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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.h
+35 -34
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@@ -6,7 +6,7 @@
#include <string>
#include <cstdint>
#include <functional>
#include <spinscale/cps/callback.h>
#include <spinscale/co/invokers.h>
#include <boost/asio/posix/stream_descriptor.hpp>
// Forward declarations
@@ -23,6 +23,18 @@ namespace livoxProto1 {
class Device;
}
struct LivoxProto1GetOrCreateDeviceResult
{
bool success = false;
std::shared_ptr<livoxProto1::Device> device;
};
struct LivoxProto1GetReturnModeResult
{
bool success = false;
uint8_t returnMode = 0;
};
#ifdef __cplusplus
extern "C" {
#endif
@@ -52,54 +64,43 @@ typedef void livoxProto1_exitFn(void);
* @param dataPort Data port for point cloud (default: 56000)
* @param cmdPort Command port (default: 56001)
* @param imuPort IMU port (default: 56002)
* @return Device pointer on success, nullptr on failure
* @return LivoxProto1GetOrCreateDeviceResult (success + device on success,
* null device on failure)
*/
typedef std::function<
void(bool success, std::shared_ptr<livoxProto1::Device> device)>
livoxProto1_getOrCreateDeviceReqCbFn;
typedef void livoxProto1_getOrCreateDeviceReqFn(
typedef sscl::co::ViralNonPostingInvoker<LivoxProto1GetOrCreateDeviceResult>
livoxProto1_getOrCreateDeviceCReqFn(
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);
typedef std::function<void(bool success)> livoxProto1_destroyDeviceReqCbFn;
typedef void livoxProto1_destroyDeviceReqFn(
std::shared_ptr<livoxProto1::Device> device,
sscl::cps::Callback<livoxProto1_destroyDeviceReqCbFn> callback);
typedef sscl::co::ViralNonPostingInvoker<bool> livoxProto1_destroyDeviceCReqFn(
std::shared_ptr<livoxProto1::Device> device);
typedef std::function<void(bool success)>
livoxProto1_device_enablePcloudDataReqCbFn;
typedef void livoxProto1_device_enablePcloudDataReqFn(
std::shared_ptr<livoxProto1::Device> device,
sscl::cps::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback);
typedef sscl::co::ViralNonPostingInvoker<bool>
livoxProto1_device_enablePcloudDataCReqFn(
std::shared_ptr<livoxProto1::Device> device);
typedef std::function<void(bool success)>
livoxProto1_device_disablePcloudDataReqCbFn;
typedef void livoxProto1_device_disablePcloudDataReqFn(
std::shared_ptr<livoxProto1::Device> device,
sscl::cps::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback);
typedef sscl::co::ViralNonPostingInvoker<bool>
livoxProto1_device_disablePcloudDataCReqFn(
std::shared_ptr<livoxProto1::Device> device);
typedef std::function<void(bool success, uint8_t returnMode)>
livoxProto1_device_getReturnModeReqCbFn;
typedef void livoxProto1_device_getReturnModeReqFn(
std::shared_ptr<livoxProto1::Device> device,
sscl::cps::Callback<livoxProto1_device_getReturnModeReqCbFn> callback);
typedef sscl::co::ViralNonPostingInvoker<LivoxProto1GetReturnModeResult>
livoxProto1_device_getReturnModeCReqFn(
std::shared_ptr<livoxProto1::Device> device);
typedef std::shared_ptr<boost::asio::posix::stream_descriptor>
livoxProto1_getPcloudDataFdDescFn(void);
livoxProto1_mainFn livoxProto1_main;
livoxProto1_exitFn livoxProto1_exit;
livoxProto1_getOrCreateDeviceReqFn livoxProto1_getOrCreateDeviceReq;
livoxProto1_destroyDeviceReqFn livoxProto1_destroyDeviceReq;
livoxProto1_device_enablePcloudDataReqFn livoxProto1_device_enablePcloudDataReq;
livoxProto1_device_disablePcloudDataReqFn
livoxProto1_device_disablePcloudDataReq;
livoxProto1_device_getReturnModeReqFn livoxProto1_device_getReturnModeReq;
livoxProto1_getOrCreateDeviceCReqFn livoxProto1_getOrCreateDeviceCReq;
livoxProto1_destroyDeviceCReqFn livoxProto1_destroyDeviceCReq;
livoxProto1_device_enablePcloudDataCReqFn livoxProto1_device_enablePcloudDataCReq;
livoxProto1_device_disablePcloudDataCReqFn
livoxProto1_device_disablePcloudDataCReq;
livoxProto1_device_getReturnModeCReqFn livoxProto1_device_getReturnModeCReq;
livoxProto1_getPcloudDataFdDescFn livoxProto1_getPcloudDataFdDesc;
#ifdef __cplusplus