hayodea
98a493a8a1
* PcloudStimulusProducer now has member sh_ptr<StimulusBuffer>s. * StimulusProducer now has a vector<sh_ptr<StimulusBuffer>s. Created new stimbuff-type-specific Pcloud[Xyz|I|Ambience]StimulusBuffer classes for representing each stim feature exposed by livoxGen1's PcloudStimulusProducer.
94 lines
2.5 KiB
C++
94 lines
2.5 KiB
C++
#ifndef _LIVOX_GEN1_PCLOUD_DATA_PRODUCER_H
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#define _LIVOX_GEN1_PCLOUD_DATA_PRODUCER_H
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#include <functional>
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#include <atomic>
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#include <user/stimulusProducer.h>
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#include <user/stimulusFrame.h>
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#include <livoxProto1/device.h>
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#include <asynchronousContinuation.h>
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#include <callback.h>
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#include "stagingBuffer.h"
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#include "ioUringAssemblyEngine.h"
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#include "openClCollatingAndMeshingEngine.h"
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#include "pcloudXyzStimulusBuffer.h"
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#include "pcloudIStimulusBuffer.h"
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#include "pcloudAmbienceStimulusBuffer.h"
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namespace smo {
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namespace stim_buff {
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/**
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* PcloudDataProducer is a specialized StimulusProducer for point cloud data.
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*
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* This class extends StimulusProducer to handle point cloud-specific stimulus
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* frames, particularly those generated from LiDAR point cloud data. It
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* provides additional functionality for managing point cloud frame metadata
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* and processing.
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*/
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class PcloudDataProducer
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: public 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 PcloudDataProducer(
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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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size_t nDgramsPerStagingBufferFrame);
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~PcloudDataProducer() = default;
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// Non-copyable, movable
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PcloudDataProducer(const PcloudDataProducer&) = delete;
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PcloudDataProducer& operator=(const PcloudDataProducer&) = delete;
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PcloudDataProducer(PcloudDataProducer&&) = default;
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PcloudDataProducer& operator=(PcloudDataProducer&&) = default;
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// Control methods
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void start() override;
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void stop() override;
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protected:
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void stimFrameProductionTimesliceInd() override;
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// Callback function type for produceFrameReq
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typedef std::function<void()> produceFrameReqCbFn;
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public:
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void produceFrameReq(smo::Callback<produceFrameReqCbFn> callback);
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std::shared_ptr<livoxProto1::Device> device;
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PcloudFormatDesc formatDesc;
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OpenClCollatingAndMeshingEngine openClCollatingAndMeshingEngine;
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StagingBuffer assemblyBuffer;
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IoUringAssemblyEngine ioUringAssemblyEngine;
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StagingBuffer collationBuffer;
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StimulusFrame tempStimulusFrame;
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std::shared_ptr<PcloudXyzStimulusBuffer> xyzStimulusBuffer;
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std::shared_ptr<PcloudIStimulusBuffer> iStimulusBuffer;
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std::shared_ptr<PcloudAmbienceStimulusBuffer> ambienceStimulusBuffer;
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private:
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class ProduceFrameReq;
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};
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} // namespace stim_buff
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} // namespace smo
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#endif // _LIVOX_GEN1_PCLOUD_DATA_PRODUCER_H
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