] <rusticluser> Yea -- I can understand that: the real thing that a developer who's using USE_HOST_PTR wants from the underlying implementation is something like this workflow:
+[19:22] <rusticluser> (1) clEnqueueMapBuffer(CL_MAP_WRITE) => /* (2) I write stuff into the buffer */ => (3) clEnqueueUnmapMemObject() /* At this point, during the unmap operation, the CL implementation is expected to write-back the host CPU's caches to main memory, and then invalidate the GPU's caches so that the GPU can see the writes that were stored to main memory
+[19:23] <rusticluser> And for the read-side, the workflow that the developer intuitively expects is:
+[19:25] <rusticluser> (1) clEnqueueMapBuffer(CL_MAP_READ) /* This mapping call should cause the GPU to write-back to main memory, and should cause the host CPU to invalidate its caches so it can see what was written by the GPU */ => (2) /* I read the stuff from the buffer */ => (3) clEnqueueUnmapMemObject() /* No special maintenance required here */
+[19:26] <karolherbst> right.. I think it's potentially also an issue with the rpi driver. It's not really well tested, so random bugs could always exist there. Might want to verify that your application behaves correctly on other GPUs
+[19:27] <rusticluser> Yea -- I only have this RPi5 as an ARM testbed, sadly. The other test machine I have is this shitty Intel Core I5 laptop with an Intel HD GPU. The Intel HD GPU doesn't require any mapping/unmapping of any kind -- the cache coherency domain seems to fully cover the GPU on the Intel laptop
+[19:28] <rusticluser> Idk, maybe it's a bug, maybe it's not -- I guess I was checking to see if the behaviour I was seeing was intentional and I just didn't properly understand the memory/execution model of OpenCL; or whether it's actually a bug somewhere in the underlying implementation's stack
+[19:28] <karolherbst> the intel is the only driver that ever added support for actually mapping host memory into the GPU when it's not page aligned
+[19:29] <rusticluser> Ah -- my HOST_PTRs are aligned to _SC_PAGE_SIZE
+[19:29] <karolherbst> I don't think the rpi driver supports mapping host memory at all
+[19:29] <rusticluser> :(
+[19:29] <karolherbst> yeah...
+[19:30] <karolherbst> not sure if it's because of missing kernel interfaces or what's the reason there
+[19:30] <rusticluser> How can I check and see? I have no understanding of GFX drivers and I hear they're a real domain-specific kind of mess to read;
+[19:30] <rusticluser> At minimum, which "module" in the mesa code provides the RPi5 opencl driver/support?
+[19:31] <karolherbst> well I know that it doesn't support it on the mesa side, but I haven't checked if there is in theory a kernel interface for it or not
+[19:31] <karolherbst> `src/gallium/drivers/v3d/` is the drive inside mesa
+[19:31] <rusticluser> *nod*, thanks
+[19:31] <rusticluser> Is this worth filing a ticket/issue for?
+[19:32] <karolherbst> _not_ sure. Maybe if there is a strong interest to also implement the GL/vulkan features allowing for mapping host memory
+[19:33] <rusticluser> Alright -- I'll just keep my eye on it and if it becomes an unmanageable problem, I'll file a ticket and probably also try to add the support myself
+[19:34] <rusticluser> These new LLMs really enable you to extend yourself into new domains and contribute to stuff you otherwise wouldn't have the time/insight to be able to, so if it really becomes unmanageable, I'll probably be able to just fix it and submit a patch
+[19:34] <karolherbst> though it should still work in theory, so not really sure what's going wrong there
+[19:34] <rusticluser> It should lol -- the purpose of the clEnqueueMap/Unmap calls isn't to actually "map" anything -- it's purely to manage the cache synchronization between the host CPU complex and the GPU
+[19:35] <karolherbst> but I'd verify if your application behaves as expected on other hardware/drivers as well, maybe even on discrete GPUs
+[19:35] <rusticluser> AFAICT, it's probably just a bug in the cache management
+[19:35] <rusticluser> It definitely won't work on a GPU that doesn't have shared memory because the design is explicitly for USE_HOST_PTR
+[19:36] <karolherbst> then it's broken also for shared memory systems
+[19:36] <rusticluser> Hmmm -- could you elaborate on that?
+[19:37] <karolherbst> USE_HOST_PTR doesn't really allow for different use csaes as it doesn't really gurantee anything except that the pointer returned by mapBuffer matches the host pointer
+[19:37] <karolherbst> aand that's all the additional guarantee it gives you
+[19:38] <karolherbst> you still have to use it as if it wouldn't be a host ptr allocation, because synchronization points are the same as with non host ptr allocations
+[19:38] <rusticluser> Yes, indeed: but it's also explicitly different from CL_MEM_ALLOC_HOST_PTR, I think? The difference is that CL_MEM_ALLOC_HOST_PTR is likely to be mapping in device MMIO registers
+[19:38] <karolherbst> alloc host ptr just means that the allocation is done in host memory instead of VRAM
+[19:38] <karolherbst> maybe
+[19:38] <karolherbst> it's just a hint
+[19:39] <karolherbst> like it uses GART infrastructure and the GPU just accesses memory over PCIe (if a discrete GPU)
+[19:39] <karolherbst> for unified memory GPU it shouldn't make any difference
+[19:39] <rusticluser> I'm sorry -- am I wrong? CL_MEM_ALLOC_HOST_PTR means only that the buffer returned will be *ACCESSIBLE* by the host. This means that the buffer could be MMIO mapped registers, or some other such memory range
+[19:40] <rusticluser> It doesn't actually mean that the buffer is allocated from host mem
+[19:40] <rusticluser> It just means that the buffer will be *ACCESSIBLE* from host mem, __POTENTIALLY__ without a copy
+[19:40] <karolherbst> it has nothing to do with access
+[19:41] <rusticluser> https://registry.khronos.org/OpenCL/sdk/3.0/docs/man/html/clCreateBuffer.html:
+[19:41] <karolherbst> sure, but it means something else
+[19:41] <rusticluser> > This flag specifies that the application wants the OpenCL implementation to allocate memory from host accessible memory.  CL_MEM_ALLOC_HOST_PTR and CL_MEM_USE_HOST_PTR are mutually exclusive.
+[19:41] <rusticluser> Ah ok lol
+[19:41] <karolherbst> like you can't access the memory allocation either way directly, because you have to map
+[19:42] <karolherbst> though CL_MEM_ALLOC_HOST_PTR is more of a "please don't use VRAM, so that reading out the memory on the host is quick"
+[19:42] <rusticluser> It seems like the reason why they say that ALLOC_HOST_PTR and USE_HOST_PTR are mutually exclusive is *precisely because* ALLOC_HOST_PTR is not guaranteed to be allocated within host memory lol
+[19:42] <karolherbst> well.. you have no control over what address the mapping will have
+[19:43] <karolherbst> USE_HOST_PTR already uses host memory, so alloc_host_ptr is meaningless
+[19:43] <rusticluser> I am fairly certain that MEM_ALLOC_HOST_PTR means, "You may use VRAM if you wish, but ensure that it's a portion of your internal VRAM that can be exposed and mapped as MMIO. You may also use host RAM if you wish -- both are fine"
+[19:43] <rusticluser> [19:43] <karolherbst> USE_HOST_PTR already uses host memory, so alloc_host_ptr is meaningless
+[19:43] <rusticluser> ^ Absolutely correct
+[19:43] <rusticluser> Wait whoa no
+[19:44] <karolherbst> VRAM can always be mapped into host memory, it's just slow
+[19:44] <karolherbst> and you have to fight with PCI bar sizes
+[19:44] <karolherbst> though you can also set different caching hints etc..
+[19:45] <rusticluser> When I say "VRAM" here, I was mimicking your language, but a more accurate term would be "device memory" because there's no guarantee that the OpenCL device is indeed a GPU, or that it exposes all of its global, local or private memory in an MMIO or host-accessible fashion lol
+[19:45] <rusticluser> Ok errm, I don't think arguing over this will go very far lol
+[19:46] <rusticluser> But I really appreciate your pointers -- I'll look for another test board
+[19:46] <rusticluser> Really appreciate your time -- I know this is a volunteer effort on your part
+[19:47] <fdobridge_> <l​eftmostcat> Heheh. Pointers.
+[19:47] == rusticluser [~oftc-webi@2803:1500:c00:eb3:c450:9864:8f21:f2fb]
+[19:47] ==  realname : OFTC WebIRC Client
+[19:47] ==  channels : #rusticl
+[19:47] ==  server   : weber.oftc.net [Newark, NJ, USA]
+[19:47] ==  realhost :  [ip: actually using host]
+[19:47] ==  idle     : 0 days 0 hours 1 minutes 20 seconds [connected: Wed Nov 12 18:21:37 2025]
+[19:47] == End of WHOIS
+[19:49] <karolherbst> yeah anyway.. on the rpi5 driver might as well not use use_host_ptr because rusticl will have to copy things around to fake host_ptr support anyway. So might as well then not use it. But I also wanted to implement more optimized map/unmap paths for single device context with unified memory, because atm it's asuming worst case and isn't really
+[19:49] <karolherbst> optimized very well anyway
+[19:49] <karolherbst> but those optimizations will also paper over correctness issues
+[19:51] <karolherbst> though I'm also not convinced that the emulation code is 100% correct...
+[19:52] <karolherbst> there _might_ be a bug if the mapping has different accesses, but I never found anything that ran into issues here
+[19:54] <karolherbst> you could run with `RUSTICL_DEBUG=memory` and see if the prints make any sense. It should tell when the memory content is migrated and moved around
+[20:00] <rusticluser> karolherbst: Ah that's awesome info, thanks
+[20:01] <rusticluser> It would be really useful to have an explicit confirmation of whether I'm actually getting zero-copy
+```

include/asynchronousBridge.h

@@ -1,8 +1,9 @@
 #ifndef ASYNCHRONOUS_BRIDGE_H
 #define ASYNCHRONOUS_BRIDGE_H
 
+#include <boostAsioLinkageFix.h>
 #include <atomic>
-#include <boost/asio.hpp>
+#include <boost/asio/io_service.hpp>
 
 namespace smo {
 
@@ -31,6 +32,16 @@ public:
 			io_service.run_one();
 			if (isAsyncOperationComplete.load() || io_service.stopped())
 				{ break; }
+
+			/**	EXPLANATION:
+			 * In the mrntt and mind thread loops we call checkException() after
+			 * run() returns, but we don't have to do that here because
+			 * setException() calls stop.
+			 *
+			 * So if an exception is set on our thread, we'll break out of this
+			 * loop due to the check for stopped() above, and that'll take us
+			 * back out to the main loop, where we'll catch the exception.
+			 */
 		}
 	}
 

include/asynchronousContinuation.h

@@ -5,8 +5,8 @@
 #include <memory>
 #include <exception>
 #include <componentThread.h>
-#include <lockSet.h>
 #include <callback.h>
+#include <callableTracer.h>
 #include <asynchronousContinuationChainLink.h>
 
 
@@ -50,12 +50,18 @@ public:
 	 * This macro should be used by the caller to bubble the exception to the
 	 * caller.
 	 */
-	#define CONT_SET_EXC(continuation, type, exc_obj) \
+	#define CALLEE_SETEXC(continuation, type, exc_obj) \
 		(continuation)->exception = std::make_exception_ptr<type>(exc_obj)
 
-	#define CONT_SET_EXC_AND_RET(continuation, type, exc_obj) \
+	#define CALLEE_SETEXC_CALLCB(continuation, type, exc_obj) \
 		do { \
-			(continuation)->exception = std::make_exception_ptr<type>(exc_obj); \
+			CALLEE_SETEXC(continuation, type, exc_obj); \
+			(continuation)->callOriginalCb(); \
+		} while(0)
+
+	#define CALLEE_SETEXC_CALLCB_RET(continuation, type, exc_obj) \
+		do { \
+			CALLEE_SETEXC_CALLCB(continuation, type, exc_obj); \
 			return; \
 		} while(0)
 
@@ -136,10 +142,10 @@ public:
 			.callbackFn)
 		{
 			caller->getIoService().post(
-				std::bind(
+				STC(std::bind(
 					AsynchronousContinuation<OriginalCbFnT>::originalCallback
 						.callbackFn,
-					std::forward<Args>(args)...));
+					std::forward<Args>(args)...)));
 		}
 	}
 

include/asynchronousLoop.h

@@ -54,6 +54,11 @@ public:
 		return nTotal == 0;
 	}
 
+	void setRemainingIterationsToFailure()
+	{
+		nFailed.store(nTotal - nSucceeded.load());
+	}
+
 public:
 	unsigned int nTotal;
 	std::atomic<unsigned int> nSucceeded, nFailed;

include/callableTracer.h

@@ -0,0 +1,138 @@
+#ifndef CALLABLE_TRACER_H
+#define CALLABLE_TRACER_H
+
+#include <config.h>
+#include <string>
+#include <functional>
+#include <iostream>
+#include <cstdint>
+#include <opts.h>
+
+namespace smo {
+
+/**
+ * @brief CallableTracer - Wraps callables with metadata for debugging
+ *
+ * This class wraps any callable object with metadata (caller function name,
+ * line number, and return addresses) to help debug cases where callables
+ * posted to boost::asio::io_service have gone out of scope. The metadata
+ * can be accessed from the callable's address when debugging.
+ */
+class CallableTracer
+{
+public:
+	/**
+	 * @brief Constructor that wraps a callable with metadata
+	 * @param callerFuncName The name of the function that created this callable
+	 * @param callerLine The line number where this callable was created
+	 * @param returnAddr0 The return address of the direct caller
+	 * @param returnAddr1 The return address of the caller before that
+	 * @param callable The callable object to wrap
+	 */
+	template<typename CallableT>
+	explicit CallableTracer(
+		const char* callerFuncName,
+		int callerLine,
+		void* returnAddr0,
+		void* returnAddr1,
+		CallableT&& callable)
+	: callerFuncName(callerFuncName),
+	  callerLine(callerLine),
+	  returnAddr0(returnAddr0),
+	  returnAddr1(returnAddr1),
+	  callable(std::forward<CallableT>(callable))
+	{}
+
+	void operator()()
+	{
+		if (OptionParser::getOptions().traceCallables)
+		{
+			std::cout << "" << __func__ << ": On thread "
+				<< (ComponentThread::tlsInitialized()
+					? ComponentThread::getSelf()->name : "<TLS un-init'ed>")
+					<< ": Calling callable posted by:\n"
+				<< "\t" << callerFuncName << "\n\tat line " << (int)callerLine
+				<< " return addr 0: " << returnAddr0
+				<< ", return addr 1: " << returnAddr1
+				<< std::endl;
+		}
+		callable();
+	}
+
+public:
+	/// Name of the function that created this callable
+	std::string callerFuncName;
+	/// Line number where this callable was created
+	int callerLine;
+	/// Return address of the direct caller
+	void* returnAddr0;
+	/// Return address of the caller before that
+	void* returnAddr1;
+
+private:
+	/// The wrapped callable (type-erased using std::function)
+	std::function<void()> callable;
+};
+
+} // namespace smo
+
+/**
+ * @brief STC - SMO Traceable Callable macro
+ *
+ * When CONFIG_DEBUG_TRACE_CALLABLES is defined, wraps the callable with
+ * CallableTracer to store metadata (caller function name, line number,
+ * and return addresses). When not defined, returns the callable directly
+ * with no overhead.
+ *
+ * Uses compiler-specific macros to get fully qualified function names:
+ * - GCC/Clang: __PRETTY_FUNCTION__ (includes full signature with namespace/class)
+ * - MSVC: __FUNCSIG__ (includes full signature)
+ * - Fallback: __func__ (unqualified function name only)
+ *
+ * Uses compiler-specific builtins to get return addresses:
+ * - GCC/Clang: __builtin_return_address(0) and __builtin_return_address(1)
+ * - MSVC: _ReturnAddress() (only one level available)
+ * - Fallback: nullptr for return addresses
+ *
+ * Usage:
+ *   thread->getIoService().post(
+ *       STC(std::bind(&SomeClass::method, this, arg1, arg2)));
+ */
+#ifdef CONFIG_DEBUG_TRACE_CALLABLES
+	#if defined(__GNUC__) || defined(__clang__)
+		// GCC/Clang: __PRETTY_FUNCTION__ gives full signature
+		// e.g., "void smo::SomeClass::method(int, int)"
+		// __builtin_return_address(0) = direct caller
+		// __builtin_return_address(1) = caller before that
+		#define STC(arg) smo::CallableTracer( \
+			__PRETTY_FUNCTION__, \
+			__LINE__, \
+			__builtin_return_address(0), \
+			__builtin_return_address(1), \
+			arg)
+	#elif defined(_MSC_VER)
+		// MSVC: __FUNCSIG__ gives full signature
+		// e.g., "void __cdecl smo::SomeClass::method(int, int)"
+		// _ReturnAddress() = direct caller (only one level available)
+		#include <intrin.h>
+		#define STC(arg) smo::CallableTracer( \
+			__FUNCSIG__, \
+			__LINE__, \
+			_ReturnAddress(), \
+			nullptr, \
+			arg)
+	#else
+		// Fallback to standard __func__ (unqualified name only)
+		// No return address support
+		#define STC(arg) smo::CallableTracer( \
+			__func__, \
+			__LINE__, \
+			nullptr, \
+			nullptr, \
+			arg)
+	#endif
+#else
+#define STC(arg) arg
+#endif
+
+#endif // CALLABLE_TRACER_H

include/callback.h

@@ -2,7 +2,6 @@
 #define CALLBACK_H
 
 #include <memory>
-#include <functional>
 
 namespace smo {
 

include/config.h.in

@@ -11,6 +11,9 @@
 
 /* Device manager reattacher configuration */
 #define CONFIG_MRNTT_DEVMGR_REATTACHER_PERIOD_MS @MRNTT_DEVMGR_REATTACHER_PERIOD_MS@
+/* Stimulus buffer frame period configuration */
+#define CONFIG_STIMBUFF_FRAME_PERIOD_MS @CONFIG_STIMBUFF_FRAME_PERIOD_MS@
+#define CONFIG_STIMBUFF_FRAME_RETRY_DELAY_MS @CONFIG_STIMBUFF_FRAME_RETRY_DELAY_MS@
 
 /* World thread configuration */
 #cmakedefine CONFIG_WORLD_USE_BODY_THREAD
@@ -19,6 +22,9 @@
 #cmakedefine CONFIG_ENABLE_DEBUG_LOCKS
 #cmakedefine CONFIG_DEBUG_QUTEX_DEADLOCK_TIMEOUT_MS @DEBUG_QUTEX_DEADLOCK_TIMEOUT_MS@
 
+/* Debug callable tracing configuration */
+#cmakedefine CONFIG_DEBUG_TRACE_CALLABLES
+
 /* Cross-compilation configuration */
 #cmakedefine CMAKE_CROSSCOMPILING
 
@@ -26,32 +32,20 @@
 #cmakedefine CONFIG_LIB_XCBXORG_ENABLED
 #cmakedefine CONFIG_LIB_ALSA_ENABLED
 
-/* Sense APIs */
-#cmakedefine CONFIG_SENSEAPI_XCBWINDOW_ENABLED
-#cmakedefine CONFIG_SENSEAPI_V4L_ENABLED
-#cmakedefine CONFIG_SENSEAPI_ALSAMIC_ENABLED
-#cmakedefine CONFIG_SENSEAPI_LIVOX_ENABLED
-#cmakedefine CONFIG_SENSEAPI_R3LIVE_ENABLED
-#cmakedefine CONFIG_SENSEAPI_FASTLIO2_ENABLED
-#cmakedefine CONFIG_SENSEAPI_ADALIO2_ENABLED
-#cmakedefine CONFIG_SENSEAPI_DEEPLIO2_ENABLED
+/* Stim Buff APIs */
+#cmakedefine CONFIG_STIMBUFFAPI_XCBWINDOW_ENABLED
+#cmakedefine CONFIG_STIMBUFFAPI_LIVOXGEN1_ENABLED
+#cmakedefine CONFIG_STIMBUFFAPI_V4L_ENABLED
+#cmakedefine CONFIG_STIMBUFFAPI_ALSAMIC_ENABLED
+#cmakedefine CONFIG_STIMBUFFAPI_LIVOX_ENABLED
+#cmakedefine CONFIG_STIMBUFFAPI_R3LIVE_ENABLED
+#cmakedefine CONFIG_STIMBUFFAPI_FASTLIO2_ENABLED
+#cmakedefine CONFIG_STIMBUFFAPI_ADALIO2_ENABLED
+#cmakedefine CONFIG_STIMBUFFAPI_DEEPLIO2_ENABLED
 
 /* Wilzor APIs */
 #cmakedefine CONFIG_WILZORAPI_XCBMOUSE_ENABLED
 #cmakedefine CONFIG_WILZORAPI_XCBKEYBOARD_ENABLED
 #cmakedefine CONFIG_WILZORAPI_ALSAVOICE_ENABLED
 
-/* Legacy defines for backward compatibility */
-#cmakedefine CONFIG_XCBWINDOW_ENABLED
-#cmakedefine CONFIG_V4L_ENABLED
-#cmakedefine CONFIG_ALSAMIC_ENABLED
-#cmakedefine CONFIG_LIVOX_ENABLED
-#cmakedefine CONFIG_R3LIVE_ENABLED
-#cmakedefine CONFIG_FASTLIO2_ENABLED
-#cmakedefine CONFIG_ADALIO2_ENABLED
-#cmakedefine CONFIG_DEEPLIO2_ENABLED
-#cmakedefine CONFIG_XCBMOUSE_ENABLED
-#cmakedefine CONFIG_XCBKEYBOARD_ENABLED
-#cmakedefine CONFIG_ALSAVOICE_ENABLED
-
 #endif /* _CONFIG_H */

include/lockSet.h

@@ -2,8 +2,6 @@
 #define LOCK_SET_H
 
 #include <vector>
-#include <functional>
-#include <atomic>
 #include <stdexcept>
 #include <utility>
 #include <memory>

include/lockerAndInvokerBase.h

@@ -1,7 +1,6 @@
 #ifndef LOCKER_AND_INVOKER_BASE_H
 #define LOCKER_AND_INVOKER_BASE_H
 
-#include <functional>
 #include <list>
 #include <memory>
 

include/qutex.h

@@ -3,10 +3,8 @@
 
 #include <config.h>
 #include <list>
-#include <atomic>
 #include <memory>
 #include <string>
-#include <stdexcept>
 #include <spinLock.h>
 #include <lockerAndInvokerBase.h>
 

include/serializedAsynchronousContinuation.h

@@ -2,7 +2,6 @@
 #define SERIALIZED_ASYNCHRONOUS_CONTINUATION_H
 
 #include <config.h>
-#include <functional>
 #include <memory>
 #include <atomic>
 #include <chrono>

include/spinLock.h

@@ -72,6 +72,46 @@ public:
 		locked.store(false);
 	}
 
+	/**
+	 * @brief RAII guard for SpinLock
+	 * Locks the spinlock on construction and unlocks on destruction
+	 */
+	class Guard
+	{
+	public:
+		explicit Guard(SpinLock& lock)
+		: lock_(lock), unlocked_(false)
+		{
+			lock_.acquire();
+		}
+
+		~Guard()
+		{
+			if (!unlocked_) {
+				lock_.release();
+			}
+		}
+
+		void unlockPrematurely()
+		{
+			if (!unlocked_)
+			{
+				lock_.release();
+				unlocked_ = true;
+			}
+		}
+
+		// Non-copyable, non-movable
+		Guard(const Guard&) = delete;
+		Guard& operator=(const Guard&) = delete;
+		Guard(Guard&&) = delete;
+		Guard& operator=(Guard&&) = delete;
+
+	private:
+		SpinLock& lock_;
+		bool unlocked_;
+	};
+
 private:
 	std::atomic<bool> locked;
 };

include/user/cologex.h

@@ -0,0 +1,63 @@
+#ifndef _COMBINATORIAL_LOGIC_EXPRESSION_H
+#define _COMBINATORIAL_LOGIC_EXPRESSION_H
+
+#include <vector>
+#include <memory>
+#include <user/logic.h>
+#include <mentalEntity.h>
+#include <concept.h>
+#include <user/stimFrame.h>
+
+namespace smo {
+namespace cologex {
+
+class Comparator
+:	public MentalEntity, public logic::Operand
+{
+public:
+	/**		EXPLANATION:
+	 * The reference for a Comparator is the fixed mentity or range of mentities
+	 * that this comparator is intended to validate a match against.
+	 *
+	 * There are several mentities against which a comparator can match. At the
+	 * time of writing, we're fairly sure that these will be at minimum,
+	 * qualia, chronomena and mentena.
+	 */
+	std::shared_ptr<MentalEntity> reference;
+};
+
+class ComparatorExpression
+:	public logic::UnaryExpression
+{
+public:
+	ComparatorExpression(
+		logic::Operator &op, std::shared_ptr<Comparator> &comparator
+	)
+	:	logic::UnaryExpression(
+			op, std::static_pointer_cast<logic::Operand>(comparator))
+	{}
+};
+
+class CombinatorialLogicExpression
+:	public MentalEntity, public logic::Expression, public Concept
+{
+public:
+
+};
+
+class CombinatorialLogicExpressionSeq
+:	public MentalEntity, public Concept
+{
+public:
+	std::vector<
+		std::pair<stim_buff::SimultaneityStamp, CombinatorialLogicExpression>
+	> expressions;
+};
+
+typedef CombinatorialLogicExpression Cologex;
+typedef CombinatorialLogicExpressionSeq CologexSeq;
+
+} // namespace cologex
+} // namespace smo
+
+#endif

include/user/compute.h

@@ -0,0 +1,134 @@
+#ifndef _USER_COMPUTE_H
+#define _USER_COMPUTE_H
+
+#include <memory>
+#include <vector>
+#include <string_view>
+#define CL_TARGET_OPENCL_VERSION 120
+#include <CL/cl.h>
+
+namespace smo {
+namespace compute {
+
+// Helper function to validate OpenCL version
+bool validateOpenClVersion(
+	std::string_view versionStr, std::string_view versionType,
+	int minMajor, int minMinor);
+
+/**
+ * @brief OpenCL compute device information
+ *
+ * Manages a single OpenCL device, creating and owning its context and command
+ * queue.
+ */
+class ComputeDevice
+{
+public:
+	/**
+	 * @brief Construct a ComputeDevice from platform and device IDs
+	 *
+	 * Creates the OpenCL context and command queue for the device.
+	 * Throws std::runtime_error if context or queue creation fails.
+	 *
+	 * @param platformId OpenCL platform ID
+	 * @param deviceId OpenCL device ID
+	 */
+	ComputeDevice(cl_platform_id platformId, cl_device_id deviceId);
+
+	~ComputeDevice()
+	{
+		if (commandQueue)
+		{
+			clReleaseCommandQueue(commandQueue);
+			commandQueue = nullptr;
+		}
+		if (context)
+		{
+			clReleaseContext(context);
+			context = nullptr;
+		}
+	}
+
+	// Non-copyable
+	ComputeDevice(const ComputeDevice&) = delete;
+	ComputeDevice& operator=(const ComputeDevice&) = delete;
+
+	cl_platform_id platform;
+	cl_device_id device;
+	cl_context context;
+	cl_command_queue commandQueue;
+};
+
+/**
+ * @brief Association between an OpenCL buffer and a compute device
+ */
+struct ClBufferDeviceAssociation
+{
+	ClBufferDeviceAssociation(
+		cl_mem buf, const std::shared_ptr<ComputeDevice>& dev)
+	: buffer(buf), device(dev)
+	{}
+
+	cl_mem buffer;
+	std::shared_ptr<ComputeDevice> device;
+};
+
+/**
+ * @brief OpenCL buffer created on all compute devices
+ *
+ * Manages a USE_HOST_PTR buffer created on all available compute devices.
+ * The constructor creates buffers for all devices, and the destructor releases
+ * them.
+ */
+class ClBuffer
+{
+public:
+	/**
+	 * @brief Construct a ClBuffer and create buffers on all devices
+	 *
+	 * Creates a USE_HOST_PTR buffer on each device's context.
+	 * Throws std::runtime_error if buffer creation fails for any device.
+	 *
+	 * @param hostPtr Host pointer to use
+	 * @param size Size of buffer in bytes
+	 * @param flags Additional OpenCL memory flags
+	 * @param devices Vector of compute devices to create buffers on
+	 */
+	ClBuffer(
+		void* hostPtr, size_t size, cl_mem_flags flags,
+		const std::vector<std::shared_ptr<ComputeDevice>>& devices);
+
+	~ClBuffer()
+	{
+		for (auto& assoc : associations)
+		{
+			if (assoc.buffer)
+			{
+				clReleaseMemObject(assoc.buffer);
+				assoc.buffer = nullptr;
+			}
+		}
+	}
+
+	// Non-copyable
+	ClBuffer(const ClBuffer&) = delete;
+	ClBuffer& operator=(const ClBuffer&) = delete;
+
+	/**
+	 * @brief Get the cl_mem handle for a specific compute device
+	 * @param device The compute device to find the buffer for
+	 * @return The cl_mem handle for the device, or nullptr if not found
+	 */
+	cl_mem getAssociatedBufferHandleForDevice(
+		const std::shared_ptr<ComputeDevice>& device) const;
+
+	void* hostPtr;
+	size_t size;
+	cl_mem_flags flags;
+	std::vector<ClBufferDeviceAssociation> associations;
+};
+
+} // namespace compute
+} // namespace smo
+
+#endif // _USER_COMPUTE_H

include/user/deviceAttachmentSpec.h

@@ -25,6 +25,8 @@ public:
     {
         return deviceIdentifier == other.deviceIdentifier &&
                sensorType == other.sensorType &&
+               qualeIfaceApi == other.qualeIfaceApi &&
+               stimBuffApi == other.stimBuffApi &&
                provider == other.provider &&
                deviceSelector == other.deviceSelector;
     }
@@ -32,9 +34,10 @@ public:
 public:
     std::string deviceIdentifier;
     char sensorType;
-    std::string implexor;
-    std::string api;
-    std::vector<std::pair<std::string,std::string>> apiParams;
+    std::string qualeIfaceApi;
+    std::vector<std::pair<std::string,std::string>> qualeIfaceApiParams;
+    std::string stimBuffApi;
+    std::vector<std::pair<std::string,std::string>> stimBuffApiParams;
     std::string provider;
     std::vector<std::pair<std::string,std::string>> providerParams;
     std::string deviceSelector;
@@ -44,9 +47,18 @@ public:
         std::ostringstream os;
         os << "Device Identifier: " << deviceIdentifier
             << ", Sensor Type: " << sensorType
-            << ", Implexor: " << implexor << ", API: " << api
-            << ", API Params: (";
-        for (const auto& param : apiParams)
+            << ", QualeIface API: " << qualeIfaceApi << ", QualeIface API Params: (";
+        for (const auto& param : qualeIfaceApiParams)
+        {
+            os << param.first;
+            if (!param.second.empty()) {
+                os << "=" << param.second;
+            }
+            os << " ";
+        }
+        os << "), StimBuff API: " << stimBuffApi
+            << ", StimBuff API Params: (";
+        for (const auto& param : stimBuffApiParams)
         {
             os << param.first;
             if (!param.second.empty()) {
@@ -69,28 +81,29 @@ public:
     }
 
     /**
-     * @brief Parse a required integer parameter from provider parameters
-     * @param spec The device attachment specification
+     * @brief Parse a required integer parameter from a parameter list
+     * @param params The parameter vector to search in
      * @param paramName The name of the parameter to parse
      * @return The parsed integer value
      * @throws std::runtime_error if parameter is not found or cannot be parsed
      */
     static int parseRequiredParamAsInt(
-		const DeviceAttachmentSpec& spec, const std::string& paramName
+		const std::vector<std::pair<std::string,std::string>>& params,
+		const std::string& paramName
 		)
     {
         auto it = std::find_if(
-            spec.providerParams.begin(),
-            spec.providerParams.end(),
+            params.begin(),
+            params.end(),
             [&paramName](const auto& param) {
                 return param.first == paramName;
             }
         );
 
-        if (it == spec.providerParams.end())
+        if (it == params.end())
         {
             throw std::runtime_error(
-                "No " + paramName + " specified in provider params");
+                "No " + paramName + " specified in params");
         }
 
         try {
@@ -101,6 +114,36 @@ public:
                 + it->second + "' as integer: " + e.what());
         }
     }
+
+    /**
+     * @brief Parse an optional integer parameter from a parameter list using synonyms
+     * @param params The parameter vector to search in
+     * @param synonymNames The collection of synonymous parameter names to try
+     * @param defaultValue The default value to return if no parameter is found
+     * @return The parsed integer value, or defaultValue if none found
+     * @note Synonyms are tried in reverse order; lattermost synonym wins if multiple are present
+     */
+    static int parseOptionalParamAsIntWithSynonyms(
+		const std::vector<std::pair<std::string,std::string>>& params,
+		const std::vector<std::string>& synonymNames,
+		int defaultValue
+		)
+    {
+        // Loop through synonyms in reverse order; lattermost synonym wins.
+        for (auto synIt = synonymNames.rbegin();
+            synIt != synonymNames.rend(); ++synIt)
+        {
+            const auto& paramName = *synIt;
+            try {
+                return parseRequiredParamAsInt(params, paramName);
+            } catch (const std::exception&) {
+                // Parameter not found or parse error, continue to next synonym
+                continue;
+            }
+        }
+
+        return defaultValue;
+    }
 };
 
 class InteroceptorDevAttachmentSpec : public DeviceAttachmentSpec

include/user/frameAssemblyDesc.h

@@ -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
+

include/user/senseApiDesc.h

@@ -4,14 +4,27 @@
 #include <stdbool.h>
 #include <optional>
 #include <string>
+#include <functional>
 #include <memory>
+#include <vector>
 #include <preprocessor.h>
-#include <componentThread.h>
 #include <user/deviceAttachmentSpec.h>
 #include <callback.h>
+#define CL_TARGET_OPENCL_VERSION 120
+#include <CL/cl.h>
+
+class OptionParser;
 
 namespace smo {
-namespace sense_api {
+
+class ComponentThread;
+
+namespace compute {
+class ClBuffer;
+class ComputeDevice;
+} // namespace compute
+
+namespace stim_buff {
 
 /**
  * @brief Threading model descriptor for senseApi libraries.
@@ -78,11 +91,52 @@ struct SmoCallbacks
      * equivalent to calling ComponentThread::getSelf().
      */
     std::shared_ptr<ComponentThread> (*ComponentThread_getSelf)(void);
+
+    /**
+     * @brief Get the OptionParser singleton instance
+     * @return Reference to the OptionParser singleton
+     *
+     * This function provides access to the OptionParser singleton instance,
+     * equivalent to calling OptionParser::getOptions().
+     */
+    OptionParser& (*OptionParser_getOptions)(void);
+
+    /**
+     * @brief Create a USE_HOST_PTR buffer on all OpenCL contexts
+     * @param hostPtr Host pointer to the memory
+     * @param size Size of the buffer in bytes
+     * @param flags Additional OpenCL memory flags
+     * @return Shared pointer to ClBuffer managing buffers on all devices
+     */
+    std::shared_ptr<smo::compute::ClBuffer>
+	(*ComputeManager_createUseHostPtrBuffer)(
+        void* hostPtr, size_t size, cl_mem_flags flags);
+
+    /**
+     * @brief Release USE_HOST_PTR buffers from all contexts
+     * @param buffer Shared pointer to ClBuffer to release
+     */
+    void (*ComputeManager_releaseUseHostPtrBuffer)(
+        std::shared_ptr<smo::compute::ClBuffer> buffer);
+
+    /**
+     * @brief Get a compute device
+     * @return Shared pointer to ComputeDevice, or nullptr if no devices available
+     */
+    std::shared_ptr<smo::compute::ComputeDevice>
+	(*ComputeManager_getDevice)(void);
+
+    /**
+     * @brief Release a compute device
+     * @param device Shared pointer to ComputeDevice to release
+     */
+    void (*ComputeManager_releaseDevice)(
+		std::shared_ptr<smo::compute::ComputeDevice> device);
 };
 
 struct Sal_Mgmt_LibOps
 {
-    /* When Salmanoff loads a sense API lib, it calls this function to initialize
+    /* When Salmanoff loads a stim buff API lib, it calls this function to initialize
      * the lib. When this returns, the lib should be ready to attach devices.
      */
     sal_mlo_initializeIndFn *initializeInd;
@@ -91,7 +145,7 @@ struct Sal_Mgmt_LibOps
      */
     sal_mlo_finalizeIndFn *finalizeInd;
     /* Salmanoff calls this to attach a device to the lib. When it returns, the
-     * device should be attached and ready to be implexed.
+     * device should be attached and ready to present its stimbuff.
      */
     sal_mlo_attachDeviceReqFn *attachDeviceReq;
     // When this returns, the device should be detached.
@@ -109,16 +163,16 @@ struct Sal_Mgmt_LibOps
     }
 };
 
-/* Exported by all sense API Libraries to tell Salmanoff what API the lib uses
- * to connect to providers; and also to state which implexor APIs it exports.
+/* Exported by all stim buff API Libraries to tell Salmanoff what API the lib uses
+ * to connect to providers; and also to state which quale-iface APIs it exports.
  */
-class SenseApiDesc
+class StimBuffApiDesc
 {
 public:
-    class ExportedImplexorApiDesc
+    class ExportedQualeIfaceApiDesc
     {
     public:
-        static bool sanityCheck(const ExportedImplexorApiDesc &desc)
+        static bool sanityCheck(const ExportedQualeIfaceApiDesc &desc)
         {
             if (desc.name.empty()) { return false; }
             return true;
@@ -132,45 +186,45 @@ public:
     std::string stringify() const
     {
         std::string result = "Name: " + name + "\n";
-        result += "Exported Implexor APIs:\n";
-        for (const auto& api : exportedImplexorApis) {
+        result += "Exported QualeIface APIs:\n";
+        for (const auto& api : exportedQualeIfaceApis) {
             result += "  - " + api.name + "\n";
         }
         return result;
     }
 
-    static bool sanityCheck(const SenseApiDesc &desc)
+    static bool sanityCheck(const StimBuffApiDesc &desc)
     {
-        if (desc.name.empty() || desc.exportedImplexorApis.empty()) {
+        if (desc.name.empty() || desc.exportedQualeIfaceApis.empty()) {
             return false;
         }
 
-        for (const auto& api : desc.exportedImplexorApis) {
-            if (!ExportedImplexorApiDesc::sanityCheck(api)) { return false; }
+        for (const auto& api : desc.exportedQualeIfaceApis) {
+            if (!ExportedQualeIfaceApiDesc::sanityCheck(api)) { return false; }
         }
 
         return Sal_Mgmt_LibOps::sanityCheck(desc.sal_mgmt_libOps);
     }
 
     std::string name;
-    // These are the implexors whose APIs this lib exports.
-    std::vector<ExportedImplexorApiDesc> exportedImplexorApis;
+    // These are the quale-iface APIs this lib exports.
+    std::vector<ExportedQualeIfaceApiDesc> exportedQualeIfaceApis;
     Sal_Mgmt_LibOps sal_mgmt_libOps;
 };
 
 
-#define SMO_GET_SENSE_API_DESC_FN_NAME getSenseApiDesc
-#define SMO_GET_SENSE_API_DESC_FN_NAME_STR \
-    SMO_QUOTE(SMO_GET_SENSE_API_DESC_FN_NAME)
-#define SMO_GET_SENSE_API_DESC_FN_TYPEDEF \
-    SMO_CONCAT(SMO_GET_SENSE_API_DESC_FN_NAME, Fn)
+#define SMO_GET_STIM_BUFF_API_DESC_FN_NAME getStimBuffApiDesc
+#define SMO_GET_STIM_BUFF_API_DESC_FN_NAME_STR \
+    SMO_QUOTE(SMO_GET_STIM_BUFF_API_DESC_FN_NAME)
+#define SMO_GET_STIM_BUFF_API_DESC_FN_TYPEDEF \
+    SMO_CONCAT(SMO_GET_STIM_BUFF_API_DESC_FN_NAME, Fn)
 
-/* Every Sense API library must define a global instance of this
+/* Every Stim Buff API library must define a global instance of this
  * function. Salmanoff will search for it and invoke it via dlsym().
  *
- * The function must return a SenseApiDesc struct that Smo will tell
- * Smo what implexors can be used with it & what APIs it exports.
- * The SenseApiDesc struct also gives Smo pointers to API functions
+ * The function must return a StimBuffApiDesc struct that Smo will tell
+ * Smo what quale-iface APIs can be used with it & what APIs it exports.
+ * The StimBuffApiDesc struct also gives Smo pointers to API functions
  * to invoke for communication between Smo and the library.
  *
  * The SmoCallbacks parameter provides the library with access to
@@ -178,11 +232,11 @@ public:
  * The SmoThreadingModelDesc parameter provides the library with access to
  * the io_service for network operations and event handling.
  */
-typedef const SenseApiDesc &(SMO_GET_SENSE_API_DESC_FN_TYPEDEF)(
+typedef const StimBuffApiDesc &(SMO_GET_STIM_BUFF_API_DESC_FN_TYPEDEF)(
     const SmoCallbacks& callbacks,
     const SmoThreadingModelDesc& threadingModel);
 
-} // namespace sense_api
+} // namespace stim_buff
 } // namespace smo
 
 #endif // __USER_SENSE_API_LIB_H__

include/user/sequenceLock.h

@@ -0,0 +1,76 @@
+#ifndef _SEQUENCE_LOCK_H
+#define _SEQUENCE_LOCK_H
+
+#include <atomic>
+#include <optional>
+
+namespace smo {
+
+/**
+ * @brief Sequence lock synchronization primitive
+ *
+ * A reader-writer synchronization primitive where writers increment the
+ * sequence number (odd = writing in progress, even = stable) and readers
+ * check the sequence number to detect concurrent modifications.
+ */
+class SequenceLock
+{
+public:
+	SequenceLock()
+	: sequenceNo(0)
+	{}
+
+	~SequenceLock() = default;
+
+	// Non-copyable, non-movable (std::atomic is neither copyable nor movable)
+	SequenceLock(const SequenceLock&) = delete;
+	SequenceLock& operator=(const SequenceLock&) = delete;
+	SequenceLock(SequenceLock&&) = delete;
+	SequenceLock& operator=(SequenceLock&&) = delete;
+
+	/* Atomically increments sequenceNo and issues a release barrier.
+	 * Makes the sequence number odd, indicating a write is in progress.
+	 */
+	void writeAcquire()
+		{ sequenceNo.fetch_add(1, std::memory_order_release); }
+
+	/* Atomically increments sequenceNo and issues a release barrier.
+	 * Makes the sequence number even again, indicating write is complete.
+	 */
+	void writeRelease()
+		{ sequenceNo.fetch_add(1, std::memory_order_release); }
+
+	/* Issues an acquire barrier and checks if the sequence number is even
+	 * (stable state). If odd (writer active), returns nullopt. Otherwise
+	 * returns the sequence number.
+	 *
+	 * @return std::nullopt if writer is active, otherwise the sequence number
+	 */
+	std::optional<size_t> readAcquire()
+	{
+		size_t seq = sequenceNo.load(std::memory_order_acquire);
+		if (seq & 1) {
+			return std::nullopt;
+		}
+		return seq;
+	}
+
+	/* Issues an acquire barrier and checks if the sequence number matches
+	 * the original value from readAcquire(). If equal, the read was consistent.
+	 *
+	 * @param originalSequenceNo The sequence number obtained from readAcquire()
+	 * @return true if read was consistent, false if writer modified during read
+	 */
+	bool readRelease(size_t originalSequenceNo)
+	{
+		size_t seq = sequenceNo.load(std::memory_order_acquire);
+		return seq == originalSequenceNo;
+	}
+
+private:
+	std::atomic<size_t> sequenceNo;
+};
+
+} // namespace smo
+
+#endif // _SEQUENCE_LOCK_H

include/user/spMcRingBuffer.h

@@ -0,0 +1,157 @@
+#ifndef _SP_MC_RING_BUFFER_H
+#define _SP_MC_RING_BUFFER_H
+
+#include <vector>
+#include <cstddef>
+#include <stdexcept>
+#include <string>
+#include <new>
+#include <memory>
+#include <user/stimulusFrame.h>
+#include <user/frameAssemblyDesc.h>
+#include <user/sequenceLock.h>
+#include <user/senseApiDesc.h>
+#define CL_TARGET_OPENCL_VERSION 120
+#include <CL/cl.h>
+
+namespace smo {
+namespace stim_buff {
+
+/**
+ * @brief Single-producer, multi-consumer ring buffer w/per-slot sequence locks
+ *
+ * A ring buffer that maintains data alignment constraints while providing
+ * lock-free read access through per-slot sequence locks. The locks are kept
+ * separate from the data to preserve alignment requirements for the input
+ * engine.
+ */
+class SpMcRingBuffer
+{
+public:
+	/**	EXPLANATION:
+	 * Constructor initializes the ring buffer with FrameAssemblyDesc.
+	 * Allocates frames vector with properly constructed StimulusFrame instances,
+	 * each initialized with a SlotDesc from the FrameAssemblyDesc.
+	 */
+	explicit SpMcRingBuffer(
+		const std::shared_ptr<FrameAssemblyDesc> &frameAssemblyDesc_,
+		const SmoCallbacks& callbacks,
+		cl_mem_flags flags)
+	:
+	nBuffers(frameAssemblyDesc_ ? frameAssemblyDesc_->slots.size() : 0),
+	frameAssemblyDesc(frameAssemblyDesc_),
+	slots(nBuffers),  // Default-construct all frames
+	producerNextUsableIndex(0)
+	{
+		if (!frameAssemblyDesc)
+		{
+			throw std::invalid_argument(std::string(__func__)
+				+ ": SpMcRingBuffer: frameAssemblyDesc must not be null");
+		}
+
+		if (nBuffers == 0)
+		{
+			throw std::invalid_argument(std::string(__func__)
+				+ ": SpMcRingBuffer: frameAssemblyDesc must have at least one "
+				"slot");
+		}
+
+		// Re-invoke constructors w/placement new on default-constructed frames
+		for (size_t i = 0; i < nBuffers; ++i)
+		{
+			slots[i].~StimulusFrame();  // Destroy default-constructed object
+			new (&slots[i]) StimulusFrame(
+				frameAssemblyDesc->slots[i], callbacks, flags, i);
+		}
+	}
+
+	~SpMcRingBuffer() = default;
+
+	// Non-copyable, non-movable (slots are non-movable)
+	SpMcRingBuffer(const SpMcRingBuffer&) = delete;
+	SpMcRingBuffer& operator=(const SpMcRingBuffer&) = delete;
+	SpMcRingBuffer(SpMcRingBuffer&&) = delete;
+	SpMcRingBuffer& operator=(SpMcRingBuffer&&) = delete;
+
+public:
+	/**
+	 * @brief Get a reference to the StimulusFrame at the specified slot
+	 *
+	 * @param slotIndex The index of the slot (0-based)
+	 * @return Reference to StimulusFrame at the slot
+	 * @throws std::out_of_range if slotIndex >= nBuffers
+	 */
+	StimulusFrame& getDataAtSlot(size_t slotIndex)
+	{
+		if (slotIndex >= nBuffers)
+		{
+			throw std::out_of_range(std::string(__func__)
+				+ ": SpMcRingBuffer: slotIndex must be < nBuffers");
+		}
+		return slots[slotIndex];
+	}
+
+	SequenceLock& getSequenceLockAtSlot(size_t slotIndex)
+	{
+		if (slotIndex >= nBuffers)
+		{
+			throw std::out_of_range(std::string(__func__)
+				+ ": SpMcRingBuffer: slotIndex must be < nBuffers");
+		}
+		return slots[slotIndex].lock;
+	}
+
+	/**
+	 * @brief Get the next index to produce into, atomically incrementing it
+	 *
+	 * Uses sequence lock to perform an emulated fetch_add with modulo nBuffers
+	 * applied, ensuring the returned index is always < nBuffers.
+	 *
+	 * @return The index to produce into (always < nBuffers)
+	 */
+	size_t getIndexToProduceInto()
+	{
+		producerNextUsableIndexLock.writeAcquire();
+		size_t currentIndex = producerNextUsableIndex;
+		size_t nextIndex = (currentIndex + 1) % nBuffers;
+		producerNextUsableIndex = nextIndex;
+		producerNextUsableIndexLock.writeRelease();
+		return currentIndex;
+	}
+
+	/**
+	 * @brief Abort production by setting the producer index to a specific value
+	 *
+	 * @param index The index to set (must be < nBuffers)
+	 * @throws std::out_of_range if index >= nBuffers
+	 */
+	void abortProduction(size_t index)
+	{
+		if (index >= nBuffers)
+		{
+			throw std::out_of_range(std::string(__func__)
+				+ ": SpMcRingBuffer: index must be < nBuffers");
+		}
+		producerNextUsableIndexLock.writeAcquire();
+		producerNextUsableIndex = index;
+		producerNextUsableIndexLock.writeRelease();
+	}
+
+public:
+	// Layout/invariants
+	size_t nBuffers;
+
+private:
+	// FrameAssemblyDesc describing the memory layout
+	std::shared_ptr<FrameAssemblyDesc> frameAssemblyDesc;
+	// Frames vector: each frame contains a sequence lock and SlotDesc
+	std::vector<StimulusFrame> slots;
+	SequenceLock producerNextUsableIndexLock;
+	size_t producerNextUsableIndex;
+};
+
+} // namespace stim_buff
+} // namespace smo
+
+#endif // _SP_MC_RING_BUFFER_H
+

include/user/stagingBuffer.h

@@ -0,0 +1,199 @@
+#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:
+		// Default constructor creates uninitialized constraints
+		IOEngineConstraints() = default;
+
+		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:
+	 * Default constructor creates uninitialized buffer.
+	 * Must be properly initialized using placement new with the parameterized constructor.
+	 */
+	StagingBuffer() = default;
+
+	/**	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 nSlots);
+	~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.
+	 * Returns pointer to first slot (offset by firstSlotOffsetNBytes) and
+	 * size from first slot to end of buffer.
+	 */
+	struct iovec getClEngineIovec() const
+	{
+		struct iovec iov;
+		iov.iov_base = buffer.get() + firstSlotOffsetNBytes;
+		iov.iov_len = bufferNBytes - firstSlotOffsetNBytes;
+		return iov;
+	}
+
+	inline std::string stringify() const
+	{
+		std::ostringstream oss;
+		oss << "StagingBuffer{"
+			<< "nSlots=" << nSlots
+			<< ", 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 nSlots,
+		size_t slotStrideNBytes,
+		const IOEngineConstraints& inputConstraints);
+
+	// Custom deleter for mmap-allocated buffer
+	struct MmapDeleter
+	{
+		size_t size;
+		// Default constructor for use with default-constructed StagingBuffer
+		MmapDeleter() : size(0) {}
+		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 nSlots;
+
+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

include/user/stencil.h

@@ -0,0 +1,83 @@
+#ifndef _STENCIL_H
+#define _STENCIL_H
+
+#include <vector>
+#include <memory>
+#include <user/stimFrame.h>
+#include <mentalEntity.h>
+
+namespace smo {
+namespace cologex {
+
+/**
+ * Stencil represents range descriptions for sub-regions of sensor data frames.
+ *
+ * When a sensor yields frames with multiple values per frame, the Stencil class
+ * allows the stimbufflib driver to describe the subset of the input data that
+ * is relevant to SMO. For example:
+ *
+ * * A HSB format camera might treat brightness values above 128 as
+ *   negtrins, creating a Stencil that denotes all offsets in a
+ *   frame that exceed 128.
+ *
+ * * A lidar yielding XYZI[ntensity] might consider I values exceeding 128 to be
+ *   negtrins, creating a Stencil listing all values in the point
+ *   cloud that exceed 128.
+ *
+ * The Stencil internally represents offsets with ranges or other efficient
+ * formats to describe offsets (e.g., by row). The internal format is opaque to
+ * the stimbufflib, which describes relevant ranges by calling Stencil methods.
+ */
+class Stencil
+{
+public:
+	/**
+	 * Constructor that takes a shared_ptr to StimFrame and produces a completed
+	 * Stencil. The Stencil scans the StimFrame and efficiently allocates
+	 * internal structures to describe the stencil ranges.
+	 *
+	 * @param frame Shared pointer to the StimFrame to analyze
+	 * @param threshold The threshold value for determining relevant data
+	 */
+	Stencil(
+		const std::shared_ptr<stim_buff::StimFrame> &frame,
+		const uint32_t threshold)
+	: frame(frame), threshold(threshold)
+	{}
+	virtual ~Stencil() = default;
+
+	/**
+	 * Pure virtual method for derived classes to implement their specific
+	 * threshold analysis logic. Returns true if there are values above threshold,
+	 * false otherwise.
+	 */
+	virtual bool analyzeFrame() = 0;
+
+	/**
+	 * Stencil is constructed from a StimFrame. If the input StimFrame had no
+	 * values above threshold, then the Stencil will have no data.
+	 */
+	virtual bool hasData() const = 0;
+	operator bool() const { return hasData(); }
+	bool operator!() const { return !hasData(); }
+
+	// Return the number of relevant ranges/offsets in this Stencil.
+	virtual size_t getRelevantCount() const = 0;
+	// Return true if the offset is relevant, false otherwise
+	virtual bool isRelevant(size_t offset) const = 0;
+
+	/**
+	 * Build internal stencil metadata from the shared_ptr member to describe
+	 * the range of StimFrame values that are relevant.
+	 */
+	virtual bool buildStencilMetadata() = 0;
+
+protected:
+	uint32_t threshold;
+	std::shared_ptr<stim_buff::StimFrame> frame;
+};
+
+} // namespace cologex
+} // namespace smo
+
+#endif // _STENCIL_H

include/user/stimulusBuffer.h

@@ -0,0 +1,71 @@
+#ifndef _STIMULUS_BUFFER_H
+#define _STIMULUS_BUFFER_H
+
+#include <config.h>
+#include <vector>
+#include <memory>
+#include <user/spMcRingBuffer.h>
+#include <user/stagingBuffer.h>
+#include <user/frameAssemblyDesc.h>
+#include <user/senseApiDesc.h>
+#include "stimulusFrame.h"
+#include "deviceAttachmentSpec.h"
+#define CL_TARGET_OPENCL_VERSION 120
+#include <CL/cl.h>
+
+namespace smo {
+namespace stim_buff {
+
+// Forward declaration
+class StimulusProducer;
+
+/**
+ * StimulusBuffer manages a collection of stimulus frames and ring buffer.
+ *
+ * This buffer holds the actual frame storage and ring buffer for stimulus
+ * data. It maintains a reference to its parent StimulusProducer.
+ */
+class StimulusBuffer
+{
+public:
+	explicit StimulusBuffer(
+		StimulusProducer& parent,
+		const std::shared_ptr<device::DeviceAttachmentSpec>
+			&deviceAttachmentSpec,
+		int histbuffMs,
+		const StagingBuffer::IOEngineConstraints& inputEngineConstraints,
+		const StagingBuffer::IOEngineConstraints& outputEngineConstraints,
+		const SmoCallbacks& callbacks,
+		cl_mem_flags flags)
+	: parent(parent),
+	deviceAttachmentSpec(deviceAttachmentSpec),
+	histbuffMs(histbuffMs),
+	stagingBuffer(
+		inputEngineConstraints,
+		outputEngineConstraints,
+		static_cast<size_t>(histbuffMs / CONFIG_STIMBUFF_FRAME_PERIOD_MS)),
+	ringBuffer(
+		static_cast<std::shared_ptr<FrameAssemblyDesc>>(stagingBuffer),
+		callbacks, flags)
+	{}
+
+	virtual ~StimulusBuffer() = default;
+
+	// Non-copyable, movable
+	StimulusBuffer(const StimulusBuffer&) = delete;
+	StimulusBuffer& operator=(const StimulusBuffer&) = delete;
+	StimulusBuffer(StimulusBuffer&&) = default;
+	StimulusBuffer& operator=(StimulusBuffer&&) = default;
+
+public:
+	StimulusProducer& parent;
+	std::shared_ptr<device::DeviceAttachmentSpec> deviceAttachmentSpec;
+	int histbuffMs;
+	StagingBuffer stagingBuffer;
+	SpMcRingBuffer ringBuffer;
+};
+
+} // namespace stim_buff
+} // namespace smo
+
+#endif // _STIMULUS_BUFFER_H

include/user/stimulusFrame.h

@@ -0,0 +1,123 @@
+#ifndef _ATTACHMENT_SUPPORT_STIMULUS_FRAME_H
+#define _ATTACHMENT_SUPPORT_STIMULUS_FRAME_H
+
+#include <cstdint>
+#include <memory>
+#include <user/frameAssemblyDesc.h>
+#include <user/sequenceLock.h>
+#include <user/compute.h>
+#include <user/senseApiDesc.h>
+#define CL_TARGET_OPENCL_VERSION 120
+#include <CL/cl.h>
+
+namespace smo {
+namespace stim_buff {
+
+/**	EXPLANATION:
+ * A simultaneity stamp is a timestamp that is used to determine whether two
+ * stimulus frames occured simultaneously. Its purpose is adamantly *NOT* to
+ * record or denote the "absolute" time of the stimulus frames. I cannot stress
+ * this enough. The simultaneity stamp is NOT used to record "when" the stimulus
+ * frame occured. It is used *SOLELY* to record that two or more stimulus frames
+ * occured at the same time.
+ *
+ * The SMO has absolutely no notion of "absolute" time. It only has a notion of
+ * simultaneity among stimulus frames. Any notions of "absolute" time are built
+ * up consciously and volitionally by the running mind, and not baked into the
+ * underlying software (i.e: Salmanoff).
+ *
+ * We need about 36 bits of unique simultaneity per year, assuming that we only
+ * expect to capture 1000 stim frames per second. 1000 is a lot of stim frames
+ * per second. If we use a 64 bit integer, that leaves us with 2^28 years
+ * before our simultaneity stamps roll over. That's 256 million years.
+ *
+ * The calculation we used to arrive at 36 bits is as follows:
+ *	hex(86400 * 400 * 1000) = 0x80befc000
+ *	* 86400 = seconds per day.
+ *	* 400 = days per year.
+ *	* 1000 = stim frames per second.
+ * As you can see, our extremely cautious calculation resulted in 36 bits.
+ * If we use a UUID (128 bits), we can basically be fairly sure we won't
+ * rollover for ...aeons. Now the question is: should we use a UUID or a 64 bit
+ * integer?
+ *
+ * It's important to note that simultaneity stamps are not used in all mental
+ * entities. They're only used in raw chronomena recordings, and possibly
+ * also in artificed memory chronomena. Among the artificed chronomena, their
+ * simultaneity lifetime is usually self-contained. Only the raw, observed
+ * chronomena have to retain a lifetime that is basically "the person's
+ * lifespan" (though not even necessarily that long).
+ * 
+ * It may not even necessarily need to be lifespan-unique because the purpose of
+ * simultaneity stamps is to denote simultaneity among the stim frames that are
+ * __actually stored__ in the mind's memories. So if we forgot all stim frames
+ * with simultaneity stamps that older than say, 1000, then we can re-use all
+ * the simultaneity stamps that are numerically less than 1000. So there's some
+ * dynamic recycling, and we can prolly keep track of the oldest simultaneity
+ * stamp that we are currently using.
+ *
+ * Also, since simultaneity stamps are *NOT* used to record "when" the stimulus
+ * frame occured, we can also periodically run a reclaiming daemon process on
+ * our stored memories, which will try to defragment the simultaneity stamps
+ * in use by currently stored chronomena. Or we can silently mutate the
+ * simultaneity stamps of chronomena when committing them to backing storage;
+ * as well as when loading them from backing storage.
+ */
+typedef uint64_t SimultaneityStamp;
+
+class StimulusFrame
+{
+public:
+	/**	EXPLANATION:
+	 * Default constructor creates uninitialized frame.
+	 * Must be properly initialized using placement new with the parameterized constructor.
+	 */
+	StimulusFrame() = default;
+
+	StimulusFrame(
+		const FrameAssemblyDesc::SlotDesc& slotDesc_,
+		const SmoCallbacks& callbacks,
+		cl_mem_flags flags,
+		size_t ringBufferIndex_)
+	: slotDesc(slotDesc_),
+	ringBufferIndex(ringBufferIndex_)
+	{
+		if (!callbacks.ComputeManager_createUseHostPtrBuffer)
+		{
+			throw std::runtime_error(std::string(__func__)
+				+ ": StimulusFrame: ComputeManager_createUseHostPtrBuffer "
+				"callback is null");
+		}
+
+		clBuffer = callbacks.ComputeManager_createUseHostPtrBuffer(
+			slotDesc.vaddr, slotDesc.nBytes, flags);
+
+		if (!clBuffer)
+		{
+			throw std::runtime_error(std::string(__func__)
+				+ ": StimulusFrame: failed to create clBuffer");
+		}
+
+//		std::cout << __func__ << ": StimulusFrame: created clBuffer with size " << slotDesc.nBytes << " bytes @ " << (const void*)slotDesc.vaddr << std::endl;
+	}
+
+	~StimulusFrame() = default;
+
+	// Non-copyable, movable
+	StimulusFrame(const StimulusFrame&) = delete;
+	StimulusFrame& operator=(const StimulusFrame&) = delete;
+	StimulusFrame(StimulusFrame&&) = default;
+	StimulusFrame& operator=(StimulusFrame&&) = default;
+
+public:
+	SequenceLock lock;
+	SimultaneityStamp simultaneityStamp;
+	FrameAssemblyDesc::SlotDesc slotDesc;
+	std::shared_ptr<smo::compute::ClBuffer> clBuffer;
+	size_t ringBufferIndex;
+};
+
+} // namespace stim_buff
+} // namespace smo
+
+#endif // _ATTACHMENT_SUPPORT_STIMULUS_FRAME_H

include/user/stimulusProducer.h

@@ -0,0 +1,119 @@
+#ifndef _STIMULUS_PRODUCER_H
+#define _STIMULUS_PRODUCER_H
+
+#include <boostAsioLinkageFix.h>
+#include <vector>
+#include <memory>
+#include <cstdint>
+#include <atomic>
+#include <mutex>
+#include <functional>
+#include <iostream>
+#include <chrono>
+#include <config.h>
+#include <boost/asio/io_service.hpp>
+#include <boost/asio/deadline_timer.hpp>
+#include <spinLock.h>
+#include "deviceAttachmentSpec.h"
+
+namespace smo {
+namespace stim_buff {
+
+// Forward declaration
+class StimulusBuffer;
+
+/**
+ * StimulusProducer manages a collection of stimulus frames with simultaneity stamps.
+ *
+ * This producer is designed to hold stimulus frames that have been assembled
+ * from raw sensor data (e.g., Livox Avia point cloud data) and are ready
+ * for processing by the mind layer.
+ *
+ * The producer provides thread-safe operations for adding frames, retrieving
+ * frames, and managing the producer state.
+ */
+class StimulusProducer
+{
+public:
+	explicit StimulusProducer(
+		const std::shared_ptr<device::DeviceAttachmentSpec>
+			&deviceAttachmentSpec,
+		boost::asio::io_service& ioService_)
+	: deviceAttachmentSpec(deviceAttachmentSpec),
+	ioService(ioService_),
+	shouldContinue(false), timer(ioService),
+	nDeferrals(0)
+	{}
+
+	virtual ~StimulusProducer() = default;
+
+	// Non-copyable, movable
+	StimulusProducer(const StimulusProducer&) = delete;
+	StimulusProducer& operator=(const StimulusProducer&) = delete;
+	StimulusProducer(StimulusProducer&&) = default;
+	StimulusProducer& operator=(StimulusProducer&&) = default;
+
+	// Control methods
+	virtual void start()
+	{
+		std::cout << __func__ << ": Starting stimulus producer for device "
+			<< deviceAttachmentSpec->deviceSelector << std::endl;
+
+		shouldContinue = true;
+		nDeferrals = 0;
+		scheduleNextTimeout();
+	}
+
+	virtual void stop();
+
+	void allowNextStimulusFrame()
+		{ frameAssemblyRateLimiter.release(); }
+
+	virtual std::shared_ptr<StimulusBuffer> getAttachedStimulusBuffer(
+		const std::shared_ptr<device::DeviceAttachmentSpec>& spec) const;
+
+	virtual std::shared_ptr<StimulusBuffer> getOrCreateAttachedStimulusBuffer(
+		const std::shared_ptr<device::DeviceAttachmentSpec>
+			&deviceAttachmentSpec) = 0;
+
+	virtual void destroyAttachedStimulusBuffer(
+		const std::shared_ptr<StimulusBuffer>& buffer);
+
+	// Check if any attached buffer has the specified qualeIfaceApi
+	bool hasBufferWithQualeIfaceApi(const std::string& qualeIfaceApi) const;
+
+protected:
+	SpinLock frameAssemblyRateLimiter;
+
+	// Virtual functions for derived classes to override
+	virtual int getStopDelayMs() const
+	{
+		return CONFIG_STIMBUFF_FRAME_PERIOD_MS;
+	}
+
+	virtual void stimFrameProductionTimesliceInd() = 0;
+
+private:
+	void onTimeout(const boost::system::error_code& error);
+
+public:
+	std::shared_ptr<device::DeviceAttachmentSpec> deviceAttachmentSpec;
+	std::vector<std::shared_ptr<StimulusBuffer>> attachedStimulusBuffers;
+
+private:
+	boost::asio::io_service& ioService;
+protected:
+	SpinLock shouldContinueLock;
+	bool shouldContinue;
+private:
+	boost::asio::deadline_timer timer;
+	size_t nDeferrals;
+	std::chrono::high_resolution_clock::time_point deferralStartTime;
+
+	void scheduleNextTimeout(int delayMs = CONFIG_STIMBUFF_FRAME_PERIOD_MS);
+};
+
+} // namespace stim_buff
+} // namespace smo
+
+#endif // _STIMULUS_PRODUCER_H

main.cpp

@@ -1,10 +1,12 @@
 #include <iostream>
+#include <pthread.h>
 #include <componentThread.h>
 #include <marionette/marionette.h>
 
 
 int main(int argc, char *argv[], char *envp[])
 {
+	pthread_setname_np(pthread_self(), "smo:CRT:main");
 	/* We don't do anything inside of main()
 	 * Main merely waits for the marionette thread to exit.
 	 */

scripts/udpCommandDemuxer/gdb-dump-segfault.txt

@@ -0,0 +1,171 @@
+==========================================
+Iteration 67 - Thu Oct 30 08:41:13 PM AST 2025
+==========================================
+
+GNU gdb (Ubuntu 15.0.50.20240403-0ubuntu1) 15.0.50.20240403-git
+Copyright (C) 2024 Free Software Foundation, Inc.
+License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
+This is free software: you are free to change and redistribute it.
+There is NO WARRANTY, to the extent permitted by law.
+Type "show copying" and "show warranty" for details.
+This GDB was configured as "x86_64-linux-gnu".
+Type "show configuration" for configuration details.
+For bug reporting instructions, please see:
+<https://www.gnu.org/software/gdb/bugs/>.
+Find the GDB manual and other documentation resources online at:
+    <http://www.gnu.org/software/gdb/documentation/>.
+
+For help, type "help".
+Type "apropos word" to search for commands related to "word"...
+Reading symbols from salmanoff...
+SIGINT is used by the debugger.
+Are you sure you want to change it? (y or n) [answered Y; input not from terminal]
+Waiting 2281ms before sending SIGINT...
+Starting program...
+
+This GDB supports auto-downloading debuginfo from the following URLs:
+  <https://debuginfod.ubuntu.com>
+Enable debuginfod for this session? (y or [n]) [answered N; input not from terminal]
+Debuginfod has been disabled.
+To make this setting permanent, add 'set debuginfod enabled off' to .gdbinit.
+[Thread debugging using libthread_db enabled]
+Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
+[New Thread 0x7ffff77ff6c0 (LWP 805031)]
+CRT:main: about to JOLT Mrntt with cmdline args
+main: Waiting for command line JOLT
+Mrntt:operator():JOLTED: setting cmdline args
+main: salmanoff 0.01.000
+main: DAP Specs: 
+DAP Spec Files: devices/bodies/dell-laptop.daps 
+Stim Buff API Library Paths: commonLibs/livoxProto1/ commonLibs/xcbXorg/ stimBuffApis/xcbWindow/ stimBuffApis/livoxGen1/ 
+Stim Buff API Libraries: libxcbWindow.so liblivoxGen1.so 
+
+initializeSalmanoff: Entered.
+
+main: Entering event loop
+[New Thread 0x7ffff6ffe6c0 (LWP 805032)]
+[New Thread 0x7ffff67fd6c0 (LWP 805033)]
+[New Thread 0x7ffff5ffc6c0 (LWP 805034)]
+[New Thread 0x7ffff57fb6c0 (LWP 805035)]
+[New Thread 0x7ffff4ffa6c0 (LWP 805036)]
+distributeAndPinThreadsAcrossCpus: Distributed 5 threads across 4 CPUs
+joltThreadReq1_posted: Thread 'director': handling JOLT request.
+joltThreadReq1_posted: Thread 'simulator': handling JOLT request.
+joltThreadReq1_posted: Thread 'subconscious': handling JOLT request.
+joltThreadReq1_posted: Thread 'body': handling JOLT request.
+body:main: Entering event loop
+simulator:main: Entering event loop
+subconscious:main: Entering event loop
+joltThreadReq1_posted: Thread 'world': handling JOLT request.
+world:main: Entering event loop
+Mrntt: All mind threads JOLTed.
+director:main: Entering event loop
+startThreadReq1_posted: Thread 'director': handling startThread.
+startThreadReq1_posted: Thread 'body': handling startThread.
+startThreadReq1_posted: Thread 'simulator': handling startThread.
+startThreadReq1_posted: Thread 'world': handling startThread.
+startThreadReq1_posted: Thread 'subconscious': handling startThread.
+Mrntt: All mind threads started.
+Library Path: libxcbWindow.so
+Stim Buff API Descriptor: Name: xcb
+Exported QualeIface APIs:
+  - visual-qualeiface
+
+
+Library Path: liblivoxGen1.so
+Stim Buff API Descriptor: Name: livoxGen1
+Exported QualeIface APIs:
+  - pcloud
+  - pcloudIntensity
+  - gyro
+  - accel
+
+
+
+start: BroadcastListener started on port 55000
+start: UDP Command Demuxer started on port 56001
+attachStimBuffDeviceReq1_posted: Attaching edev win0 to world thread
+xcbWindow_attachDeviceReq: Attached X11 window:
+  Display: 1, Screen: 0, MatchType: substring, Target: "mut", Found: "mutter guard window" (matched substring 'mut')
+attachStimBuffDeviceReq1_posted: Attaching edev avia0 to world thread
+getOrCreateDeviceReq1: Connection failed for device 3JEDK380010Z39
+attachDeviceReq1: Failed to create/find Livox device: 3JEDK380010Z39
+newDeviceAttachmentSpecInd2: Attach failed for device spec Device Identifier: avia0, Sensor Type: e, QualeIface API: structural-qualeiface, StimBuff API: livoxGen1, StimBuff API Params: (), Provider: livoxProto1, Provider Params: (), Device Selector: 3JEDK380010Z39
+
+attachAllUnattachedDevicesFromReq2: Failed to attach device: avia0
+Mrntt: attached 1 of 2 sense devices.
+Mrntt: Body component initialized.
+negtrinEventInd: Handling negtrin event.
+marionetteInitializeReqCb: Marionette initialized.
+broadcastMsgInd: Discovered new Livox device: DiscoveredDevice{identifier='3JEDK380010Z391', ipAddr='10.42.0.139', deviceType=7 (Avia)}
+attachStimBuffDeviceReq1_posted: Attaching edev avia0 to world thread
+attachDeviceReq1: Successfully attached/found Livox device: 3JEDK380010Z39 (ID: avia0)
+Sending SIGINT to program (PID: 805028)...
+SIGINT (Ctrl+C) received. Initiating shutdown...
+Mrntt: About to detach all sense devices.
+xcbWindow_detachDeviceReq: Detached X11 window device:
+Device Identifier: win0, Sensor Type: e, QualeIface API: visual-qualeiface, StimBuff API: xcb, StimBuff API Params: (dev-substring ), Provider: xorg, Provider Params: (display=1 screen=0 ), Device Selector: mut
+
+Mrntt: Successfully detached 1 of 1 sense devices.
+Mrntt: About to finalize all stim buff api libs.
+stop: UDP Command Demuxer stopped
+stop: BroadcastListener stopped
+broadcastMsgInd: Error receiving broadcast message: Operation canceled
+Mrntt: About to unload all stim buff api libs.
+
+Thread 7 "salmanoff" received signal SIGSEGV, Segmentation fault.
+[Switching to Thread 0x7ffff4ffa6c0 (LWP 805036)]
+0x0000000000000000 in ?? ()
+
+=== SEGFAULT DETECTED ===
+#0  0x0000000000000000 in ?? ()
+#1  0x00007ffff7ace057 in smo::stim_buff::AttachDeviceReq::attachDeviceReq2 (this=0x7ffff00098a0, 
+    context=std::shared_ptr<smo::stim_buff::AttachDeviceReq> (use count 4, weak count 1) = {...}, error=...) at /home/latentprion/gits/salmanoff-git/stimBuffApis/livoxGen1/livoxGen1.cpp:160
+#2  0x00007ffff7ae6584 in std::__invoke_impl<void, void (smo::stim_buff::AttachDeviceReq::*&)(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&), smo::stim_buff::AttachDeviceReq*&, std::shared_ptr<smo::stim_buff::AttachDeviceReq>&, boost::system::error_code const&> (
+    __f=@0x7ffff4ff9a80: (void (smo::stim_buff::AttachDeviceReq::*)(smo::stim_buff::AttachDeviceReq * const, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, const boost::system::error_code &)) 0x7ffff7acde68 <smo::stim_buff::AttachDeviceReq::attachDeviceReq2(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>, 
+    __t=@0x7ffff4ff9aa0: 0x7ffff00098a0) at /usr/include/c++/13/bits/invoke.h:74
+#3  0x00007ffff7ae42b1 in std::__invoke<void (smo::stim_buff::AttachDeviceReq::*&)(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&), smo::stim_buff::AttachDeviceReq*&, std::shared_ptr<smo::stim_buff::AttachDeviceReq>&, boost::system::error_code const&> (
+    __fn=@0x7ffff4ff9a80: (void (smo::stim_buff::AttachDeviceReq::*)(smo::stim_buff::AttachDeviceReq * const, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, const boost::system::error_code &)) 0x7ffff7acde68 <smo::stim_buff::AttachDeviceReq::attachDeviceReq2(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>)
+    at /usr/include/c++/13/bits/invoke.h:96
+#4  0x00007ffff7ae1fe1 in std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>::__call<void, boost::system::error_code const&, 0ul, 1ul, 2ul>(std::tuple<boost::system::error_code const&>&&, std::_Index_tuple<0ul, 1ul, 2ul>) (this=0x7ffff4ff9a80, __args=...) at /usr/include/c++/13/functional:506
+#5  0x00007ffff7ade79a in std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>::operator()<boost::system::error_code const&, void>(boost::system::error_code const&) (this=0x7ffff4ff9a80)
+    at /usr/include/c++/13/functional:591
+#6  0x00007ffff7aec999 in boost::asio::detail::binder1<std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>, boost::system::error_code>::operator()() (this=0x7ffff4ff9a80)
+    at /usr/include/boost/asio/detail/bind_handler.hpp:171
+#7  0x00007ffff7aebd0e in boost::asio::asio_handler_invoke<boost::asio::detail::binder1<std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>, boost::system::error_code> >(boost::asio::detail::binder1<std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>, boost::system::error_code>&, ...) (function=...) at /usr/include/boost/asio/handler_invoke_hook.hpp:88
+#8  0x00007ffff7aea450 in boost_asio_handler_invoke_helpers::invoke<boost::asio::detail::binder1<std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>, boost::system::error_code>, std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)> >(boost::asio::detail::binder1<std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>, boost::system::error_code>&, std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>&) (function=..., context=...) at /usr/include/boost/asio/detail/handler_invoke_helpers.hpp:54
+#9  0x00007ffff7ae8790 in boost::asio::detail::handler_work<std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>, boost::asio::any_io_executor, void>::complete<boost::asio::detail::binder1<std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>, boost::system::error_code> >(boost::asio::detail::binder1<std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>, boost::system::error_code>&, std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>&) (this=0x7ffff4ff9a40, function=..., handler=...) at /usr/include/boost/asio/detail/handler_work.hpp:524
+#10 0x00007ffff7ae6986 in boost::asio::detail::wait_handler<std::_Bind<void (smo::stim_buff::AttachDeviceReq::*(smo::stim_buff::AttachDeviceReq*, std::shared_ptr<smo::stim_buff::AttachDeviceReq>, std::_Placeholder<1>))(std::shared_ptr<smo::stim_buff::AttachDeviceReq>, boost::system::error_code const&)>, boost::asio::any_io_executor>::do_complete(void*, boost::asio::detail::scheduler_operation*, boost::system::error_code const&, unsigned long) (owner=0x7ffff0007970, base=0x7fffe400a180) at /usr/include/boost/asio/detail/wait_handler.hpp:76
+#11 0x000055555556d35e in boost::asio::detail::scheduler_operation::complete (this=0x7fffe400a180, owner=0x7ffff0007970, ec=..., bytes_transferred=0)
+    at /usr/include/boost/asio/detail/scheduler_operation.hpp:40
+#12 0x00005555555706e7 in boost::asio::detail::scheduler::do_run_one (this=0x7ffff0007970, lock=..., this_thread=..., ec=...) at /usr/include/boost/asio/detail/impl/scheduler.ipp:493
+#13 0x00005555555700b9 in boost::asio::detail::scheduler::run (this=0x7ffff0007970, ec=...) at /usr/include/boost/asio/detail/impl/scheduler.ipp:210
+#14 0x0000555555570a9d in boost::asio::io_context::run (this=0x7ffff0007900) at /usr/include/boost/asio/impl/io_context.ipp:64
+#15 0x00005555555f6b10 in smo::MindThread::main (self=...) at /home/latentprion/gits/salmanoff-git/smocore/componentThread.cpp:82
+#16 0x00005555555f4ed3 in std::__invoke_impl<void, void (*)(smo::MindThread&), std::reference_wrapper<smo::MindThread> > (
+    __f=@0x7ffff0007bf0: 0x5555555f6984 <smo::MindThread::main(smo::MindThread&)>) at /usr/include/c++/13/bits/invoke.h:61
+#17 0x00005555555f4e41 in std::__invoke<void (*)(smo::MindThread&), std::reference_wrapper<smo::MindThread> > (
+    __fn=@0x7ffff0007bf0: 0x5555555f6984 <smo::MindThread::main(smo::MindThread&)>) at /usr/include/c++/13/bits/invoke.h:96
+#18 0x00005555555f4d2f in std::thread::_Invoker<std::tuple<void (*)(smo::MindThread&), std::reference_wrapper<smo::MindThread> > >::_M_invoke<0ul, 1ul> (this=0x7ffff0007be8)
+    at /usr/include/c++/13/bits/std_thread.h:292
+#19 0x00005555555f4c88 in std::thread::_Invoker<std::tuple<void (*)(smo::MindThread&), std::reference_wrapper<smo::MindThread> > >::operator() (this=0x7ffff0007be8)
+    at /usr/include/c++/13/bits/std_thread.h:299
+#20 0x00005555555f4bdc in std::thread::_State_impl<std::thread::_Invoker<std::tuple<void (*)(smo::MindThread&), std::reference_wrapper<smo::MindThread> > > >::_M_run (this=0x7ffff0007be0)
+    at /usr/include/c++/13/bits/std_thread.h:244
+#21 0x00007ffff7cecdb4 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
+#22 0x00007ffff789caa4 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:447
+#23 0x00007ffff7929c6c in clone3 () at ../sysdeps/unix/sysv/linux/x86_64/clone3.S:78
+
+=== GDB is now interactive - you can inspect the state ===
+[Thread 0x7ffff4ffa6c0 (LWP 805036) exited]
+[Thread 0x7ffff57fb6c0 (LWP 805035) exited]
+[Thread 0x7ffff5ffc6c0 (LWP 805034) exited]
+[Thread 0x7ffff67fd6c0 (LWP 805033) exited]
+[Thread 0x7ffff6ffe6c0 (LWP 805032) exited]
+[Thread 0x7ffff7f5f780 (LWP 805028) exited]
+[Thread 0x7ffff77ff6c0 (LWP 805031) exited]
+[New process 805028]
+
+Program terminated with signal SIGSEGV, Segmentation fault.
+The program no longer exists.
+(gdb) 

scripts/udpCommandDemuxer/gdb_heisenbug.gdb

@@ -0,0 +1,123 @@
+# GDB command file for reproducing UdpCommandDemuxer heisenbug
+# This script runs salmanoff, waits a random time, sends SIGINT, and catches segfaults
+
+# Disable pager so output doesn't pause for user input
+set pagination off
+
+# Set up signal handling - catch segfaults and stop
+handle SIGSEGV stop print
+# Allow SIGINT to pass through to program silently - make it unremarkable
+# nostop: don't stop execution, noprint: don't print message, pass: pass to program
+handle SIGINT nostop noprint pass
+
+# Use Python to set up automatic handling of stop events and SIGINT injection
+python
+import time
+import random
+import threading
+import os
+import signal
+
+sigint_thread_started = False
+
+def send_sigint_after_delay():
+    # Wait random milliseconds between 2000-3000
+    delay_ms = random.randint(2000, 3000)
+    print(f"Waiting {delay_ms}ms before sending SIGINT...")
+    time.sleep(delay_ms / 1000.0)
+    
+    # Send SIGINT directly to the process using its PID
+    # This works even when the program is running (unlike gdb.execute("signal SIGINT"))
+    try:
+        inferior = gdb.selected_inferior()
+        if inferior and inferior.is_valid():
+            pid = inferior.pid
+            print(f"Sending SIGINT to program (PID: {pid})...")
+            os.kill(pid, signal.SIGINT)
+        else:
+            print("Program is not running - cannot send SIGINT")
+    except Exception as e:
+        print(f"Failed to send SIGINT: {e}")
+
+def start_sigint_thread():
+    global sigint_thread_started
+    if not sigint_thread_started:
+        sigint_thread_started = True
+        thread = threading.Thread(target=send_sigint_after_delay, daemon=True)
+        thread.start()
+
+# Hook to check stop reason and handle segfaults
+def stop_handler(event):
+    if isinstance(event, gdb.SignalEvent):
+        if event.stop_signal == "SIGSEGV":
+            # Segfault detected
+            print("\n=== SEGFAULT DETECTED ===")
+            gdb.execute("bt")
+            print("\n=== GDB is now interactive - you can inspect the state ===")
+            # Don't quit - stay in interactive mode
+        elif event.stop_signal == "SIGINT":
+            # SIGINT received - with "nostop pass", SIGINT should pass through automatically
+            # But if we get here (shouldn't happen with nostop), just let it pass
+            pass
+    elif isinstance(event, gdb.ExitedEvent):
+        # Program exited normally
+        if event.exit_code == 0:
+            print("\nProgram exited normally. Continuing loop...")
+            gdb.post_event(lambda: gdb.execute("quit", False))
+        else:
+            print(f"\nProgram exited with code {event.exit_code}")
+            gdb.post_event(lambda: gdb.execute("quit", False))
+
+# Hook for when program continues/starts running
+def cont_handler(event):
+    # When program continues (or starts running), start the SIGINT thread
+    start_sigint_thread()
+
+# Register event handlers
+gdb.events.stop.connect(stop_handler)
+gdb.events.cont.connect(cont_handler)
+
+# Start SIGINT thread before running - it will wait and then send SIGINT
+# The thread will send SIGINT even if program is stopped (signal will be delivered on continue)
+start_sigint_thread()
+end
+
+# Start the program
+echo Starting program...\n
+run
+
+# After run completes, check if program exited or stopped
+# If program exited, quit GDB. If program stopped (has threads), continue.
+python
+try:
+    inferior = gdb.selected_inferior()
+    if inferior and inferior.is_valid():
+        # Check if there are threads (indicates program has not exited)
+        try:
+            threads = inferior.threads()
+            if threads:
+                # Program has threads - continue execution
+                # SIGINT thread is already running and will send signal when ready
+                gdb.execute("continue", False)
+            else:
+                # No threads - program has exited
+                print("\nProgram has exited (no threads found).")
+                gdb.execute("quit", False)
+        except Exception as e:
+            # If we can't check threads, assume program exited
+            print(f"\nError checking threads: {e}")
+            print("Assuming program exited.")
+            gdb.execute("quit", False)
+    else:
+        # Inferior is not valid - program has exited
+        print("\nProgram has exited (inferior not valid).")
+        gdb.execute("quit", False)
+except Exception as e:
+    print(f"Error checking program state: {e}")
+    # If we can't determine state, try to quit
+    try:
+        gdb.execute("quit", False)
+    except:
+        pass
+end
+

scripts/udpCommandDemuxer/reproduce_heisenbug.sh

@@ -0,0 +1,115 @@
+#!/bin/bash
+# Script to reproduce UdpCommandDemuxer race condition heisenbug
+# Runs salmanoff in GDB repeatedly, injecting SIGINT at random intervals
+#
+# Usage: ./reproduce_heisenbug.sh [WORKING_DIR]
+#   WORKING_DIR: Working directory where salmanoff binary and all paths are relative to
+#                If not provided, uses WORKING_DIR environment variable, or defaults to project root
+#
+# Environment variables:
+#   WORKING_DIR: Working directory (can be overridden by command-line argument)
+
+# Get the directory where this script is located
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
+
+# Determine working directory (command-line arg > env var > default)
+if [ -n "$1" ]; then
+    WORKING_DIR="$1"
+elif [ -n "$WORKING_DIR" ]; then
+    # Use environment variable
+    :
+else
+    # Default to project root
+    WORKING_DIR="$PROJECT_ROOT"
+fi
+
+# Convert to absolute path
+WORKING_DIR="$(cd "$WORKING_DIR" && pwd)"
+
+# Check if working directory exists
+if [ ! -d "$WORKING_DIR" ]; then
+    echo "Error: Working directory does not exist: $WORKING_DIR" >&2
+    exit 1
+fi
+
+# Paths - all relative to working directory
+SALMANOFF_BINARY="$WORKING_DIR/salmanoff"
+GDB_SCRIPT="$SCRIPT_DIR/gdb_heisenbug.gdb"
+
+# Check if binary exists
+if [ ! -f "$SALMANOFF_BINARY" ]; then
+    echo "Error: salmanoff binary not found at $SALMANOFF_BINARY" >&2
+    echo "Working directory: $WORKING_DIR" >&2
+    exit 1
+fi
+
+# Check if GDB script exists
+if [ ! -f "$GDB_SCRIPT" ]; then
+    echo "Error: GDB script not found at $GDB_SCRIPT" >&2
+    exit 1
+fi
+
+# Command line arguments for salmanoff
+SALMANOFF_ARGS=(
+    -p commonLibs/livoxProto1/
+    -p commonLibs/xcbXorg/
+    -p stimBuffApis/xcbWindow/
+    -p stimBuffApis/livoxGen1/
+    -a libxcbWindow.so
+    -a liblivoxGen1.so
+    -d devices/bodies/dell-laptop.daps
+)
+
+echo "=== UdpCommandDemuxer Heisenbug Reproduction Script ==="
+echo "Working Directory: $WORKING_DIR"
+echo "Binary: $SALMANOFF_BINARY"
+echo "GDB Script: $GDB_SCRIPT"
+echo "Arguments: ${SALMANOFF_ARGS[*]}"
+echo ""
+echo "Press Ctrl+C to stop the loop"
+echo ""
+
+# Change to working directory so all relative paths are resolved correctly
+cd "$WORKING_DIR"
+
+# Loop counter
+ITERATION=0
+
+# Main loop
+while true; do
+    ITERATION=$((ITERATION + 1))
+    echo "=========================================="
+    echo "Iteration $ITERATION - $(date)"
+    echo "=========================================="
+    echo ""
+
+    # Run GDB with the command file
+    # GDB will stay interactive on segfault, exit on normal completion
+    # When GDB stays interactive (on segfault), this will wait for user to quit GDB
+    # When GDB exits normally (program completed), exit code will be 0 and loop continues
+    # Note: We use a relative path to salmanoff binary since we're already in WORKING_DIR
+    SALMANOFF_RELATIVE="salmanoff"
+    if gdb -x "$GDB_SCRIPT" --args "$SALMANOFF_RELATIVE" "${SALMANOFF_ARGS[@]}"; then
+        # GDB exited successfully (program completed normally)
+        EXIT_CODE=0
+    else
+        # GDB exited with error (unexpected exit or user interrupted)
+        EXIT_CODE=$?
+        echo ""
+        echo "GDB exited with code $EXIT_CODE"
+        if [ $EXIT_CODE -ne 0 ] && [ $EXIT_CODE -ne 130 ]; then
+            # Exit code 130 is SIGINT (user pressed Ctrl+C), which is expected
+            echo "Unexpected GDB exit - check output above"
+        fi
+    fi
+
+    echo ""
+    echo "Iteration $ITERATION complete. Starting next iteration in 1 second..."
+    sleep 1
+    echo ""
+done
+
+echo ""
+echo "Loop terminated."
+

senseApis/livoxGen1/CMakeLists.txt

@@ -1,22 +0,0 @@
-cmake_dependent_option(ENABLE_SENSEAPI_livoxGen1
-	"Enable Livox Gen1 LiDAR sense API" ON
-	"ENABLE_LIB_livoxProto1" OFF)
-
-if(ENABLE_SENSEAPI_livoxGen1)
-	add_library(livoxGen1 SHARED
-		livoxGen1.cpp
-	)
-
-	# Set config define for header generation
-	add_compile_definitions(CONFIG_SENSEAPI_LIVOXGEN1_ENABLED)
-	target_include_directories(livoxGen1 PUBLIC
-		${Boost_INCLUDE_DIRS}
-		${CMAKE_SOURCE_DIR}/commonLibs
-	)
-	target_link_libraries(livoxGen1
-		${Boost_LIBRARIES}
-	)
-
-	# Install rules
-	install(TARGETS livoxGen1 DESTINATION lib)
-endif()

senseApis/livoxGen1/livoxGen1.cpp

@@ -1,416 +0,0 @@
-#include <iostream>
-#include <memory>
-#include <vector>
-#include <string>
-#include <map>
-#include <functional>
-#include <algorithm>
-#include <dlfcn.h>
-#include <opts.h>
-#include <user/senseApiDesc.h>
-#include <user/deviceAttachmentSpec.h>
-#include <callback.h>
-#include <livoxProto1/livoxProto1.h>
-#include <livoxProto1/device.h>
-#include <asynchronousContinuation.h>
-
-
-namespace smo {
-namespace sense_api {
-
-// Salmanoff hooks, obtained from SMO_GET_SENSE_API_DESC_FN_NAME().
-static const SmoCallbacks* smoHooksPtr = nullptr;
-static SmoThreadingModelDesc smoThreadingModelDesc;
-
-// LivoxProto1 library state
-struct LivoxProto1DllState
-{
-	LivoxProto1DllState()
-	: dlopenHandle(nullptr, DlCloser),
-	  livoxProto1_main(nullptr),
-	  livoxProto1_exit(nullptr),
-	  livoxProto1_getOrCreateDeviceReq(nullptr),
-	  livoxProto1_destroyDeviceReq(nullptr)
-	{}
-
-	static void DlCloser(void* handle)
-	{
-		if (handle) {
-			dlclose(handle);
-		}
-	}
-
-	std::unique_ptr<void, void(*)(void*)> dlopenHandle;
-	livoxProto1_mainFn *livoxProto1_main;
-	livoxProto1_exitFn *livoxProto1_exit;
-	livoxProto1_getOrCreateDeviceReqFn *livoxProto1_getOrCreateDeviceReq;
-	livoxProto1_destroyDeviceReqFn *livoxProto1_destroyDeviceReq;
-};
-
-static LivoxProto1DllState livoxProto1;
-
-// Attached Livox devices
-static std::vector<std::shared_ptr<livoxProto1::Device>> g_attachedDevices;
-
-// Continuation classes for async operations
-class AttachDeviceReq
-:	public smo::NonPostedAsynchronousContinuation<sal_mlo_attachDeviceReqCbFn>
-{
-public:
-	AttachDeviceReq(
-		const std::shared_ptr<smo::device::DeviceAttachmentSpec>& spec,
-		smo::Callback<sal_mlo_attachDeviceReqCbFn> cb)
-	:	smo::NonPostedAsynchronousContinuation<sal_mlo_attachDeviceReqCbFn>(
-			std::move(cb)),
-	spec(spec)
-	{}
-
-public:
-	const std::shared_ptr<smo::device::DeviceAttachmentSpec> spec;
-
-public:
-	void attachDeviceReq1(
-		std::shared_ptr<AttachDeviceReq> context,
-		bool success, std::shared_ptr<livoxProto1::Device> dev)
-	{
-		if (!dev)
-		{
-			std::cerr << __func__ << ": Failed to create Livox device: "
-				<< context->spec->deviceSelector << std::endl;
-			context->callOriginalCb(false, context->spec);
-			return;
-		}
-
-		g_attachedDevices.push_back(dev);
-		if (1 || OptionParser::getOptions().verbose)
-		{
-			std::cout << __func__ << ": Successfully attached Livox "
-				"device: " << context->spec->deviceSelector << " (ID: "
-				<< context->spec->deviceIdentifier << ")\n";
-		}
-
-		context->callOriginalCb(success, context->spec);
-	}
-};
-
-class DetachDeviceReq
-:	public smo::NonPostedAsynchronousContinuation<sal_mlo_detachDeviceReqCbFn>
-{
-public:
-	DetachDeviceReq(
-		const std::shared_ptr<smo::device::DeviceAttachmentSpec>& spec,
-		smo::Callback<sal_mlo_detachDeviceReqCbFn> cb)
-	:	smo::NonPostedAsynchronousContinuation<sal_mlo_detachDeviceReqCbFn>(
-		std::move(cb)),
-	spec(spec)
-	{}
-
-public:
-	const std::shared_ptr<smo::device::DeviceAttachmentSpec> spec;
-
-public:
-	void detachDeviceReq1(
-		std::shared_ptr<DetachDeviceReq> context,
-		bool success)
-	{
-		if (!success)
-		{
-			std::cerr << __func__ << ": Failed to destroy Livox device: "
-				<< context->spec->deviceIdentifier << "\n";
-			context->callOriginalCb(false, context->spec);
-			return;
-		}
-
-		// Find the device in g_attachedDevices and remove it.
-		auto eraseIt = std::find_if(
-			g_attachedDevices.begin(), g_attachedDevices.end(),
-			[context](const std::shared_ptr<livoxProto1::Device>& dev)
-			{
-				const std::string& devId = dev->discoveredDevice.deviceIdentifier;
-				std::string devIdPrefix = devId.substr(
-					0, std::min<size_t>(14, devId.size()));
-				return devIdPrefix == context->spec->deviceSelector.substr(
-					0, std::min<size_t>(14, context->spec->deviceSelector.size()));
-			}
-		);
-
-		if (eraseIt == g_attachedDevices.end())
-		{
-			std::cerr << __func__ << ": Race condition: device not found "
-				"in g_attachedDevices for detachment: "
-				<< context->spec->deviceIdentifier << "\n";
-			context->callOriginalCb(false, context->spec);
-			return;
-		}
-
-		g_attachedDevices.erase(eraseIt);
-		std::cout << __func__ << ": Successfully detached Livox device: "
-			<< context->spec->deviceIdentifier << "\n";
-
-		context->callOriginalCb(success, context->spec);
-	}
-};
-
-// Callback function declarations
-extern "C" sal_mlo_initializeIndFn livoxGen1_initializeInd;
-extern "C" sal_mlo_finalizeIndFn livoxGen1_finalizeInd;
-extern "C" sal_mlo_attachDeviceReqFn livoxGen1_attachDeviceReq;
-extern "C" sal_mlo_detachDeviceReqFn livoxGen1_detachDeviceReq;
-
-// Sense API descriptor
-static const SenseApiDesc livoxGen1ApiDesc = {
-	.name = "livoxGen1",
-	.exportedImplexorApis = {
-		{.name = "pointCloudCoords"},
-		{.name = "pointCloudIntensity"},
-		{.name = "gyro"},
-		{.name = "accel"}
-	},
-	.sal_mgmt_libOps = {
-		.initializeInd = livoxGen1_initializeInd,
-		.finalizeInd = livoxGen1_finalizeInd,
-		.attachDeviceReq = livoxGen1_attachDeviceReq,
-		.detachDeviceReq = livoxGen1_detachDeviceReq
-	}
-};
-
-// Callback function implementations
-extern "C" int livoxGen1_initializeInd(void)
-{
-	if (!smoHooksPtr)
-	{
-		throw std::runtime_error(std::string(__func__) + ": SMO hooks "
-			"pointers not filled in.");
-	}
-
-	// Load LivoxProto1 library
-	auto libPath = smoHooksPtr->searchForLibInSmoSearchPaths(
-		"liblivoxProto1.so");
-
-	livoxProto1.dlopenHandle.reset(dlopen(
-		libPath.value_or("liblivoxProto1.so").c_str(), RTLD_LAZY));
-
-	if (!livoxProto1.dlopenHandle)
-	{
-		throw std::runtime_error(
-			std::string(__func__) +
-			": Failed to load LivoxProto1 library: " +
-			(dlerror() ? dlerror() : "unknown error"));
-	}
-
-	// Get LivoxProto1 library functions
-	livoxProto1.livoxProto1_main = reinterpret_cast<livoxProto1_mainFn *>(
-		dlsym(livoxProto1.dlopenHandle.get(), "livoxProto1_main"));
-	livoxProto1.livoxProto1_exit = reinterpret_cast<livoxProto1_exitFn *>(
-		dlsym(livoxProto1.dlopenHandle.get(), "livoxProto1_exit"));
-	livoxProto1.livoxProto1_getOrCreateDeviceReq = reinterpret_cast<
-		livoxProto1_getOrCreateDeviceReqFn *>(
-			dlsym(
-				livoxProto1.dlopenHandle.get(),
-				"livoxProto1_getOrCreateDeviceReq"));
-	livoxProto1.livoxProto1_destroyDeviceReq = reinterpret_cast<
-		livoxProto1_destroyDeviceReqFn *>(
-			dlsym(
-				livoxProto1.dlopenHandle.get(),
-				"livoxProto1_destroyDeviceReq"));
-
-	if (!livoxProto1.livoxProto1_main || !livoxProto1.livoxProto1_exit
-		|| !livoxProto1.livoxProto1_getOrCreateDeviceReq
-		|| !livoxProto1.livoxProto1_destroyDeviceReq)
-	{
-		throw std::runtime_error(
-			std::string(__func__) +
-			": Failed to get LivoxProto1 library functions");
-	}
-
-	// Call LivoxProto1 library main function
-	(*livoxProto1.livoxProto1_main)(
-		smoThreadingModelDesc.componentThread, *smoHooksPtr);
-
-	return 0; // Success
-}
-
-extern "C" int livoxGen1_finalizeInd(void)
-{
-	// Clear all attached devices
-	g_attachedDevices.clear();
-
-	// Call LivoxProto1 library exit function
-	if (livoxProto1.livoxProto1_exit) {
-		(*livoxProto1.livoxProto1_exit)();
-	}
-
-	if (livoxProto1.dlopenHandle)
-	{
-		dlclose(livoxProto1.dlopenHandle.get());
-		livoxProto1.dlopenHandle.reset();
-	}
-
-	livoxProto1 = LivoxProto1DllState();
-	return 0; // Success
-}
-
-extern "C" void livoxGen1_attachDeviceReq(
-	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc,
-	const std::shared_ptr<smo::ComponentThread>& componentThread,
-	Callback<smo::sense_api::sal_mlo_attachDeviceReqCbFn> cb
-	)
-{
-	if (!livoxProto1.livoxProto1_getOrCreateDeviceReq)
-	{
-		throw std::runtime_error(
-			std::string(__func__) + ": LivoxProto1 getOrCreateDevice function "
-			"not available");
-	}
-
-	for (const auto& dev : g_attachedDevices)
-	{
-		if (dev->discoveredDevice.deviceIdentifier == desc->deviceIdentifier)
-		{
-			cb.callbackFn(true, desc);
-			return;
-		}
-	}
-
-	// Parse integer parameters from provider params with defaults
-	/* The Livox Avia will generally respond to a handshake request within
-	 * 50ms. So we set the handshake timeout to 300ms to be safe.
-	 */
-	int handshakeTimeoutMs = 300;	// Default: 50ms
-	/* Based on testing on a Livox Avia, the device will generally resume
-	 * sending broadcast advertisement dgrams after about 5 seconds at most.
-	 * Generally, it will resume sending them within 1-2 seconds.
-	 */
-	int retryDelayMs = 5250;			// Default: 500ms
-	uint8_t smoSubnetNbits = 24;	// Default: /24 subnet
-	uint16_t dataPort = 56000;		// Default data port
-	uint16_t cmdPort = 56001;		// Default command port
-	uint16_t imuPort = 56002;		// Default IMU port
-	// Default: empty string (will trigger IP auto-detection)
-	std::string smoIp = "";
-
-	// Parse optional integer parameters from provider params
-	for (const auto& param : desc->providerParams)
-	{
-		if (param.first == "handshake-timeout-ms")
-		{
-			handshakeTimeoutMs = smo::device::DeviceAttachmentSpec
-				::parseRequiredParamAsInt(*desc, "handshake-timeout-ms");
-		} else if (param.first == "retry-delay-ms")
-		{
-			retryDelayMs = smo::device::DeviceAttachmentSpec
-				::parseRequiredParamAsInt(*desc, "retry-delay-ms");
-		} else if (param.first == "smo-subnet-nbits")
-		{
-			smoSubnetNbits = static_cast<uint8_t>(
-				smo::device::DeviceAttachmentSpec
-				::parseRequiredParamAsInt(*desc, "smo-subnet-nbits"));
-		} else if (param.first == "data-port")
-		{
-			dataPort = static_cast<uint16_t>(
-				smo::device::DeviceAttachmentSpec
-				::parseRequiredParamAsInt(*desc, "data-port"));
-		} else if (param.first == "cmd-port")
-		{
-			cmdPort = static_cast<uint16_t>(
-				smo::device::DeviceAttachmentSpec
-				::parseRequiredParamAsInt(*desc, "cmd-port"));
-		} else if (param.first == "imu-port")
-		{
-			imuPort = static_cast<uint16_t>(
-				smo::device::DeviceAttachmentSpec
-				::parseRequiredParamAsInt(*desc, "imu-port"));
-		} else if (param.first == "smo-ip")
-		{
-			if (param.second.empty())
-			{
-				throw std::runtime_error(
-					std::string(__func__) + ": smo-ip parameter is empty");
-			}
-			if (param.second.find('.') == std::string::npos ||
-			    std::count(param.second.begin(), param.second.end(), '.') != 3)
-			{
-				throw std::runtime_error(
-					std::string(__func__) + ": smo-ip parameter is not an "
-					"IPv4 address");
-			}
-			smoIp = param.second;
-		}
-		else
-		{
-			throw std::runtime_error(
-				std::string(__func__) + ": Unknown provider parameter: "
-				+ param.first);
-		}
-	}
-
-	auto request = std::make_shared<AttachDeviceReq>(desc, cb);
-
-	(*livoxProto1.livoxProto1_getOrCreateDeviceReq)(
-		desc->deviceSelector,  // deviceIdentifier (broadcast code)
-		componentThread,
-		handshakeTimeoutMs, retryDelayMs,
-		smoIp, smoSubnetNbits,
-		dataPort, cmdPort, imuPort,
-		{request, std::bind(
-			&AttachDeviceReq::attachDeviceReq1,
-			request.get(), request,
-			std::placeholders::_1, std::placeholders::_2)});
-}
-
-extern "C" void livoxGen1_detachDeviceReq(
-	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc,
-	Callback<smo::sense_api::sal_mlo_detachDeviceReqCbFn> cb
-	)
-{
-	// Find and remove the device from our collection
-	auto it = std::find_if(g_attachedDevices.begin(), g_attachedDevices.end(),
-		[&desc](const std::shared_ptr<livoxProto1::Device>& dev) {
-			/**		EXPLANATION:
-			 * Compare the first 14 characters of the deviceIdentifier with
-			 * the first 14 characters of the deviceSelector
-			 */
-			const std::string& devId = dev->discoveredDevice.deviceIdentifier;
-			std::string devIdPrefix = devId.substr(
-				0, std::min<size_t>(14, devId.size()));
-
-			return devIdPrefix == desc->deviceSelector.substr(
-				0, std::min<size_t>(14, desc->deviceSelector.size()));
-		}
-	);
-
-	if (it == g_attachedDevices.end())
-	{
-		std::cerr << std::string(__func__)
-		          << ": Device not found for detachment: "
-		          << desc->deviceIdentifier << std::endl;
-		cb.callbackFn(false, desc);
-		return;
-	}
-
-	auto request = std::make_shared<DetachDeviceReq>(desc, cb);
-
-	(*livoxProto1.livoxProto1_destroyDeviceReq)(
-		*it,
-		{request, std::bind(
-			&DetachDeviceReq::detachDeviceReq1,
-			request.get(), request,
-			std::placeholders::_1)});
-}
-
-// Exported function
-extern "C" smo::sense_api::SMO_GET_SENSE_API_DESC_FN_TYPEDEF
-	SMO_GET_SENSE_API_DESC_FN_NAME;
-
-const smo::sense_api::SenseApiDesc& SMO_GET_SENSE_API_DESC_FN_NAME(
-	const smo::sense_api::SmoCallbacks& callbacks,
-	const smo::sense_api::SmoThreadingModelDesc& threadingModel)
-{
-	smoHooksPtr = &callbacks;
-	smoThreadingModelDesc = threadingModel;
-
-	return livoxGen1ApiDesc;
-}
-
-} // namespace sense_api
-} // namespace smo

smocore/CMakeLists.txt

@@ -8,18 +8,21 @@ add_library(smocore STATIC
     opts.cpp
     componentThread.cpp
     component.cpp
-    painfulQuale.cpp
     qutex.cpp
     lockerAndInvokerBase.cpp
 
     # Body
     body/body.cpp
 
+    # Director
+    director/director.cpp
+
     # Marionette
     marionette/main.cpp
     marionette/salmanoff.cpp
     marionette/lifetime.cpp
     marionette/qualeEvent.cpp
+	marionette/negtrinEvent.cpp
 
     # DeviceManager
     deviceManager/deviceManager.cpp
@@ -29,7 +32,10 @@ add_library(smocore STATIC
     ${YACC_OUTPUT}
 
     # SenseApis
-    senseApis/senseApiManager.cpp
+    stimBuffApis/stimBuffApiManager.cpp
+
+    # ComputeManager
+    computeManager/computeManager.cpp
 
     # MindManager
     mindManager/mindManager.cpp
@@ -43,8 +49,19 @@ endif()
 target_include_directories(smocore PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}/include
     ${CMAKE_CURRENT_BINARY_DIR}
+	${Boost_INCLUDE_DIRS}
+	${OPENCL_INCLUDE_DIRS}
 )
 
 # Link against pthread for CPU affinity functions
 find_package(Threads REQUIRED)
-target_link_libraries(smocore PRIVATE Threads::Threads)
+target_link_libraries(smocore PRIVATE
+	Threads::Threads
+	Boost::system
+	Boost::log
+	${OPENCL_LIBRARIES}
+	attachmentSupport
+)
+target_link_directories(smocore PRIVATE
+	${OPENCL_LIBRARY_DIRS}
+)

smocore/body/body.cpp

@@ -3,10 +3,11 @@
 #include <asynchronousContinuation.h>
 #include <asynchronousLoop.h>
 #include <callback.h>
+#include <callableTracer.h>
 #include <body/body.h>
 #include <componentThread.h>
 #include <mind.h>
-#include <senseApis/senseApiManager.h>
+#include <stimBuffApis/stimBuffApiManager.h>
 #include <deviceManager/deviceManager.h>
 
 namespace smo {
@@ -50,11 +51,11 @@ public:
 		 * For example, liblivoxProto1's BroadcastListener will use this thread
 		 * to listen for UDP broadcast dgrams from Livox devices.
 		 *
-		 * Right now we use Marionette, but there's a strong argument for using
+		 * We used to use Marionette, but there's a strong argument for using
 		 * Body instead since it's meant to handle device-management operations.
 		 */
-		sense_api::SenseApiManager::getInstance()
-			.loadAllSenseApiLibsFromOptions(caller);
+		stim_buff::StimBuffApiManager::getInstance()
+			.loadAllStimBuffApiLibsFromOptions(parent.body.thread);
 
 		/**	EXPLANATION:
 		 * Consider body::initializeReq to have been called if even one of its
@@ -63,15 +64,16 @@ public:
 		 */
 		context->parent.bodyComponentInitialized = true;
 
-		std::cout << sense_api::SenseApiManager::getInstance().stringifyLibs()
+		std::cout << stim_buff::StimBuffApiManager::getInstance().stringifyLibs()
 			<< std::endl;
 
 		if (OptionParser::getOptions().verbose)
 		{
-			std::cout << __func__ << ": About to initializeAllSenseApiLibs"
+			std::cout << __func__ << ": About to initializeAllStimBuffApiLibs"
 				<< '\n';
 		}
-		sense_api::SenseApiManager::getInstance().initializeAllSenseApiLibs();
+		stim_buff::StimBuffApiManager::getInstance()
+			.initializeAllStimBuffApiLibs();
 
 		if (OptionParser::getOptions().verbose)
 		{
@@ -134,11 +136,11 @@ public:
 			<< results.nSucceeded << " of " << results.nTotal
 			<< " sense devices." << "\n";
 
-		std::cout << "Mrntt: About to finalize all sense api libs." << "\n";
-		sense_api::SenseApiManager::getInstance().finalizeAllSenseApiLibs();
+		std::cout << "Mrntt: About to finalize all stim buff api libs." << "\n";
+		stim_buff::StimBuffApiManager::getInstance().finalizeAllStimBuffApiLibs();
 
-		std::cout << "Mrntt: About to unload all sense api libs." << "\n";
-		sense_api::SenseApiManager::getInstance().unloadAllSenseApiLibs();
+		std::cout << "Mrntt: About to unload all stim buff api libs." << "\n";
+		stim_buff::StimBuffApiManager::getInstance().unloadAllStimBuffApiLibs();
 		callOriginalCb(results.nSucceeded == results.nTotal);
 	}
 };
@@ -157,9 +159,9 @@ void Body::initializeReq(Callback<bodyLifetimeMgmtOpCbFn> callback)
 		parent, mrntt, callback);
 
 	thread->getIoService().post(
-		std::bind(
+		STC(std::bind(
 			&InitializeReq::initializeReq1_posted,
-			request.get(), request));
+			request.get(), request)));
 }
 
 void Body::finalizeReq(Callback<bodyLifetimeMgmtOpCbFn> callback)
@@ -186,9 +188,9 @@ void Body::finalizeReq(Callback<bodyLifetimeMgmtOpCbFn> callback)
 		parent, mrntt, callback);
 
 	thread->getIoService().post(
-		std::bind(
+		STC(std::bind(
 			&FinalizeReq::finalizeReq1_posted,
-			request.get(), request));
+			request.get(), request)));
 }
 
 } // namespace body

smocore/component.cpp

@@ -1,4 +1,5 @@
 #include <component.h>
+#include <marionette/marionette.h>
 
 namespace smo {
 

smocore/componentThread.cpp

@@ -1,11 +1,14 @@
+#include <boostAsioLinkageFix.h>
 #include <unistd.h>
 #include <iostream>
+#include <string>
 #include <pthread.h>
 #include <sched.h>
-#include <boost/asio.hpp>
+#include <boost/asio/io_service.hpp>
 #include <opts.h>
 #include <asynchronousContinuation.h>
 #include <callback.h>
+#include <callableTracer.h>
 #include <mind.h>
 #include <mindManager/mindManager.h>
 #include <componentThread.h>
@@ -31,6 +34,11 @@ void MindThread::initializeTls(void)
 	thisComponentThread = shared_from_this();
 }
 
+bool ComponentThread::tlsInitialized(void)
+{
+	return thisComponentThread != nullptr;
+}
+
 const std::shared_ptr<ComponentThread> ComponentThread::getSelf(void)
 {
 	if (!thisComponentThread)
@@ -44,6 +52,8 @@ const std::shared_ptr<ComponentThread> ComponentThread::getSelf(void)
 
 void MindThread::main(MindThread& self)
 {
+	std::string threadName = "smo:" + self.name;
+	pthread_setname_np(pthread_self(), threadName.c_str());
 
 	if (OptionParser::getOptions().verbose)
 	{
@@ -96,9 +106,7 @@ void MindThread::main(MindThread& self)
 
 		if (sendExceptionInd)
 		{
-			mrntt::mrntt.finalizeReq(
-				{nullptr, std::bind(
-				&mrntt::marionetteFinalizeReqCb, std::placeholders::_1)});
+			mrntt::mrntt.exceptionInd();
 		}
 	}
 
@@ -236,9 +244,9 @@ void MindThread::joltThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
 		mrntt, target, callback);
 
 	this->getIoService().post(
-		std::bind(
+		STC(std::bind(
 			&ThreadLifetimeMgmtOp::joltThreadReq1_posted,
-			request.get(), request));
+			request.get(), request)));
 }
 
 // Thread management method implementations
@@ -249,9 +257,9 @@ void MindThread::startThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
 		caller, shared_from_this(), callback);
 
 	this->getIoService().post(
-		std::bind(
+		STC(std::bind(
 			&ThreadLifetimeMgmtOp::startThreadReq1_posted,
-			request.get(), request));
+			request.get(), request)));
 }
 
 void MindThread::exitThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
@@ -261,14 +269,14 @@ void MindThread::exitThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
 		caller, shared_from_this(), callback);
 
 	this->getIoService().post(
-		std::bind(
+		STC(std::bind(
 			&ThreadLifetimeMgmtOp::exitThreadReq1_mainQueue_posted,
-			request.get(), request));
+			request.get(), request)));
 
 	pause_io_service.post(
-		std::bind(
+		STC(std::bind(
 			&ThreadLifetimeMgmtOp::exitThreadReq1_pauseQueue_posted,
-			request.get(), request));
+			request.get(), request)));
 }
 
 void MindThread::pauseThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
@@ -284,9 +292,9 @@ void MindThread::pauseThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
 		caller, shared_from_this(), callback);
 
 	this->getIoService().post(
-		std::bind(
+		STC(std::bind(
 			&ThreadLifetimeMgmtOp::pauseThreadReq1_posted,
-			request.get(), request));
+			request.get(), request)));
 }
 
 void MindThread::resumeThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
@@ -303,9 +311,9 @@ void MindThread::resumeThreadReq(Callback<threadLifetimeMgmtOpCbFn> callback)
 		caller, shared_from_this(), callback);
 
 	pause_io_service.post(
-		std::bind(
+		STC(std::bind(
 			&ThreadLifetimeMgmtOp::resumeThreadReq1_posted,
-			request.get(), request));
+			request.get(), request)));
 }
 
 // CPU management method implementations

smocore/computeManager/computeManager.cpp

@@ -0,0 +1,192 @@
+#include <iostream>
+#include <stdexcept>
+#include <string>
+#include <string_view>
+#include <algorithm>
+#include <computeManager/computeManager.h>
+#include <user/compute.h>
+
+namespace smo {
+namespace compute {
+
+void ComputeManager::initialize()
+{
+	if (initialized) { return; }
+
+	cl_int err;
+
+	// Get number of platforms
+	cl_uint numPlatforms = 0;
+	err = clGetPlatformIDs(0, nullptr, &numPlatforms);
+	if (err != CL_SUCCESS)
+	{
+		throw std::runtime_error(
+			std::string(__func__) + ": failed to get OpenCL platforms: " +
+			std::to_string(err));
+	}
+	if (numPlatforms == 0)
+	{
+		throw std::runtime_error(
+			std::string(__func__) + ": no OpenCL platforms found");
+	}
+
+	// Get all platforms
+	std::vector<cl_platform_id> platforms(numPlatforms);
+	err = clGetPlatformIDs(numPlatforms, platforms.data(), nullptr);
+	if (err != CL_SUCCESS)
+	{
+		throw std::runtime_error(
+			std::string(__func__) + ": failed to enumerate OpenCL platforms: " +
+			std::to_string(err));
+	}
+
+	// Enumerate devices for each platform
+	for (cl_uint p = 0; p < numPlatforms; ++p)
+	{
+		cl_platform_id platform = platforms[p];
+
+		// Check platform version
+		char platformVersion[128];
+		err = clGetPlatformInfo(
+			platform, CL_PLATFORM_VERSION,
+			sizeof(platformVersion), platformVersion, nullptr);
+
+		if (err == CL_SUCCESS)
+		{
+			if (!validateOpenClVersion(platformVersion, "platform", 1, 2))
+			{
+				std::cout << __func__ << ": skipping platform " << p
+					<< " with incompatible OpenCL version "
+					<< std::string(platformVersion) << std::endl;
+				continue;
+			}
+		}
+
+		// Get number of devices
+		cl_uint numDevices = 0;
+		err = clGetDeviceIDs(
+			platform, CL_DEVICE_TYPE_ALL, 0, nullptr, &numDevices);
+
+		if (err != CL_SUCCESS || numDevices == 0)
+		{
+			std::cout << __func__ << ": skipping platform " << p
+				<< " with no devices" << std::endl;
+			continue;
+		}
+
+		// Get all devices
+		std::vector<cl_device_id> platformDevices(numDevices);
+		err = clGetDeviceIDs(
+			platform, CL_DEVICE_TYPE_ALL, numDevices,
+			platformDevices.data(), nullptr);
+
+		if (err != CL_SUCCESS)
+		{
+			throw std::runtime_error(
+				std::string(__func__) + ": failed to enumerate devices for "
+				"platform " + std::to_string(p) + ": " + std::to_string(err));
+		}
+
+		// Create ComputeDevice for each device
+		for (cl_uint d = 0; d < numDevices; ++d)
+		{
+			cl_device_id device = platformDevices[d];
+
+			// Check device version
+			char deviceVersion[128];
+			err = clGetDeviceInfo(
+				device, CL_DEVICE_VERSION,
+				sizeof(deviceVersion), deviceVersion, nullptr);
+
+			if (err == CL_SUCCESS)
+			{
+				if (!validateOpenClVersion(deviceVersion, "device", 1, 2))
+				{
+					std::cout << __func__ << ": skipping device " << d
+						<< " with incompatible OpenCL version "
+						<< std::string(deviceVersion) << std::endl;
+					continue;
+				}
+			}
+
+			// Create ComputeDevice (constructor creates context and queue)
+			try
+			{
+				auto deviceObj = std::make_shared<ComputeDevice>(
+					platform, device);
+				devices.push_back(deviceObj);
+			}
+			catch (const std::runtime_error& e)
+			{
+				// Re-throw with more context about which device/platform
+				throw std::runtime_error(
+					std::string(__func__) + ": failed to create ComputeDevice "
+					"for device " + std::to_string(d) + " on platform " +
+					std::to_string(p) + ": " + e.what());
+			}
+		}
+	}
+
+	if (devices.empty())
+	{
+		throw std::runtime_error(
+			std::string(__func__) + ": no compatible OpenCL devices found");
+	}
+
+	initialized = true;
+	std::cout << __func__ << ": Initialized with " << devices.size()
+		<< " compute device(s)" << std::endl;
+}
+
+void ComputeManager::finalize()
+{
+	if (!initialized) { return; }
+
+	// Release all devices (their shared_ptrs will clean up contexts/queues)
+	devices.clear();
+	initialized = false;
+	std::cout << __func__ << ": Finalized" << std::endl;
+}
+
+std::shared_ptr<ClBuffer>
+ComputeManager::createUseHostPtrBuffer(
+	void* hostPtr, size_t size, cl_mem_flags flags)
+{
+	if (!initialized)
+	{
+		std::cerr << __func__ << ": ComputeManager not initialized"
+			<< std::endl;
+		throw std::runtime_error(
+			std::string(__func__) + ": ComputeManager not initialized");
+	}
+
+	return std::make_shared<ClBuffer>(hostPtr, size, flags, devices);
+}
+
+void ComputeManager::releaseUseHostPtrBuffer(std::shared_ptr<ClBuffer> buffer)
+{
+	// No-op: ClBuffer's destructor handles cleanup automatically
+	// This function exists for API compatibility
+	(void)buffer;
+}
+
+std::shared_ptr<ComputeDevice> ComputeManager::getDevice()
+{
+	if (!initialized || devices.empty()) {
+		return nullptr;
+	}
+
+	// Return first available device
+	// In the future, this will filter based on ComputeDeviceConstraints
+	return devices[0];
+}
+
+void ComputeManager::releaseDevice(std::shared_ptr<ComputeDevice> device)
+{
+	// Placeholder for future refcounting implementation
+	// Devices are only removed in finalize()
+	(void)device;
+}
+
+} // namespace compute
+} // namespace smo

smocore/deviceManager/deviceAttachmentPipeSpecp.yy

@@ -106,18 +106,20 @@ extrospector_spec:
     ;
 
 spec_body:
-    STRING PIPE STRING PIPE STRING LPAREN opt_params RPAREN PIPE STRING LPAREN opt_params RPAREN PIPE STRING {
+    STRING PIPE STRING LPAREN opt_params RPAREN PIPE STRING LPAREN opt_params RPAREN PIPE STRING LPAREN opt_params RPAREN PIPE STRING {
         $$ = new smo::device::DeviceAttachmentSpec();
         $$->deviceIdentifier = std::string($1);
         $$->sensorType = '\0';  // This will be set by the parent rule
-        $$->implexor = std::string($3);
-        $$->api = std::string($5);
-        $$->apiParams = std::move(*$7);
-        $$->provider = std::string($10);
-        $$->providerParams = std::move(*$12);
-        $$->deviceSelector = std::string($15);
-        delete $7;
-        delete $12;
+        $$->qualeIfaceApi = std::string($3);
+        $$->qualeIfaceApiParams = std::move(*$5);
+        $$->stimBuffApi = std::string($8);
+        $$->stimBuffApiParams = std::move(*$10);
+        $$->provider = std::string($13);
+        $$->providerParams = std::move(*$15);
+        $$->deviceSelector = std::string($18);
+        delete $5;
+        delete $10;
+        delete $15;
     }
     ;
 

smocore/deviceManager/deviceManager.cpp

@@ -9,10 +9,11 @@
 #include <asynchronousContinuation.h>
 #include <serializedAsynchronousContinuation.h>
 #include <callback.h>
+#include <callableTracer.h>
 #include <componentThread.h>
 #include <deviceManager/deviceManager.h>
 #include <deviceManager/deviceReattacher.h>
-#include <senseApis/senseApiManager.h>
+#include <stimBuffApis/stimBuffApiManager.h>
 #include <marionette/marionette.h>
 #include <mind.h>
 
@@ -132,7 +133,7 @@ public:
 			return;
 		}
 
-		DeviceManager::getInstance().attachSenseDeviceReq(
+		DeviceManager::getInstance().attachStimBuffDeviceReq(
 			specPtr,
 			{context, std::bind(
 				&NewDeviceAttachmentSpecInd::newDeviceAttachmentSpecInd2,
@@ -209,8 +210,8 @@ public:
 			return;
 		}
 
-		// Call detachSenseDeviceReq first - only clean up metadata if this succeeds
-		DeviceManager::getInstance().detachSenseDeviceReq(
+		// Call detachStimBuffDeviceReq first - only clean up metadata if this succeeds
+		DeviceManager::getInstance().detachStimBuffDeviceReq(
 			specPtr,
 			{context, std::bind(
 				&RemoveDeviceAttachmentSpecReq::removeDeviceAttachmentSpecReq2,
@@ -329,24 +330,25 @@ void DeviceManager::removeDeviceAttachmentSpecReq(
 			request.get(), request));
 }
 
-class DeviceManager::AttachSenseDeviceReq
-:	public SerializedAsynchronousContinuation<attachSenseDeviceReqCbFn>
+class DeviceManager::AttachStimBuffDeviceReq
+:	public SerializedAsynchronousContinuation<
+		DeviceManager::attachStimBuffDeviceReqCbFn>
 {
 public:
-	AttachSenseDeviceReq(
+	AttachStimBuffDeviceReq(
 		const std::shared_ptr<DeviceAttachmentSpec>& spec,
 		const std::shared_ptr<ComponentThread> &caller,
-		Callback<attachSenseDeviceReqCbFn> cb,
-		std::shared_ptr<sense_api::SenseApiLib> &senseApiLib,
+		Callback<DeviceManager::attachStimBuffDeviceReqCbFn> cb,
+		std::shared_ptr<stim_buff::StimBuffApiLib> &stimBuffApiLib,
 		std::vector<std::reference_wrapper<Qutex>> requiredLocks)
-	:	SerializedAsynchronousContinuation<attachSenseDeviceReqCbFn>(
+	:	SerializedAsynchronousContinuation<attachStimBuffDeviceReqCbFn>(
 			caller, cb, requiredLocks),
-		spec(spec), senseApiLib(senseApiLib)
+		spec(spec), stimBuffApiLib(stimBuffApiLib)
 	{}
 
 public:
-	void attachSenseDeviceReq1_posted(
-		[[maybe_unused]] std::shared_ptr<AttachSenseDeviceReq> context
+	void attachStimBuffDeviceReq1_posted(
+		[[maybe_unused]] std::shared_ptr<AttachStimBuffDeviceReq> context
 		)
 	{
 		if (caller->id != ComponentThread::MRNTT)
@@ -358,23 +360,24 @@ public:
 			return;
 		}
 
-		if (senseApiLib->isBeingDestroyed.load())
+		if (stimBuffApiLib->isBeingDestroyed.load())
 		{
 			std::cerr << std::string(__func__) + ": Library is being destroyed"
-				<< " for API '" << spec->api << "'. Bailing out." << std::endl;
+				<< " for API '" << spec->stimBuffApi << "'. Bailing out.\n";
 			callOriginalCb(false, spec);
 			return;
 		}
 
-		if (!senseApiLib->senseApiDesc.sal_mgmt_libOps.attachDeviceReq)
+		if (!stimBuffApiLib->stimBuffApiDesc.sal_mgmt_libOps.attachDeviceReq)
 		{
 			std::cerr << std::string(__func__) + ": attachDeviceReq() is NULL "
-				"for library '" << senseApiLib->libraryPath << "'" << std::endl;
+				"for library '" << stimBuffApiLib->libraryPath << "'"
+				<< std::endl;
 			callOriginalCb(false, spec);
 			return;
 		}
 
-		releaseQutexEarly(sense_api::SenseApiManager::getInstance().qutex);
+		releaseQutexEarly(stim_buff::StimBuffApiManager::getInstance().qutex);
 
 		/**		EXPLANATION:
 		 * We pass in either the body or world thread here, depending on whether
@@ -397,16 +400,16 @@ public:
 				<< spec->deviceIdentifier << " to body thread" << "\n";
 		}
 
-		senseApiLib->senseApiDesc.sal_mgmt_libOps.attachDeviceReq(
+		stimBuffApiLib->stimBuffApiDesc.sal_mgmt_libOps.attachDeviceReq(
 			spec, threadForAttachment,
 			{context, std::bind(
-				&AttachSenseDeviceReq::attachSenseDeviceReq2,
+				&AttachStimBuffDeviceReq::attachStimBuffDeviceReq2,
 				context.get(), context,
 				std::placeholders::_1, std::placeholders::_2)});
 	 }
 
-	 void attachSenseDeviceReq2(
-		[[maybe_unused]] std::shared_ptr<AttachSenseDeviceReq> context,
+	 void attachStimBuffDeviceReq2(
+		[[maybe_unused]] std::shared_ptr<AttachStimBuffDeviceReq> context,
 		bool success,
 		std::shared_ptr<DeviceAttachmentSpec> deviceSpec
 		)
@@ -414,8 +417,8 @@ public:
 		callOriginalCb(success, deviceSpec);
 	}
 
-	 void detachSenseDeviceReq1_posted(
-		[[maybe_unused]] std::shared_ptr<DetachSenseDeviceReq> context
+	void detachStimBuffDeviceReq1_posted(
+		[[maybe_unused]] std::shared_ptr<AttachStimBuffDeviceReq> context
 		)
 	{
 		if (caller->id != ComponentThread::MRNTT)
@@ -427,34 +430,35 @@ public:
 			return;
 		}
 
-		if (senseApiLib->isBeingDestroyed.load())
+		if (stimBuffApiLib->isBeingDestroyed.load())
 		{
 			std::cerr << std::string(__func__) + ": Library is being destroyed"
-				<< " for API '" << spec->api << "'. Bailing out." << std::endl;
+				<< " for API '" << spec->stimBuffApi << "'. Bailing out.\n";
 			callOriginalCb(false, spec);
 			return;
 		}
 
-		if (!senseApiLib->senseApiDesc.sal_mgmt_libOps.detachDeviceReq)
+		if (!stimBuffApiLib->stimBuffApiDesc.sal_mgmt_libOps.detachDeviceReq)
 		{
 			std::cerr << std::string(__func__) + ": detachDeviceReq() is NULL "
-				"for library '" << senseApiLib->libraryPath << "'" << std::endl;
+				"for library '" << stimBuffApiLib->libraryPath << "'"
+				<< std::endl;
 			callOriginalCb(false, spec);
 			return;
 		}
 
-		releaseQutexEarly(sense_api::SenseApiManager::getInstance().qutex);
+		releaseQutexEarly(stim_buff::StimBuffApiManager::getInstance().qutex);
 
-		senseApiLib->senseApiDesc.sal_mgmt_libOps.detachDeviceReq(
+		stimBuffApiLib->stimBuffApiDesc.sal_mgmt_libOps.detachDeviceReq(
 			spec,
 			{context, std::bind(
-				&DetachSenseDeviceReq::detachSenseDeviceReq2,
+				&AttachStimBuffDeviceReq::detachStimBuffDeviceReq2,
 				context.get(), context,
 				std::placeholders::_1, std::placeholders::_2)});
-	 }
+	}
 
-	void detachSenseDeviceReq2(
-		[[maybe_unused]] std::shared_ptr<DetachSenseDeviceReq> context,
+	void detachStimBuffDeviceReq2(
+		[[maybe_unused]] std::shared_ptr<AttachStimBuffDeviceReq> context,
 		bool success,
 		std::shared_ptr<DeviceAttachmentSpec> deviceSpec
 		)
@@ -464,76 +468,76 @@ public:
 
 public:
 	std::shared_ptr<DeviceAttachmentSpec> spec;
-	std::shared_ptr<sense_api::SenseApiLib> senseApiLib;
+	std::shared_ptr<stim_buff::StimBuffApiLib> stimBuffApiLib;
 };
 
-void DeviceManager::attachSenseDeviceReq(
+void DeviceManager::attachStimBuffDeviceReq(
     const std::shared_ptr<DeviceAttachmentSpec>& spec,
-    Callback<attachSenseDeviceReqCbFn> cb
+    Callback<attachStimBuffDeviceReqCbFn> cb
     )
 {
 	const auto& caller = ComponentThread::getSelf();
 
-	// Get the sense API lib's qutex
-	auto libOpt = sense_api::SenseApiManager::getInstance()
-		.getSenseApiLibByApiName(spec->api);
+	// Get the stim buff API lib's qutex
+	auto libOpt = stim_buff::StimBuffApiManager::getInstance()
+		.getStimBuffApiLibByApiName(spec->stimBuffApi);
 
 		if (!libOpt)
 	{
-		std::cerr << "attachSenseDeviceReq: No library found for API '"
-			<< spec->api << "'" << std::endl;
+		std::cerr << "attachStimBuffDeviceReq: No library found for API '"
+			<< spec->stimBuffApi << "'" << std::endl;
 		cb.callbackFn(false, spec);
 		return;
 	}
 
 	auto& lib = *libOpt.value();
 
-	auto request = std::make_shared<AttachSenseDeviceReq>(
+	auto request = std::make_shared<AttachStimBuffDeviceReq>(
 		spec, caller, cb, libOpt.value(),
-		LockSet<attachSenseDeviceReqCbFn>::Set{
-			std::ref(sense_api::SenseApiManager::getInstance().qutex),
+		LockSet<attachStimBuffDeviceReqCbFn>::Set{
+			std::ref(stim_buff::StimBuffApiManager::getInstance().qutex),
 			std::ref(lib.qutex)
 		});
 
-	AttachSenseDeviceReq::LockerAndInvoker lockvoker(
+	AttachStimBuffDeviceReq::LockerAndInvoker lockvoker(
 		*request, mrntt::mrntt.thread,
 		std::bind(
-			&AttachSenseDeviceReq::attachSenseDeviceReq1_posted,
+			&AttachStimBuffDeviceReq::attachStimBuffDeviceReq1_posted,
 			request.get(), request));
 }
 
-void DeviceManager::detachSenseDeviceReq(
+void DeviceManager::detachStimBuffDeviceReq(
     const std::shared_ptr<DeviceAttachmentSpec>& spec,
-    Callback<detachSenseDeviceReqCbFn> cb
+    Callback<detachStimBuffDeviceReqCbFn> cb
     )
 {
 	const auto& caller = ComponentThread::getSelf();
 
-	// Get the sense API lib's qutex
-	auto libOpt = sense_api::SenseApiManager::getInstance()
-		.getSenseApiLibByApiName(spec->api);
+	// Get the stim buff API lib's qutex
+	auto libOpt = stim_buff::StimBuffApiManager::getInstance()
+		.getStimBuffApiLibByApiName(spec->stimBuffApi);
 
 		if (!libOpt)
 	{
-		std::cerr << "detachSenseDeviceReq: No library found for API '"
-			<< spec->api << "'" << std::endl;
+		std::cerr << "detachStimBuffDeviceReq: No library found for API '"
+			<< spec->stimBuffApi << "'" << std::endl;
 		cb.callbackFn(false, spec);
 		return;
 	}
 
 	auto& lib = *libOpt.value();
 
-	auto request = std::make_shared<DetachSenseDeviceReq>(
+	auto request = std::make_shared<DetachStimBuffDeviceReq>(
 		spec, caller, cb, libOpt.value(),
-		LockSet<detachSenseDeviceReqCbFn>::Set{
-			std::ref(sense_api::SenseApiManager::getInstance().qutex),
+		LockSet<detachStimBuffDeviceReqCbFn>::Set{
+			std::ref(stim_buff::StimBuffApiManager::getInstance().qutex),
 			std::ref(lib.qutex)
 		});
 
-	DetachSenseDeviceReq::LockerAndInvoker lockvoker(
+	DetachStimBuffDeviceReq::LockerAndInvoker lockvoker(
 		*request, mrntt::mrntt.thread,
 		std::bind(
-			&DetachSenseDeviceReq::detachSenseDeviceReq1_posted,
+			&DetachStimBuffDeviceReq::detachStimBuffDeviceReq1_posted,
 			request.get(), request));
 }
 
@@ -623,10 +627,10 @@ void DeviceManager::attachAllUnattachedDevicesFromReq(
 		specs->size(), specs, caller, std::move(cb));
 
 	mrntt::mrntt.thread->getIoService().post(
-		std::bind(
+		STC(std::bind(
 			&AttachAllUnattachedDevicesFromReq
 				::attachAllUnattachedDevicesFromReq1_posted,
-			request.get(), request));
+			request.get(), request)));
 }
 
 void DeviceManager::attachAllUnattachedDevicesFromCmdlineReq(
@@ -746,7 +750,7 @@ public:
 	{
 		for (const auto& deviceRole : DeviceManager::attachedDeviceRoles)
 		{
-			DeviceManager::getInstance().detachSenseDeviceReq(
+			DeviceManager::getInstance().detachStimBuffDeviceReq(
 				deviceRole->deviceAttachmentSpec,
 				{context, std::bind(
 					&DetachAllAttachedDeviceRoles::detachAllAttachedDeviceRoles2,
@@ -804,9 +808,9 @@ void DeviceManager::detachAllAttachedDeviceRoles(
 		caller, std::move(cb));
 
 	mrntt::mrntt.thread->getIoService().post(
-		std::bind(
+		STC(std::bind(
 			&DetachAllAttachedDeviceRoles::detachAllAttachedDeviceRoles1_posted,
-			request.get(), request));
+			request.get(), request)));
 }
 
 void DeviceManager::initializeDeviceReattacher()

smocore/deviceManager/deviceReattacher.cpp

@@ -3,6 +3,7 @@
 #include <functional>
 #include <componentThread.h>
 #include <callback.h>
+#include <asynchronousBridge.h>
 #include <deviceManager/deviceReattacher.h>
 #include <deviceManager/deviceManager.h>
 
@@ -35,6 +36,24 @@ void DeviceReattacher::stop()
 {
 	shouldContinue.store(false);
 	timer.cancel();
+
+	// Set up a timeout bridge using the provided ioThread's io_service
+	auto& ioService = ioThread->getIoService();
+	boost::asio::deadline_timer timeoutTimer(ioService);
+	AsynchronousBridge bridge(ioService);
+
+	// Set up the timeout for ~10ms
+	timeoutTimer.expires_from_now(boost::posix_time::milliseconds(20));
+	timeoutTimer.async_wait(
+		[&bridge](const boost::system::error_code& error)
+		{
+			(void)error;
+
+			// Always signal complete, whether timeout expired or was cancelled
+			bridge.setAsyncOperationComplete();
+		});
+
+	bridge.waitForAsyncOperationCompleteOrIoServiceStopped();
 }
 
 void DeviceReattacher::scheduleNextTimeout()

smocore/director/director.cpp

@@ -0,0 +1,61 @@
+#include <iostream>
+#include <director/director.h>
+#include <goal.h>
+
+namespace smo {
+namespace director {
+
+void Director::negtrinEventInd(void)
+{
+	/**	EXPLANATION:
+	 * The essence of a negtrin event, to Director is that it generates a new Goal
+	 * object and enqueues it onto the Director's negtrins queue. It's this auto-goal 
+	 * generation that gives negtrins their intrinsic undesirability.
+	 *
+	 * We don't sample the negtrin, evaluate it and then conclude that it's
+	 * undesirable. We don't even produce a negative value judgment. We skip
+	 * right past both the evaluation and the value judgment production and
+	 * just generate the goal immediately.
+	 *
+	 * I'm unsure whether this is correct: it may well be that we ought to
+	 * simply produce a negative value judgment and then let the Director
+	 * create a goal to alleviate the negtrin.
+	 *
+	 * At any rate, for now, this is our implementation.
+	 */
+    std::cout << __func__ << ": Handling negtrin event." << std::endl;
+}
+
+void Director::intrinEventInd(void)
+{
+    std::cout << __func__ << ": Handling intrin event." << std::endl;
+}
+
+void Director::postrinEventInd(void)
+{
+	/**	EXPLANATION:
+	 * When a postrin event occurs, a goal is auto-generated, but this goal is
+	 * a bit different from the goals that are auto-generated for negtrins.
+	 *
+	 * A negtrin's goal is to either: get to 0; reduce the negtrin below its
+	 * intolerable threshold; or reduce it somewhat even if not below the
+	 * tolerable threshold. This is very easy to represent as a cologex.
+	 *
+	 * A postrin's goal is to: persist the postrin indefinitely; and increase
+	 * its intensity if possible; and to store it away as something worth
+	 * re-triggering if some external distractor/frustrator interrupts the
+	 * persistent sampling of the postrin.
+	 *
+	 * I can think of how to encode the negtrin goal as a cologex, but I can't
+	 * think of how to encode the postrin goal as a cologex.
+	 *
+	 * With respect to the "store away for future re-triggering" aspect of the
+	 * postrin goal we can encode this by merely refusing to remove any postrin
+	 * goal from the goal prioQ. I suppose negtrins differ in that we do remove
+	 * them from the goal prioQ when they're resolved.
+	 */
+    std::cout << __func__ << ": Handling postrin event." << std::endl;
+}
+
+} // namespace director
+} // namespace smo

smocore/include/boostAsioLinkageFix.h

@@ -0,0 +1,25 @@
+#ifndef BOOST_ASIO_LINKAGE_FIX_H
+#define BOOST_ASIO_LINKAGE_FIX_H
+
+#include <boost/asio/detail/call_stack.hpp>
+#include <boost/asio/detail/thread_context.hpp>
+#include <boost/asio/detail/tss_ptr.hpp>
+
+namespace boost {
+namespace asio {
+namespace detail {
+
+/**	EXPLANATION:
+ * Extern declaration of the template instantiation
+ * This ensures that the .o translation units don't have their
+ * own copies of `call_stack<>::top_` defined in them.
+ */
+extern template
+tss_ptr<call_stack<thread_context, thread_info_base>::context>
+call_stack<thread_context, thread_info_base>::top_;
+
+} // namespace detail
+} // namespace asio
+} // namespace boost
+
+#endif // BOOST_ASIO_LINKAGE_FIX_H

smocore/include/chronomenon.h

@@ -1,30 +1,12 @@
 #ifndef _CHRONOMENON_H
 #define _CHRONOMENON_H
 
-#include <vector>
-#include <qualeBundle.h>
-#include <mentalEntity.h>
+namespace smo {
 
 class Chronomenon
-: public MentalEntity
 {
-public:
-	class Timestamp
-	{
-		uintptr_t value;
-	};
-
-	class Duration
-	{
-		uintptr_t value;
-	};
-
-public:
-	Chronomenon extract(Timestamp start, Duration len);
-
-public:
-	std::vector<QualeBundle> qualia;
 };
 
-#endif
+} // namespace smo
 
+#endif // _CHRONOMENON_H

smocore/include/component.h

@@ -34,26 +34,6 @@ public:
 	Mind &parent;
 };
 
-namespace mrntt {
-
-class MarionetteComponent
-:	public Component
-{
-public:
-	MarionetteComponent(const std::shared_ptr<ComponentThread> &thread);
-	~MarionetteComponent() = default;
-
-public:
-	typedef std::function<void(bool)> mrnttLifetimeMgmtOpCbFn;
-	void initializeReq(Callback<mrnttLifetimeMgmtOpCbFn> callback);
-	void finalizeReq(Callback<mrnttLifetimeMgmtOpCbFn> callback);
-
-private:
-	class MrnttLifetimeMgmtOp;
-};
-
-} // namespace mrntt
-
 } // namespace smo
 
 #endif // COMPONENT_H

smocore/include/componentThread.h

@@ -1,10 +1,11 @@
 #ifndef COMPONENT_THREAD_H
 #define COMPONENT_THREAD_H
 
+#include <boostAsioLinkageFix.h>
 #include <atomic>
 #include <thread>
 #include <unordered_map>
-#include <boost/asio.hpp>
+#include <boost/asio/io_service.hpp>
 #include <stdexcept>
 #include <queue>
 #include <functional>
@@ -48,6 +49,7 @@ public:
 	boost::asio::io_service& getIoService(void) { return io_service; }
 
 	static const std::shared_ptr<ComponentThread> getSelf(void);
+	static bool tlsInitialized(void);
 	static std::shared_ptr<MarionetteThread> getMrntt();
 
 	typedef void (mainFn)(ComponentThread &self);

smocore/include/computeManager/computeManager.h

@@ -0,0 +1,105 @@
+#ifndef _COMPUTE_MANAGER_H
+#define _COMPUTE_MANAGER_H
+
+#include <memory>
+#include <vector>
+#include <user/compute.h>
+
+namespace smo {
+namespace compute {
+
+/**
+ * @brief Centralized OpenCL platform and device management
+ *
+ * Enumerates all OpenCL platforms and devices, maintains contexts and command
+ * queues, and provides methods to create buffers and access devices.
+ */
+class ComputeManager
+{
+public:
+	static ComputeManager& getInstance()
+	{
+		static ComputeManager instance;
+		return instance;
+	}
+
+	/**
+	 * @brief Initialize ComputeManager by enumerating platforms and devices
+	 *
+	 * Enumerates all OpenCL platforms, then all devices on each platform,
+	 * creating contexts and command queues for each device.
+	 * Idempotent - can be called multiple times safely.
+	 */
+	void initialize();
+
+	/**
+	 * @brief Finalize ComputeManager, releasing all resources
+	 *
+	 * Releases all contexts, command queues, and clears device list.
+	 * Safe to call even if not initialized.
+	 */
+	void finalize();
+
+	/**
+	 * @brief Create USE_HOST_PTR buffers on all contexts
+	 *
+	 * Creates a buffer using CL_MEM_USE_HOST_PTR on each device's context.
+	 *
+	 * @param hostPtr Host pointer to use
+	 * @param size Size of buffer in bytes
+	 * @param flags Additional OpenCL memory flags
+	 * @return Shared pointer to ClBuffer managing buffers on all devices
+	 */
+	std::shared_ptr<ClBuffer> createUseHostPtrBuffer(
+		void* hostPtr, size_t size, cl_mem_flags flags);
+
+	/**
+	 * @brief Release USE_HOST_PTR buffers
+	 *
+	 * Releases all buffers. This is a no-op since ClBuffer's destructor
+	 * handles cleanup automatically.
+	 *
+	 * @param buffer Shared pointer to ClBuffer to release
+	 */
+	void releaseUseHostPtrBuffer(std::shared_ptr<ClBuffer> buffer);
+
+	/**
+	 * @brief Get a compute device
+	 *
+	 * Returns the first available device. Later will accept
+	 * ComputeDeviceConstraints for filtering.
+	 *
+	 * @return Shared pointer to ComputeDevice, or nullptr if no devices available
+	 */
+	std::shared_ptr<ComputeDevice> getDevice();
+
+	/**
+	 * @brief Release a compute device
+	 *
+	 * Placeholder for future refcounting implementation.
+	 * Currently a no-op - devices are only removed in finalize().
+	 *
+	 * @param device Shared pointer to ComputeDevice to release
+	 */
+	void releaseDevice(std::shared_ptr<ComputeDevice> device);
+
+private:
+	ComputeManager() : initialized(false) {}
+	~ComputeManager() {}
+
+	// Non-copyable, non-movable
+	ComputeManager(const ComputeManager&) = delete;
+	ComputeManager& operator=(const ComputeManager&) = delete;
+	ComputeManager(ComputeManager&&) = delete;
+	ComputeManager& operator=(ComputeManager&&) = delete;
+
+	bool initialized;
+	std::vector<std::shared_ptr<ComputeDevice>> devices;
+};
+
+} // namespace compute
+} // namespace smo
+
+#endif // _COMPUTE_MANAGER_H
+
+

smocore/include/concept.h

@@ -1,51 +1,14 @@
 #ifndef _CONCEPT_H
 #define _CONCEPT_H
 
-#include <vector>
-#include <memory>
-#include <logic.h>
-#include <mentalEntity.h>
-
 namespace smo {
-namespace concepts {
+namespace cologex {
 
-class Comparator
-:	public MentalEntity, public logic::Operand
+class Concept
 {
-public:
-	/**		EXPLANATION:
-	 * The reference for a Comparator is the fixed mentity or range of mentities
-	 * that this comparator is intended to validate a match against.
-	 *
-	 * There are several mentities against which a comparator can match. At the
-	 * time of writing, we're fairly sure that these will be at minimum,
-	 * qualia, chronomena and mentena.
-	 */
-	std::shared_ptr<MentalEntity> reference;
 };
 
-class ComparatorExpression
-:	public logic::UnaryExpression
-{
-public:
-	ComparatorExpression(
-		logic::Operator &op, std::shared_ptr<Comparator> &comparator
-	)
-	:	logic::UnaryExpression(
-			op, std::static_pointer_cast<logic::Operand>(comparator))
-	{}
-};
-
-class CombinatorialLogicExpression
-:	public MentalEntity, public logic::Expression
-{
-public:
-
-};
-
-typedef CombinatorialLogicExpression Concept;
-
-} // namespace concept
+} // namespace cologex
 } // namespace smo
 
-#endif
+#endif // _CONCEPT_H

smocore/include/deviceManager/deviceManager.h

@@ -61,15 +61,15 @@ public:
 		Callback<removeDeviceAttachmentSpecReqCbFn> callback);
 
 	// Device attachment/detachment methods moved from SenseApiManager
-	typedef sense_api::sal_mlo_attachDeviceReqCbFn attachSenseDeviceReqCbFn;
-	typedef sense_api::sal_mlo_detachDeviceReqCbFn detachSenseDeviceReqCbFn;
+	typedef stim_buff::sal_mlo_attachDeviceReqCbFn attachStimBuffDeviceReqCbFn;
+	typedef stim_buff::sal_mlo_detachDeviceReqCbFn detachStimBuffDeviceReqCbFn;
 
-	void attachSenseDeviceReq(
+	void attachStimBuffDeviceReq(
         const std::shared_ptr<DeviceAttachmentSpec>& spec,
-        Callback<attachSenseDeviceReqCbFn> cb);
-    void detachSenseDeviceReq(
+        Callback<attachStimBuffDeviceReqCbFn> cb);
+    void detachStimBuffDeviceReq(
         const std::shared_ptr<DeviceAttachmentSpec>& spec,
-        Callback<detachSenseDeviceReqCbFn> cb);
+        Callback<detachStimBuffDeviceReqCbFn> cb);
 
 	typedef std::function<void(AsynchronousLoop &results)>
 		attachAllUnattachedDevicesFromReqCbFn;
@@ -108,8 +108,8 @@ private:
 
 	class NewDeviceAttachmentSpecInd;
 	class RemoveDeviceAttachmentSpecReq;
-	class AttachSenseDeviceReq;
-	typedef AttachSenseDeviceReq DetachSenseDeviceReq;
+	class AttachStimBuffDeviceReq;
+	typedef AttachStimBuffDeviceReq DetachStimBuffDeviceReq;
 	class AttachAllUnattachedDevicesFromReq;
 	class AttachAllUnattachedDevicesFromKnownListReq;
 	class DetachAllAttachedDeviceRoles;

smocore/include/deviceManager/deviceReattacher.h

@@ -1,9 +1,10 @@
 #ifndef DEVICEREATTACHER_H
 #define DEVICEREATTACHER_H
 
+#include <boostAsioLinkageFix.h>
 #include <atomic>
 #include <memory>
-#include <boost/asio.hpp>
+#include <boost/asio/deadline_timer.hpp>
 
 namespace smo {
 

smocore/include/director/director.h

@@ -23,6 +23,10 @@ public:
 
 	~Director() = default;
 
+	void negtrinEventInd(void);
+	void intrinEventInd(void);
+	void postrinEventInd(void);
+
 	/** 		EXPLANATION:
 	 * We allow SMO to prioritize negtrins over injected goals, so that it can
 	 * prioritize pain mitigation. We may decide to change this in the future.

smocore/include/goal.h

@@ -2,11 +2,13 @@
 #define _GOAL_H
 
 #include <concept.h>
+#include <mentalEntity.h>
 
 namespace smo {
 
 class Goal
-: public concepts::Concept {
+: public cologex::Concept, public MentalEntity
+{
 public:
     Goal() = default;
     ~Goal() = default;
@@ -14,4 +16,4 @@ public:
 
 } // namespace smo
 
-#endif
+#endif // _GOAL_H

smocore/include/logic.h

@@ -1,65 +0,0 @@
-#ifndef _LOGIC_H
-#define _LOGIC_H
-
-#include <memory>
-#include <vector>
-
-namespace smo {
-namespace logic {
-
-class ExpressionPart
-{
-};
-
-class Operator
-:	public ExpressionPart
-{
-};
-
-class OperatorAnd
-: public Operator
-{
-};
-
-class OperatorOr
-: public Operator
-{
-};
-
-class OperatorNot
-: public Operator
-{
-};
-
-class Operand
-:	public ExpressionPart
-{
-};
-
-class UnaryExpression
-:	public ExpressionPart
-{
-public:
-	UnaryExpression(Operator &op, const std::shared_ptr<Operand> &operand)
-	:	parts(std::make_pair(op, operand))
-	{}
-public:
-	std::pair<Operator, std::shared_ptr<Operand>> parts;
-};
-
-// Expressions can be chained as parts of a larger expression
-class Expression
-:	public ExpressionPart
-{
-public:
-	// This will eventually take in some data to be evaluated for a match.
-	virtual bool evaluate(void) = 0;
-
-public:
-	std::vector<std::shared_ptr<ExpressionPart>> parts;
-};
-
-} // namespace logic
-} // namespace smo
-
-#endif

smocore/include/lruLifo.h

@@ -20,7 +20,6 @@ namespace smo {
  * dropped. So we may very well literally forget those qualia that get dropped
  * from the LruLifos. (Because LruLifos have a fixed size.)
  */
-
 class LruLifo {
 public:
     LruLifo() = default;

smocore/include/marionette/marionette.h

@@ -4,7 +4,6 @@
 #include <cstdint>
 #include <atomic>
 #include <memory>
-#include <componentThread.h>
 #include <component.h>
 
 namespace smo {
@@ -13,6 +12,25 @@ class MarionetteThread;
 
 namespace mrntt {
 
+class MarionetteComponent
+:	public Component
+{
+public:
+	MarionetteComponent(const std::shared_ptr<ComponentThread> &thread);
+	~MarionetteComponent() = default;
+
+public:
+	typedef std::function<void(bool)> mrnttLifetimeMgmtOpCbFn;
+	void initializeReq(Callback<mrnttLifetimeMgmtOpCbFn> callback);
+	void finalizeReq(Callback<mrnttLifetimeMgmtOpCbFn> callback);
+	// Intentionally doesn't take a callback.
+	void exceptionInd();
+
+private:
+	class MrnttLifetimeMgmtOp;
+	class TerminationEvent;
+};
+
 extern std::atomic<int> exitCode;
 void exitMarionetteLoop();
 void marionetteFinalizeReqCb(bool success);

smocore/include/opts.h

@@ -11,7 +11,8 @@
 class OptionParser
 {
 public:
-    OptionParser() : verbose(false), printUsage(false) {}
+    OptionParser() : verbose(false), printUsage(false), traceCallables(false)
+	{}
     ~OptionParser() = default;
 
     void parseArguments(int argc, char *argv[], char **envp);
@@ -38,7 +39,7 @@ public:
     std::vector<std::string> senseApiLibs;
     std::string dapSpecs;
     std::vector<std::string> dapSpecFiles;
-    bool verbose, printUsage;
+    bool verbose, printUsage, traceCallables;
 
     static struct option longOptions[];
 };

smocore/include/phenoFrame.h

@@ -0,0 +1,31 @@
+#ifndef _PHENO_FRAME_H
+#define _PHENO_FRAME_H
+
+#include <vector>
+#include <chronomenon.h>
+#include <mentalEntity.h>
+#include <user/stimFrame.h>
+
+namespace smo {
+
+class PhenoFrame
+:	public Chronomenon, public MentalEntity
+{
+public:
+	/**	FIXME:
+	 * May be better to use a std::map here, where the key is a kind of ID
+	 * assigned to the stimulus source.
+	 */
+	std::vector<stim_buff::StimFrame> stimuli;
+};
+
+class PhenoSeq
+:	public Chronomenon, public MentalEntity
+{
+public:
+	std::vector<std::pair<stim_buff::SimultaneityStamp, PhenoFrame>> frames;
+};
+
+} // namespace smo
+
+#endif // _PHENO_FRAME_H

smocore/include/qualeBundle.h

@@ -1,16 +0,0 @@
-#ifndef _QUALE_BUNDLE_H
-#define _QUALE_BUNDLE_H
-
-#include <config.h>
-#include <array>
-#include <quale.h>
-
-#define CONFIG_NUM_SENSORS 5
-
-typedef std::array<Quale, CONFIG_NUM_SENSORS> QualeBundle_t;
-class QualeBundle
-{
-	QualeBundle_t	qualia;
-};
-
-#endif