livoxGen1:attach: alloc PcloudStimBuff after getting return mode

stimBuffApis/livoxGen1/livoxGen1.cpp

@@ -96,6 +96,7 @@ public:
 public:
 	const std::shared_ptr<smo::device::DeviceAttachmentSpec> spec;
 	std::shared_ptr<PcloudStimulusBuffer> stimBuff;
+	std::shared_ptr<livoxProto1::Device> deviceTmp;
 
 private:
 	std::unique_ptr<boost::asio::deadline_timer> delayTimer;
@@ -113,15 +114,8 @@ public:
 			return;
 		}
 
-		// Create and add PcloudStimulusBuffer to collection
-		StimulusBuffer::PcloudFormatDesc formatDesc;
-		formatDesc.format = StimulusBuffer::PcloudFormatDesc::Format::XYZI;
-		auto pcloudStimBuff = std::make_shared<PcloudStimulusBuffer>(
-			*context->spec, dev, formatDesc);
-
-		context->stimBuff = pcloudStimBuff;
-		dev->nAttachedStimBuffs++;
-		attachedStimBuffs.push_back(pcloudStimBuff);
+		// Stash device pointer until after getReturnMode succeeds
+		context->deviceTmp = dev;
 
 		if (1 || OptionParser::getOptions().verbose)
 		{
@@ -141,7 +135,7 @@ public:
 	{
 		// Initialize timer with device's component thread
 		delayTimer = std::make_unique<boost::asio::deadline_timer>(
-			context->stimBuff->device->componentThread->getIoService());
+			context->deviceTmp->componentThread->getIoService());
 
 		delayTimer->expires_from_now(boost::posix_time::milliseconds(5));
 		delayTimer->async_wait(
@@ -164,7 +158,7 @@ public:
 		}
 
 		(*livoxProto1.livoxProto1_device_getReturnModeReq)(
-			context->stimBuff->device,
+			context->deviceTmp,
 			{context, std::bind(
 				&AttachDeviceReq::attachDeviceReq3,
 				context.get(), context,
@@ -184,6 +178,16 @@ public:
 			return;
 		}
 
+		// Create and add PcloudStimulusBuffer to collection now that device is ready
+		StimulusBuffer::PcloudFormatDesc formatDesc;
+		formatDesc.format = StimulusBuffer::PcloudFormatDesc::Format::XYZI;
+		auto pcloudStimBuff = std::make_shared<PcloudStimulusBuffer>(
+			*context->spec, context->deviceTmp, formatDesc);
+
+		context->stimBuff = pcloudStimBuff;
+		context->deviceTmp->nAttachedStimBuffs++;
+		attachedStimBuffs.push_back(pcloudStimBuff);
+
 		if (1 || OptionParser::getOptions().verbose)
 		{
 			std::cout << __func__ << ": Got return mode (" << (int)mode
@@ -509,15 +513,15 @@ extern "C" void livoxGen1_attachDeviceReq(
 			return;
 		}
 
-		/* Get return mode first. Don't need delay since this no commands were
+		/* Enable pcloud data first. Don't need delay since no commands were
 		 * sent to device prior to us reaching here.
 		 */
-		(*livoxProto1.livoxProto1_device_getReturnModeReq)(
+		(*livoxProto1.livoxProto1_device_enablePcloudDataReq)(
 			pcloudStimBuff->device,
 			{request, std::bind(
-				&AttachDeviceReq::attachDeviceReq3,
+				&AttachDeviceReq::attachDeviceReq5,
 				request.get(), request,
-				std::placeholders::_1, std::placeholders::_2)});
+				std::placeholders::_1)});
 		return;
 	}