hayodea
94982d50b9
StagingBuffer: We now allocate memory with mmap(MAP_ANONYMOUS) so that we can be sure it can be pinned with io_uring_register_buffers(). This ensures that if DMA is possible, it should be usable. IoUringAssemblyEngine: We now register an eventfd with io_uring so that we can listen for CQEs with boost::asio.
66 lines
1.5 KiB
C++
66 lines
1.5 KiB
C++
#ifndef _LIVOX_GEN1_IOURING_ASSEMBLY_ENGINE_H
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#define _LIVOX_GEN1_IOURING_ASSEMBLY_ENGINE_H
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#include <boostAsioLinkageFix.h>
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#include <cstdint>
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#include <cstddef>
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#include <memory>
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#include <functional>
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#include <vector>
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#include <chrono>
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#include <atomic>
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#include <liburing.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 <livoxProto1/device.h>
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#include "frameAssemblyDesc.h"
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namespace smo {
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namespace stim_buff {
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class PcloudStimulusBuffer;
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class IoUringAssemblyEngine
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{
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public:
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explicit IoUringAssemblyEngine(PcloudStimulusBuffer& parent);
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~IoUringAssemblyEngine() = default;
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bool setup();
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void finalize();
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void resetAndAssembleFrame();
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void stop();
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// Telemetry helpers
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static size_t computePointsPerDgram(int returnMode);
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static size_t computePointsPerFrame(int returnMode, size_t nDgramsPerFrame)
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{ return computePointsPerDgram(returnMode) * nDgramsPerFrame; }
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private:
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PcloudStimulusBuffer& parent;
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// Cached descriptor for reuse across iterations
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std::shared_ptr<FrameAssemblyDesc> frameAssemblyDesc;
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// io_uring infrastructure
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struct io_uring ring;
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bool isSetup;
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// Eventfd for CQE notifications (used with boost's unified loop)
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int eventfdFd;
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// Point cloud data socket descriptor
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std::shared_ptr<boost::asio::posix::stream_descriptor> pcloudDataFdDesc;
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// Stall detection timer
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boost::asio::deadline_timer stallTimer;
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void cancelIncompleteAndFillDummies();
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};
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} // namespace stim_buff
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} // namespace smo
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#endif // _LIVOX_GEN1_IOURING_ASSEMBLY_ENGINE_H
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