hayodea
70c0175a8b
Next we'll split the StimulusBuffer-related stuff into a new class StimulusBuffer.
125 lines
2.9 KiB
C++
125 lines
2.9 KiB
C++
#ifndef _STIMULUS_PRODUCER_H
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#define _STIMULUS_PRODUCER_H
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#include <boostAsioLinkageFix.h>
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#include <vector>
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#include <memory>
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#include <cstdint>
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#include <atomic>
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#include <mutex>
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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_service.hpp>
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#include <boost/asio/deadline_timer.hpp>
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#include <spinLock.h>
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#include <user/spMcRingBuffer.h>
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#include "stimulusFrame.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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/**
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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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class PcloudFormatDesc
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{
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public:
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enum class Format
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{
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XYZ,
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XYZI,
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};
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public:
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Format format;
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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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size_t nSlots,
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const SpMcRingBuffer::InputEngineConstraints& ringBufferConstraints,
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boost::asio::io_service& ioService_)
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: deviceAttachmentSpec(deviceAttachmentSpec),
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ringBuffer(nSlots, ringBufferConstraints),
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ioService(ioService_),
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shouldContinue(false), timer(ioService),
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nDeferrals(0)
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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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// Control methods
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virtual void start()
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{
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std::cout << __func__ << ": Starting stimulus producer for device "
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<< deviceAttachmentSpec->deviceSelector << std::endl;
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shouldContinue = true;
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nDeferrals = 0;
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scheduleNextTimeout();
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}
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virtual void stop();
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void allowNextStimulusFrame()
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{ frameAssemblyRateLimiter.release(); }
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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 void stimFrameProductionTimesliceInd() = 0;
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private:
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void onTimeout(const boost::system::error_code& error);
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public:
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std::shared_ptr<device::DeviceAttachmentSpec> deviceAttachmentSpec;
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std::vector<StimulusFrame> frames_;
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protected:
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SpinLock frameAssemblyRateLimiter;
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SpMcRingBuffer ringBuffer;
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private:
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boost::asio::io_service& ioService;
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protected:
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SpinLock shouldContinueLock;
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bool shouldContinue;
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private:
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boost::asio::deadline_timer timer;
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size_t nDeferrals;
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std::chrono::high_resolution_clock::time_point deferralStartTime;
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void scheduleNextTimeout(int delayMs = CONFIG_STIMBUFF_FRAME_PERIOD_MS);
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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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