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.
140 lines
4.1 KiB
C++
140 lines
4.1 KiB
C++
#include <config.h>
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#include <opts.h>
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#include <algorithm>
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#include <unistd.h>
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#include <user/spMcRingBuffer.h>
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#include <componentThread.h>
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#include "pcloudStimulusBuffer.h"
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namespace smo {
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namespace stim_buff {
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extern const SmoCallbacks* smoHooksPtr;
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// OpenCL kernels are used to collate and produce our StimFrames.
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static SpMcRingBuffer::InputEngineConstraints openClInputConstraints(
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static_cast<size_t>(sysconf(_SC_PAGE_SIZE)), sizeof(void *));
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PcloudStimulusBuffer::PcloudStimulusBuffer(
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const std::shared_ptr<device::DeviceAttachmentSpec> &deviceAttachmentSpec,
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std::shared_ptr<livoxProto1::Device> &device,
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const PcloudFormatDesc& formatDesc,
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int histbuffMs,
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size_t nDgramsPerStagingBufferFrame)
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: StimulusBuffer(
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deviceAttachmentSpec,
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static_cast<size_t>(histbuffMs / CONFIG_STIMBUFF_FRAME_PERIOD_MS),
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openClInputConstraints,
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device->componentThread->getIoService()),
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device(device),
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formatDesc(formatDesc),
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openClCollatingAndMeshingEngine(*this),
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assemblyBuffer(
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StagingBuffer::IOEngineConstraints::ioUringConstraints,
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StagingBuffer::IOEngineConstraints::openClInputConstraints,
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nDgramsPerStagingBufferFrame),
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ioUringAssemblyEngine(*this, nDgramsPerStagingBufferFrame),
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collationBuffer(
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StagingBuffer::IOEngineConstraints::openClInputConstraints,
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StagingBuffer::IOEngineConstraints::openClInputConstraints,
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nDgramsPerStagingBufferFrame)
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{
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if (smoHooksPtr->OptionParser_getOptions().verbose)
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{
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std::cout << __func__ << ": assembly buffer : "
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<< assemblyBuffer.stringify()
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<< "\n\tcollation buffer : " << collationBuffer.stringify()
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<< "\n";
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}
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std::cout << __func__ << ": Device's component thread is "
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<< device->componentThread->name << std::endl;
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#ifndef CONFIG_WORLD_USE_BODY_THREAD
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if (smoHooksPtr->ComponentThread_getSelf()->id != ComponentThread::WORLD)
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#else
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if (smoHooksPtr->ComponentThread_getSelf()->id != ComponentThread::BODY)
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#endif
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{
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std::string errMsg = std::string(__func__) +
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": PcloudStimulusBuffer constructor called on non-world/body thread " +
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smoHooksPtr->ComponentThread_getSelf()->name;
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std::cout << errMsg << std::endl;
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// throw std::runtime_error(errMsg);
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}
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}
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void PcloudStimulusBuffer::start()
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{
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// Call ioUringAssemblyEngine setup() as the final step
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ioUringAssemblyEngine.setup();
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openClCollatingAndMeshingEngine.setup();
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// Call base class start() as the final step
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StimulusBuffer::start();
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}
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void PcloudStimulusBuffer::stop()
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{
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// Call base class stop() as the first step
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StimulusBuffer::stop();
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// Call ioUringAssemblyEngine stop() as the final step
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openClCollatingAndMeshingEngine.finalize();
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ioUringAssemblyEngine.finalize();
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}
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void PcloudStimulusBuffer::stimFrameProductionTimesliceInd()
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{
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ioUringAssemblyEngine.assembleFrameReq(
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{nullptr, [this](bool success, AsynchronousLoop loop) {
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if (!success) {
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std::cerr << __func__ << ": Failed to assemble frame" << std::endl;
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} else {
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std::cout << __func__ << ": Successfully assembled frame "
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<< loop.nSucceeded.load() << " slots succeeded "
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<< "out of " << loop.nTotal << " total slots" << std::endl;
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}
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}});
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// Release the spinlock for now
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allowNextStimulusFrame();
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}
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class PcloudStimulusBuffer::AssembleAndProduceStimulusFrameReq
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: public smo::PostedAsynchronousContinuation<
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assembleAndProduceStimulusFrameReqCbFn>
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{
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private:
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PcloudStimulusBuffer& stimBuff;
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public:
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AssembleAndProduceStimulusFrameReq(
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PcloudStimulusBuffer& buffer,
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Callback<assembleAndProduceStimulusFrameReqCbFn> callback)
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: PostedAsynchronousContinuation<assembleAndProduceStimulusFrameReqCbFn>(
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buffer.device->componentThread, std::move(callback)),
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stimBuff(buffer)
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{}
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void callOriginalCallback()
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{
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stimBuff.frameAssemblyRateLimiter.release();
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callOriginalCb(static_cast<SimultaneityStamp>(0));
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}
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void callOriginalCallbackWithFailure()
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{
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stimBuff.frameAssemblyRateLimiter.release();
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callOriginalCb(static_cast<SimultaneityStamp>(0));
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}
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};
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void PcloudStimulusBuffer::assembleAndProduceStimulusFrameReq(
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smo::Callback<assembleAndProduceStimulusFrameReqCbFn> callback)
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{
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// Wireframe implementation - do nothing for now
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(void)callback;
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}
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} // namespace stim_buff
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} // namespace smo
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