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LivoxProto1: port to sscl::co framework

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Code now actually looks a lot cleaner, tbh.
This commit is contained in:
Hayodea Hekol
2026-05-28 20:13:12 -04:00
parent bbc16dc4c4
commit 25efccf6c5
20 changed files with 1275 additions and 2145 deletions
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commonLibs/livoxProto1/livoxProto1.cpp
+24 -30
View File
@@ -1,6 +1,5 @@
#include <boostAsioLinkageFix.h>
#include <stdexcept>
#include <spinscale/cps/callback.h>
#include <boost/asio/posix/stream_descriptor.hpp>
#include "livoxProto1.h"
#include "device.h"
@@ -10,14 +9,13 @@
extern "C" {
void livoxProto1_getOrCreateDeviceReq(
sscl::co::ViralNonPostingInvoker<LivoxProto1GetOrCreateDeviceResult>
livoxProto1_getOrCreateDeviceCReq(
const std::string& deviceIdentifier,
const std::shared_ptr<sscl::ComponentThread>& componentThread,
int commandTimeoutMs, int retryDelayMs,
const std::string& smoIp, uint8_t smoSubnetNbits,
uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort,
sscl::cps::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback
)
uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort)
{
// Get the global DeviceManager instance
auto& protoState = livoxProto1::getProtoState();
@@ -28,19 +26,16 @@ void livoxProto1_getOrCreateDeviceReq(
"livoxProto1_main first");
}
// Delegate to DeviceManager
protoState.deviceManager->getOrCreateDeviceReq(
// Delegate to the DeviceManager to create the device
co_return co_await protoState.deviceManager->getOrCreateDeviceCReq(
deviceIdentifier, componentThread,
commandTimeoutMs, retryDelayMs,
smoIp, smoSubnetNbits,
dataPort, cmdPort, imuPort,
callback);
dataPort, cmdPort, imuPort);
}
void livoxProto1_destroyDeviceReq(
std::shared_ptr<livoxProto1::Device> device,
sscl::cps::Callback<livoxProto1_destroyDeviceReqCbFn> callback
)
sscl::co::ViralNonPostingInvoker<bool> livoxProto1_destroyDeviceCReq(
std::shared_ptr<livoxProto1::Device> device)
{
auto& protoState = livoxProto1::getProtoState();
if (!protoState.deviceManager)
@@ -49,8 +44,7 @@ void livoxProto1_destroyDeviceReq(
+ ": DeviceManager not initialized");
}
protoState.deviceManager->destroyDeviceReq(
device, callback);
co_return co_await protoState.deviceManager->destroyDeviceCReq(device);
}
void livoxProto1_main(
@@ -65,10 +59,8 @@ void livoxProto1_exit(void)
livoxProto1::exit();
}
void livoxProto1_device_enablePcloudDataReq(
std::shared_ptr<livoxProto1::Device> device,
sscl::cps::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback
)
sscl::co::ViralNonPostingInvoker<bool> livoxProto1_device_enablePcloudDataCReq(
std::shared_ptr<livoxProto1::Device> device)
{
if (!device)
{
@@ -76,13 +68,11 @@ void livoxProto1_device_enablePcloudDataReq(
+ ": Device pointer is null");
}
device->enablePcloudDataReq(callback);
co_return co_await device->enablePcloudDataCReq();
}
void livoxProto1_device_disablePcloudDataReq(
std::shared_ptr<livoxProto1::Device> device,
sscl::cps::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback
)
sscl::co::ViralNonPostingInvoker<bool> livoxProto1_device_disablePcloudDataCReq(
std::shared_ptr<livoxProto1::Device> device)
{
if (!device)
{
@@ -90,13 +80,12 @@ void livoxProto1_device_disablePcloudDataReq(
+ ": Device pointer is null");
}
device->disablePcloudDataReq(callback);
co_return co_await device->disablePcloudDataCReq();
}
void livoxProto1_device_getReturnModeReq(
std::shared_ptr<livoxProto1::Device> device,
sscl::cps::Callback<livoxProto1_device_getReturnModeReqCbFn> callback
)
sscl::co::ViralNonPostingInvoker<LivoxProto1GetReturnModeResult>
livoxProto1_device_getReturnModeCReq(
std::shared_ptr<livoxProto1::Device> device)
{
if (!device)
{
@@ -104,7 +93,12 @@ void livoxProto1_device_getReturnModeReq(
+ ": Device pointer is null");
}
device->getReturnModeReq(callback);
livoxProto1::Device::GetReturnModeResult deviceResult =
co_await device->getReturnModeCReq();
LivoxProto1GetReturnModeResult result;
result.success = deviceResult.success;
result.returnMode = deviceResult.returnMode;
co_return result;
}
std::shared_ptr<boost::asio::posix::stream_descriptor>