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Mind: Implement initialize/finalizeBodyReq()

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We've done a lot of general work on the init sequencing.
This commit is contained in:
Hayodea Hekol
2025-09-12 16:09:26 -04:00
parent b99b147959
commit 25a9721f92
10 changed files with 294 additions and 163 deletions
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smocore/marionette/salmanoff.cpp
+6 -84
View File
@@ -7,100 +7,22 @@
namespace smo {
class InitializeSalmanoffReq
: public AsynchronousContinuation<initializeSalmanoffCbFn>
{
public:
InitializeSalmanoffReq(initializeSalmanoffCbFn cb)
: AsynchronousContinuation(std::move(cb))
{}
// Callback methods for the initialization sequence
void initializeSalmanoffReq1(
std::shared_ptr<InitializeSalmanoffReq> context,
smo::AsynchronousLoop &results
)
{
std::cout << __func__ << ": Done. " << results.nSucceeded
<< " succeeded, " << results.nFailed << " failed." << std::endl;
context->originalCbFn(true);
}
};
void initializeSalmanoff(
initializeSalmanoffCbFn callback)
void initializeSalmanoff(void)
{
std::cout << __func__ << ": Entered." << std::endl;
std::shared_ptr<ComponentThread> mrntt = ComponentThread::getMrntt();
auto request = std::make_shared<InitializeSalmanoffReq>(
std::move(callback));
sense_api::SenseApiManager::getInstance().initialize();
device::DeviceManager::getInstance().initialize();
device::DeviceManager::getInstance().collateAllDapSpecs();
device::DeviceManager::getInstance().parseAllDapSpecs();
std::cout << device::DeviceManager::stringifyDeviceSpecs() << std::endl;
/** EXPLANATION:
* The ComponentThread instance we pass in here is the one that will be used
* by Senseapi libs to perform device-independent background operations.
* For example, liblivoxProto1's BroadcastListener will use this thread to
* listen for UDP broadcast dgrams from Livox devices.
*
* Right now we use Marionette, but there's a strong argument for using
* Body instead since it's meant to handle device-management operations.
*/
sense_api::SenseApiManager::getInstance().loadAllSenseApiLibsFromOptions(
mrntt);
std::cout << sense_api::SenseApiManager::getInstance().stringifyLibs()
<< std::endl;
if (OptionParser::getOptions().verbose) {
std::cout << __func__ << ": About to initializeAllSenseApiLibs" << '\n';
}
sense_api::SenseApiManager::getInstance().initializeAllSenseApiLibs();
if (OptionParser::getOptions().verbose) {
std::cout << __func__ << ": About to attachAllSenseDevicesFromSpecs" << '\n';
}
sense_api::SenseApiManager::getInstance().attachAllSenseDevicesFromSpecsReq(
std::bind(
&InitializeSalmanoffReq::initializeSalmanoffReq1,
request.get(), request,
std::placeholders::_1));
}
class ShutdownSalmanoffReq
: public InitializeSalmanoffReq
{
public:
using InitializeSalmanoffReq::InitializeSalmanoffReq;
// Callback methods for the shutdown sequence
void shutdownSalmanoffReq1(
std::shared_ptr<ShutdownSalmanoffReq> context,
smo::AsynchronousLoop &results
)
{
sense_api::SenseApiManager::getInstance().finalizeAllSenseApiLibs();
std::cout << __func__ << ": Done. " << results.nSucceeded
<< " succeeded, " << results.nFailed << " failed." << std::endl;
context->originalCbFn(true);
}
};
void shutdownSalmanoff(shutdownSalmanoffCbFn callback)
void shutdownSalmanoff(void)
{
std::cout << __func__ << ": Entered." << std::endl;
// Create the shutdown request object to hold state and callbacks
auto request = std::make_shared<ShutdownSalmanoffReq>(std::move(callback));
sense_api::SenseApiManager::getInstance().detachAllSenseDevicesReq(
std::bind(
&ShutdownSalmanoffReq::shutdownSalmanoffReq1,
request.get(), request,
std::placeholders::_1));
device::DeviceManager::getInstance().finalize();
sense_api::SenseApiManager::getInstance().finalize();
}
} // namespace smo