hayodea
cde2737876
We haven't ported everything. Just the top-level methods. We'll dig in to the leaf stuff later. Surprisingly, this all went without any real difficulties. Runs like a charm on first try.
122 lines
3.7 KiB
C++
122 lines
3.7 KiB
C++
#ifndef _LIVOX_GEN1_PCLOUD_STIMULUS_PRODUCER_H
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#define _LIVOX_GEN1_PCLOUD_STIMULUS_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 <spinscale/cps/asynchronousContinuation.h>
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#include <spinscale/cps/callback.h>
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#include <user/stagingBuffer.h>
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#include "ioUringAssemblyEngine.h"
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#include "livoxPcloudFrameDumper.h"
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#include "openClCollatingAndMeshingEngine.h"
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#include "meshStimulusBuffer.h"
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#include "pcloudIntensityStimulusBuffer.h"
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#include "pcloudLightAmbienceStimulusBuffer.h"
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#include "pcloudDarkAmbienceStimulusBuffer.h"
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namespace smo {
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namespace stim_buff {
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/**
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* PcloudStimulusProducer 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 PcloudStimulusProducer
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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 PcloudStimulusProducer(
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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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~PcloudStimulusProducer() = default;
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// Non-copyable, non-movable: pinners hold buffer instance references
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PcloudStimulusProducer(const PcloudStimulusProducer&) = delete;
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PcloudStimulusProducer& operator=(const PcloudStimulusProducer&) = delete;
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PcloudStimulusProducer(PcloudStimulusProducer&&) = delete;
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PcloudStimulusProducer& operator=(PcloudStimulusProducer&&) = delete;
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// Control methods
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void start() override;
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void stop() override;
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static bool supportsQualeIfaceApi(const std::string& qualeIfaceApi);
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bool exportsQualeIfaceApi(
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const std::string& qualeIfaceApi) const override;
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std::shared_ptr<StimulusBuffer> getOrCreateAttachedStimulusBuffer(
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const std::shared_ptr<device::DeviceAttachmentSpec>
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&deviceAttachmentSpec) override;
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std::shared_ptr<StimulusBuffer> getAttachedStimulusBuffer(
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const std::shared_ptr<device::DeviceAttachmentSpec>& spec)
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const override;
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void destroyAttachedStimulusBuffer(
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const std::shared_ptr<StimulusBuffer>& buffer) 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(sscl::cps::Callback<produceFrameReqCbFn> callback);
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size_t nDgramsPerStagingBufferFrame;
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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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std::unique_ptr<StagingBuffer::MlockPinner> collationBufferMlockPinner;
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StagingBuffer averageIntensityBuffer;
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std::unique_ptr<StagingBuffer::MlockPinner>
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averageIntensityBufferMlockPinner;
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LivoxPcloudFrameDumper pcloudFrameDumper;
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size_t tempStimulusFrameMem;
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StimulusFrame tempStimulusFrame;
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std::atomic<std::shared_ptr<MeshStimulusBuffer>> meshStimulusBuffer;
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std::atomic<std::shared_ptr<PcloudIntensityStimulusBuffer>>
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intensityStimulusBuffer;
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std::atomic<std::shared_ptr<PcloudLightAmbienceStimulusBuffer>>
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lightAmbienceStimulusBuffer;
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std::atomic<std::shared_ptr<PcloudDarkAmbienceStimulusBuffer>>
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darkAmbienceStimulusBuffer;
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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_STIMULUS_PRODUCER_H
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