hayodea
87a8de9a2b
We ported these two daemons over to the new nursery mechanism and they work nicely.
107 lines
3.0 KiB
C++
107 lines
3.0 KiB
C++
#ifndef _STIMULUS_PRODUCER_H
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#define _STIMULUS_PRODUCER_H
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#include <vector>
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#include <memory>
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#include <cstdint>
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#include <functional>
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#include <iostream>
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#include <chrono>
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#include <config.h>
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#include <boost/asio/io_context.hpp>
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#include <boost/asio/deadline_timer.hpp>
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#include <spinscale/co/invokers.h>
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#include <spinscale/co/nonViralTaskNursery.h>
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#include <spinscale/syncCancelerForAsyncWork.h>
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#include "deviceAttachmentSpec.h"
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namespace smo {
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namespace stim_buff {
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// Forward declaration
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class StimulusBuffer;
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/**
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* StimulusProducer manages a collection of stimulus frames with simultaneity stamps.
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*
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* This producer is designed to hold stimulus frames that have been assembled
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* from raw sensor data (e.g., Livox Avia point cloud data) and are ready
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* for processing by the mind layer.
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*
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* The producer provides thread-safe operations for adding frames, retrieving
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* frames, and managing the producer state.
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*/
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class StimulusProducer
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{
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public:
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explicit StimulusProducer(
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const std::shared_ptr<device::DeviceAttachmentSpec>
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&deviceAttachmentSpec,
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boost::asio::io_context& ioContext_)
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: daemonTimer(ioContext_),
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deviceAttachmentSpec(deviceAttachmentSpec), ioContext(ioContext_)
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{}
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virtual ~StimulusProducer() = default;
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// Non-copyable, movable
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StimulusProducer(const StimulusProducer&) = delete;
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StimulusProducer& operator=(const StimulusProducer&) = delete;
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StimulusProducer(StimulusProducer&&) = default;
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StimulusProducer& operator=(StimulusProducer&&) = default;
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virtual void start();
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virtual void stop();
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virtual std::shared_ptr<StimulusBuffer> getAttachedStimulusBuffer(
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const std::shared_ptr<device::DeviceAttachmentSpec>& spec) const;
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virtual std::shared_ptr<StimulusBuffer> getOrCreateAttachedStimulusBuffer(
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const std::shared_ptr<device::DeviceAttachmentSpec>
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&deviceAttachmentSpec) = 0;
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virtual bool exportsQualeIfaceApi(
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const std::string& qualeIfaceApi) const = 0;
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bool addAttachedStimulusBufferIfNotExists(
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const std::shared_ptr<StimulusBuffer>& buffer);
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virtual void destroyAttachedStimulusBuffer(
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const std::shared_ptr<StimulusBuffer>& buffer);
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// Check if any attached buffer has the specified qualeIfaceApi
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bool hasBufferWithQualeIfaceApi(const std::string& qualeIfaceApi) const;
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protected:
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// Virtual functions for derived classes to override
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virtual int getStopDelayMs() const
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{
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return CONFIG_STIMBUFF_FRAME_PERIOD_MS;
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}
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virtual sscl::co::ViralNonPostingInvoker<void>
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stimFrameProductionTimesliceCInd(
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sscl::SyncCancelerForAsyncWork &canceler) = 0;
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sscl::co::NonViralNonPostingInvoker productionCDaemon(
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std::exception_ptr &exceptionPtr,
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std::function<void()> callback,
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sscl::SyncCancelerForAsyncWork &canceler);
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sscl::co::NonViralTaskNursery taskNursery;
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boost::asio::deadline_timer daemonTimer;
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size_t nTimesliceOverruns = 0;
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public:
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std::shared_ptr<device::DeviceAttachmentSpec> deviceAttachmentSpec;
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std::vector<std::shared_ptr<StimulusBuffer>> attachedStimulusBuffers;
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private:
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boost::asio::io_context& ioContext;
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};
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} // namespace stim_buff
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} // namespace smo
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#endif // _STIMULUS_PRODUCER_H
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