salmanoff/commonLibs/livoxProto1/livoxProto1.cpp

#include <boostAsioLinkageFix.h>
#include <stdexcept>
#include <callback.h>
#include <boost/asio/posix/stream_descriptor.hpp>
#include "livoxProto1.h"
#include "device.h"
#include "core.h"
#include "udpCommandDemuxer.h"


extern "C" {

void livoxProto1_getOrCreateDeviceReq(
	const std::string& deviceIdentifier,
	const std::shared_ptr<smo::ComponentThread>& componentThread,
	int commandTimeoutMs, int retryDelayMs,
	const std::string& smoIp, uint8_t smoSubnetNbits,
	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
	smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback
)
{
	// Get the global DeviceManager instance
	auto& protoState = livoxProto1::getProtoState();
	if (!protoState.deviceManager)
	{
		throw std::runtime_error(
			std::string(__func__) + ": LivoxProto1 not initialized - call "
			"livoxProto1_main first");
	}

	// Delegate to DeviceManager
	protoState.deviceManager->getOrCreateDeviceReq(
		deviceIdentifier, componentThread,
		commandTimeoutMs, retryDelayMs,
		smoIp, smoSubnetNbits,
		dataPort, cmdPort, imuPort,
		callback);
}

void livoxProto1_destroyDeviceReq(
	std::shared_ptr<livoxProto1::Device> device,
	smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback
)
{
	auto& protoState = livoxProto1::getProtoState();
	if (!protoState.deviceManager)
	{
		throw std::runtime_error(std::string(__func__)
			+ ": DeviceManager not initialized");
	}

	protoState.deviceManager->destroyDeviceReq(
		device, callback);
}

void livoxProto1_main(
	const std::shared_ptr<smo::ComponentThread>& componentThread,
	const smo::stim_buff::SmoCallbacks& smoCallbacks)
{
	livoxProto1::main(componentThread, smoCallbacks);
}

void livoxProto1_exit(void)
{
	livoxProto1::exit();
}

void livoxProto1_device_enablePcloudDataReq(
	std::shared_ptr<livoxProto1::Device> device,
	smo::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback
)
{
	if (!device)
	{
		throw std::runtime_error(std::string(__func__)
			+ ": Device pointer is null");
	}

	device->enablePcloudDataReq(callback);
}

void livoxProto1_device_disablePcloudDataReq(
	std::shared_ptr<livoxProto1::Device> device,
	smo::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback
)
{
	if (!device)
	{
		throw std::runtime_error(std::string(__func__)
			+ ": Device pointer is null");
	}

	device->disablePcloudDataReq(callback);
}

void livoxProto1_device_getReturnModeReq(
	std::shared_ptr<livoxProto1::Device> device,
	smo::Callback<livoxProto1_device_getReturnModeReqCbFn> callback
)
{
	if (!device)
	{
		throw std::runtime_error(std::string(__func__)
			+ ": Device pointer is null");
	}

	device->getReturnModeReq(callback);
}

std::shared_ptr<boost::asio::posix::stream_descriptor>
livoxProto1_getPcloudDataFdDesc(void)
{
	auto& protoState = livoxProto1::getProtoState();
	if (!protoState.deviceManager)
	{
		throw std::runtime_error(std::string(__func__)
			+ ": DeviceManager not initialized");
	}

	return protoState.deviceManager->udpCommandDemuxer.getPcloudDataFdDesc();
}

} // extern "C"