salmanoff/stimBuffApis/livoxGen1/ioUringAssemblyEngine.cpp

#include <boostAsioLinkageFix.h>
#include <cstring>
#include <sys/socket.h>
#include <boost/system/error_code.hpp>
#include <livoxProto1/device.h>
#include "ioUringAssemblyEngine.h"
#include "pcloudStimulusBuffer.h"
#include "livoxGen1.h"

namespace smo {
namespace stim_buff {

struct DummyLivoxEthHeader
{
	enum : uint32_t {
		INVALID_ERR_CODE = 0xFFFFFFFFu
	};
	enum : uint8_t {
		INVALID_TIMESTAMP_TYPE = 0xFFu,
		INVALID_DATA_TYPE = 0xFFu
	};

	uint8_t version, slot, id, rsvd;
	uint32_t err_code;
	uint8_t timestamp_type, data_type;
	uint8_t timestamp[8];
};

IoUringAssemblyEngine::IoUringAssemblyEngine(PcloudStimulusBuffer& parent_)
: parent(parent_),
frameAssemblyDesc(nullptr), ring{},
isSetup(false),
stallTimer(parent_.device->componentThread->getIoService())
{}

bool IoUringAssemblyEngine::setup()
{
	if (isSetup)
		{ return false; }

	// Get FrameAssemblyDesc from staging buffer
	frameAssemblyDesc = static_cast<std::shared_ptr<FrameAssemblyDesc>>(
		parent.stagingBuffer);

	if (!frameAssemblyDesc || frameAssemblyDesc->slots.empty())
		{ return false; }

	// Get UDP socket file descriptor
	int udpFd = (*livoxProto1.livoxProto1_getPcloudDataFdDesc)()
		->native_handle();
	if (udpFd < 0)
		{ return false; }

	/**	EXPLANATION:
	 * Initialize io_uring ring - allocate SQEs and CQEs for one frame assembly
	 * One SQE per slot (one datagram per slot)
	 */
	int ret = io_uring_queue_init(
		static_cast<unsigned int>(frameAssemblyDesc->numSlots), &ring, 0);
	if (ret < 0)
		{ return false; }

	isSetup = true;
	return true;
}

void IoUringAssemblyEngine::finalize()
{
	// Call stop() to cancel in-flight operations (stop() already cancels the timer)
	stop();

	// Clean up io_uring ring if it was initialized
	if (isSetup)
	{
		io_uring_queue_exit(&ring);
		isSetup = false;
	}

	// Reset state to allow setup() to be called again
	frameAssemblyDesc = nullptr;
}

void IoUringAssemblyEngine::resetAndAssembleFrame()
{
	// Design/stub: This method should:
	// 1. Submit frameAssemblyDesc->numSlots RECVMSG SQEs using io_uring_prep_recvmsg()
	//    - Each SQE receives into frameAssemblyDesc->slots[i].vaddr
	//    - With size frameAssemblyDesc->slots[i].nBytes
	//    - Socket FD from parent.device->pcloudDataSocketDesc->native_handle()
	// 2. Submit batch via io_uring_submit(&ring)
	// 3. Set up stall timer using stallTimer with appropriate timeout
	//    - SQEs are independent and can arrive out of order
	//    - Timer detects if SQEs get stalled
}

void IoUringAssemblyEngine::stop()
{
	// Design/stub: This method should:
	// 1. Cancel all pending SQEs using io_uring cancellation mechanisms
	// 2. Cancel in-flight stall timeout timer via stallTimer.cancel()
	// 3. Set appropriate state flags
}

void IoUringAssemblyEngine::cancelIncompleteAndFillDummies()
{
	if (!frameAssemblyDesc)
		{ return; }

	for (size_t i = 0; i < frameAssemblyDesc->numSlots; ++i)
	{
		// In the real path, decide from CQE accounting whether slot i completed.
		// Here, demonstrate dummy header insertion API.
		auto* hdr = reinterpret_cast<DummyLivoxEthHeader*>(frameAssemblyDesc->slots[i].vaddr);
		hdr->err_code = DummyLivoxEthHeader::INVALID_ERR_CODE;
		hdr->timestamp_type = DummyLivoxEthHeader::INVALID_TIMESTAMP_TYPE;
		hdr->data_type = DummyLivoxEthHeader::INVALID_DATA_TYPE;
	}
}

size_t IoUringAssemblyEngine::computePointsPerDgram(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>(livoxProto1::Device::ReturnMode::SingleFirst):
	case static_cast<int>(livoxProto1::Device::ReturnMode::SingleStrongest):
	case static_cast<int>(livoxProto1::Device::ReturnMode::Dual):
		return 96u;
	case static_cast<int>(livoxProto1::Device::ReturnMode::Triple):
		return 90u;
	default:
		throw std::runtime_error(
			std::string(__func__) + ": Unknown returnMode "
			+ std::to_string(returnMode));
	}
}

} // namespace stim_buff
} // namespace smo