73 lines
1.7 KiB
C++
73 lines
1.7 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 <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 <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 IoUringAssemblyEngine
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{
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public:
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using FrameCompleteCallback = std::function<void(size_t /*frameIndex*/)>;
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IoUringAssemblyEngine();
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~IoUringAssemblyEngine();
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// Configure UDP socket by querying the device's pcloud data socket descriptor
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bool setSocketFromDevice(const std::shared_ptr<livoxProto1::Device>& device);
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// Start posting N RECVMSG SQEs based on the descriptor; timeoutMs defaults to 15ms
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bool start(
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FrameAssemblyDesc& desc,
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uint8_t* frameBase,
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size_t frameStrideBytes,
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uint32_t timeoutMs = 15);
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void pause();
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void resume();
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void stop();
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void onFrameComplete(FrameCompleteCallback cb);
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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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int udpFd;
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std::atomic<bool> running;
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std::atomic<bool> paused;
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FrameCompleteCallback frameCb;
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// Cached descriptor for reuse across iterations
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FrameAssemblyDesc* desc;
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uint8_t* frameBase;
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size_t frameStrideBytes;
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uint32_t timeoutMs;
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size_t frameIndex;
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// Internal helpers
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void postReceives();
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void handleCqesAndTimeout();
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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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