hayodea
010ba9c7bd
We implemented the feature to fill unassembled slots w/dummy header values for the livox pcloud header. We also fixed a bug where io uring was writing into the last slot only because we were using the same iovec for every SQE.
104 lines
2.9 KiB
C++
104 lines
2.9 KiB
C++
#ifndef _LIVOX_GEN1_IOURING_ASSEMBLY_ENGINE_H
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#define _LIVOX_GEN1_IOURING_ASSEMBLY_ENGINE_H
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#include <boostAsioLinkageFix.h>
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#include <cstdint>
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#include <cstddef>
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#include <memory>
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#include <functional>
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#include <vector>
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#include <chrono>
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#include <atomic>
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#include <liburing.h>
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#include <boost/asio/io_service.hpp>
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#include <boost/asio/deadline_timer.hpp>
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#include <boost/asio/posix/stream_descriptor.hpp>
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#include <livoxProto1/device.h>
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#include <asynchronousContinuation.h>
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#include <asynchronousLoop.h>
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#include <callback.h>
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#include <spinLock.h>
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#include "frameAssemblyDesc.h"
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namespace smo {
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namespace stim_buff {
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class PcloudStimulusBuffer;
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class IoUringAssemblyEngine
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{
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public:
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explicit IoUringAssemblyEngine(
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PcloudStimulusBuffer& parent, size_t nDgramsPerStagingBufferFrame);
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~IoUringAssemblyEngine() = default;
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bool setup();
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void finalize();
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typedef std::function<void(void*, int)> resetAndAssembleFrameCbFn;
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void resetAndAssembleFrame(resetAndAssembleFrameCbFn onCqeReady);
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void stop(bool doAcquireLock = true);
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typedef std::function<void(bool, AsynchronousLoop)> assembleFrameReqCbFn;
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void assembleFrameReq(Callback<assembleFrameReqCbFn> cb);
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// Telemetry helpers
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static size_t computePointsPerDgram(int returnMode);
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static size_t computePointsPerFrame(int returnMode, size_t nDgramsPerFrame)
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{ return computePointsPerDgram(returnMode) * nDgramsPerFrame; }
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private:
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PcloudStimulusBuffer& parent;
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// Cached descriptor for reuse across iterations
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std::shared_ptr<FrameAssemblyDesc> frameAssemblyDesc;
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// io_uring infrastructure
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struct io_uring ring;
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bool isSetup;
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// Eventfd for CQE notifications (used with boost's unified loop)
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int eventfdFd;
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std::unique_ptr<boost::asio::posix::stream_descriptor> eventfdDesc;
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uint64_t eventfd_value; // Buffer for async_read_some
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// Point cloud data socket descriptor
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std::shared_ptr<boost::asio::posix::stream_descriptor> pcloudDataFdDesc;
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// Stall detection timer
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boost::asio::deadline_timer stallTimer;
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// Callback for CQE ntfns (called with user_data+result from each CQE)
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resetAndAssembleFrameCbFn onCqeReadyCallback;
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// Flag to indicate assembly is in progress (cleared by stop())
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// Protected by isAssemblingLock
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SpinLock isAssemblingLock;
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bool isAssembling;
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// Number of datagrams per staging buffer frame
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size_t nDgramsPerStagingBufferFrame;
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struct SlotAssemblyDesc
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{
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bool assembled;
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struct msghdr msgHdr;
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struct iovec ioVec;
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};
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// Track which slots have been successfully assembled and maintain persistent iovecs
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std::vector<SlotAssemblyDesc> assembledSlotsTracker;
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void fillUnAssembledSlotsWithDummyDgrams();
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void printSlotBytes(size_t slotIndex, size_t nBytes);
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void onEventfdRead(
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const boost::system::error_code& error, std::size_t bytes_transferred);
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class AssembleFrameReq;
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friend class AssembleFrameReq;
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};
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} // namespace stim_buff
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} // namespace smo
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#endif // _LIVOX_GEN1_IOURING_ASSEMBLY_ENGINE_H
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