68 lines
1.9 KiB
C++
68 lines
1.9 KiB
C++
#ifndef _LIVOX_GEN1_PCLOUD_STIMULUS_BUFFER_H
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#define _LIVOX_GEN1_PCLOUD_STIMULUS_BUFFER_H
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#include <config.h>
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#include <atomic>
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#include <boost/asio/deadline_timer.hpp>
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#include <spinLock.h>
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#include <user/stimulusBuffer.h>
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#include <user/stimFrame.h>
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#include <livoxProto1/device.h>
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#include "stagingBuffer.h"
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#include "ioUringAssemblyEngine.h"
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namespace smo {
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namespace stim_buff {
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/**
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* PcloudStimulusBuffer is a specialized StimulusBuffer for point cloud data.
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*
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* This class extends StimulusBuffer 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 PcloudStimulusBuffer
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: public StimulusBuffer
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{
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public:
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explicit PcloudStimulusBuffer(
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const 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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~PcloudStimulusBuffer() = default;
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// Non-copyable, movable
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PcloudStimulusBuffer(const PcloudStimulusBuffer&) = delete;
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PcloudStimulusBuffer& operator=(const PcloudStimulusBuffer&) = delete;
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PcloudStimulusBuffer(PcloudStimulusBuffer&&) = default;
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PcloudStimulusBuffer& operator=(PcloudStimulusBuffer&&) = default;
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// Control methods
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void start();
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void stop();
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public:
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device::DeviceAttachmentSpec deviceAttachmentSpec;
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std::shared_ptr<livoxProto1::Device> device;
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PcloudFormatDesc formatDesc;
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StagingBuffer stagingBuffer;
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IoUringAssemblyEngine ioUringAssemblyEngine;
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private:
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std::atomic<bool> shouldContinue;
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boost::asio::deadline_timer timer;
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SpinLock frameAssemblyRateLimiter;
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private:
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void scheduleNextTimeout(int delayMs = CONFIG_STIMBUFF_FRAME_PERIOD_MS);
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void onTimeout(const boost::system::error_code& error);
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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_BUFFER_H
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