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Spinscale: create new namespace sscl

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This commit is contained in:
Hayodea Hekol
2025-12-27 16:21:22 -04:00
parent 0c4f427c0a
commit 34d76df7d9
67 changed files with 434 additions and 429 deletions
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commonLibs/attachmentSupport/stimulusProducer.cpp
+2 -2
View File
@@ -92,7 +92,7 @@ void StimulusProducer::destroyAttachedStimulusBuffer(
void StimulusProducer::stop()
{
{
SpinLock::Guard lock(shouldContinueLock);
sscl::SpinLock::Guard lock(shouldContinueLock);
shouldContinue = false;
}
@@ -131,7 +131,7 @@ void StimulusProducer::onTimeout(const boost::system::error_code& error)
return;
}
SpinLock::Guard lock(shouldContinueLock);
sscl::SpinLock::Guard lock(shouldContinueLock);
if (!shouldContinue)
{ return; }
commonLibs/livoxProto1/broadcastListener.cpp
+4 -4
View File
@@ -10,7 +10,7 @@ namespace livoxProto1 {
namespace comms {
BroadcastListener::BroadcastListener(
const std::shared_ptr<smo::ComponentThread>& componentThread,
const std::shared_ptr<sscl::ComponentThread>& componentThread,
uint16_t listeningPort, uint16_t connectPort
)
: componentThread(componentThread),
@@ -94,7 +94,7 @@ void BroadcastListener::broadcastMsgInd(
reinterpret_cast<const char*>(msg->broadcast_code));
// Early return if device already exists
smo::SpinLock::Guard lock(isListeningLock);
sscl::SpinLock::Guard lock(isListeningLock);
if (deviceExists(broadcastCode))
{
@@ -134,7 +134,7 @@ void BroadcastListener::start(void)
* away.
*/
{
smo::SpinLock::Guard lock(isListeningLock);
sscl::SpinLock::Guard lock(isListeningLock);
socket.open(boost::asio::ip::udp::v4());
socket.bind(listeningEndpoint);
@@ -172,7 +172,7 @@ void BroadcastListener::startReceive(void)
void BroadcastListener::stop(void)
{
{
smo::SpinLock::Guard lock(isListeningLock);
sscl::SpinLock::Guard lock(isListeningLock);
if (!isListening) { return; }
isListening = false;
commonLibs/livoxProto1/broadcastListener.h
+3 -3
View File
@@ -29,7 +29,7 @@ class BroadcastListener
{
public:
BroadcastListener(
const std::shared_ptr<smo::ComponentThread>& componentThread,
const std::shared_ptr<sscl::ComponentThread>& componentThread,
uint16_t listeningPort=55000, uint16_t connectPort=65000);
~BroadcastListener() = default;
@@ -54,7 +54,7 @@ private:
void startReceive(void);
private:
std::shared_ptr<smo::ComponentThread> componentThread;
std::shared_ptr<sscl::ComponentThread> componentThread;
/** EXPLANATION:
* The Livox proto says that client devices will spam broadcast UDP
* dgrams to us on the listening port. We can then use the source IP from
@@ -68,7 +68,7 @@ private:
boost::asio::ip::udp::socket socket;
boost::asio::ip::udp::endpoint listeningEndpoint, senderEndpoint;
smo::SpinLock isListeningLock;
sscl::SpinLock isListeningLock;
bool isListening;
uint8_t bcastMsgRecvBuffer[UDP_BCAST_MSG_BUFFER_NBYTES];
commonLibs/livoxProto1/core.cpp
+10 -10
View File
@@ -74,7 +74,7 @@ std::optional<std::shared_ptr<Device>> DeviceManager::getDevice(
// GetOrCreateDeviceReq nested class implementation
class DeviceManager::GetOrCreateDeviceReq
: public smo::NonPostedAsynchronousContinuation<
: public sscl::NonPostedAsynchronousContinuation<
livoxProto1_getOrCreateDeviceReqCbFn>
{
public:
@@ -86,8 +86,8 @@ public:
GetOrCreateDeviceReq(
DeviceManager& mgr,
std::shared_ptr<Device> device,
smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> cb)
: smo::NonPostedAsynchronousContinuation<
sscl::Callback<livoxProto1_getOrCreateDeviceReqCbFn> cb)
: sscl::NonPostedAsynchronousContinuation<
livoxProto1_getOrCreateDeviceReqCbFn>(std::move(cb)),
deviceManager(mgr), pendingDevice(device)
{}
@@ -128,11 +128,11 @@ public:
void DeviceManager::getOrCreateDeviceReq(
const std::string &deviceIdentifier,
const std::shared_ptr<smo::ComponentThread>& componentThread,
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,
smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback)
sscl::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback)
{
// Validate smoIp format using Boost.Asio IPv4 validation
if (!smoIp.empty() && !comms::isValidIPv4(smoIp))
@@ -179,7 +179,7 @@ void DeviceManager::getOrCreateDeviceReq(
}
class DeviceManager::DestroyDeviceReq
: public smo::NonPostedAsynchronousContinuation<
: public sscl::NonPostedAsynchronousContinuation<
livoxProto1_destroyDeviceReqCbFn>
{
public:
@@ -190,8 +190,8 @@ public:
DestroyDeviceReq(
DeviceManager& mgr,
std::shared_ptr<Device> device,
smo::Callback<livoxProto1_destroyDeviceReqCbFn> cb)
: smo::NonPostedAsynchronousContinuation<
sscl::Callback<livoxProto1_destroyDeviceReqCbFn> cb)
: sscl::NonPostedAsynchronousContinuation<
livoxProto1_destroyDeviceReqCbFn>(std::move(cb)),
deviceManager(mgr), pendingDevice(device)
{}
@@ -220,7 +220,7 @@ public:
void DeviceManager::destroyDeviceReq(
std::shared_ptr<Device> dev,
smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback
sscl::Callback<livoxProto1_destroyDeviceReqCbFn> callback
)
{
/** EXPLANATION:
@@ -245,7 +245,7 @@ void DeviceManager::destroyDeviceReq(
request.get(), request, std::placeholders::_1)});
}
void main(const std::shared_ptr<smo::ComponentThread> &componentThread,
void main(const std::shared_ptr<sscl::ComponentThread> &componentThread,
const smo::stim_buff::SmoCallbacks& smoCallbacks)
{
if (protoState.isInitialized) {
commonLibs/livoxProto1/core.h
+5 -5
View File
@@ -25,15 +25,15 @@ public:
void getOrCreateDeviceReq(
const std::string &deviceIdentifier,
const std::shared_ptr<smo::ComponentThread>& componentThread,
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,
smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);
sscl::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);
void destroyDeviceReq(
std::shared_ptr<Device> device,
smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback);
sscl::Callback<livoxProto1_destroyDeviceReqCbFn> callback);
std::optional<std::shared_ptr<Device>> getDevice(
const std::string &deviceIdentifier);
@@ -59,7 +59,7 @@ public:
};
void main(
const std::shared_ptr<smo::ComponentThread> &componentThread,
const std::shared_ptr<sscl::ComponentThread> &componentThread,
const smo::stim_buff::SmoCallbacks& smoCallbacks);
void exit(void);
@@ -67,7 +67,7 @@ void exit(void);
struct ProtoState
{
bool isInitialized = false;
std::shared_ptr<smo::ComponentThread> componentThread;
std::shared_ptr<sscl::ComponentThread> componentThread;
std::unique_ptr<DeviceManager> deviceManager;
smo::stim_buff::SmoCallbacks smoCallbacks;
};
commonLibs/livoxProto1/device.cpp
+41 -41
View File
@@ -90,7 +90,7 @@ std::string DiscoveredDevice::getDeviceTypeName(void) const
} // namespace comms
Device::Device(const std::string &deviceIdentifier,
const std::shared_ptr<smo::ComponentThread>& componentThread,
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)
@@ -124,15 +124,15 @@ Device::~Device()
* This class manages the overall device connection process including handshake and heartbeat setup
*/
class Device::ConnectReq
: public smo::NonPostedAsynchronousContinuation<Device::connectReqCbFn>
: public sscl::NonPostedAsynchronousContinuation<Device::connectReqCbFn>
{
private:
Device& device;
boost::asio::deadline_timer delayTimer;
public:
ConnectReq(Device& dev, smo::Callback<Device::connectReqCbFn> cb)
: smo::NonPostedAsynchronousContinuation<Device::connectReqCbFn>(
ConnectReq(Device& dev, sscl::Callback<Device::connectReqCbFn> cb)
: sscl::NonPostedAsynchronousContinuation<Device::connectReqCbFn>(
std::move(cb)), device(dev),
delayTimer(dev.componentThread->getIoService())
{}
@@ -216,7 +216,7 @@ public:
{ callOriginalCallback(false); }
};
void Device::connectReq(smo::Callback<Device::connectReqCbFn> callback)
void Device::connectReq(sscl::Callback<Device::connectReqCbFn> callback)
{
// Create the connection request object to hold state and callbacks
auto request = std::make_shared<ConnectReq>(*this, std::move(callback));
@@ -233,7 +233,7 @@ void Device::connectReq(smo::Callback<Device::connectReqCbFn> callback)
}
class Device::ConnectToKnownDeviceReq
: public smo::NonPostedAsynchronousContinuation<
: public sscl::NonPostedAsynchronousContinuation<
Device::connectToKnownDeviceReqCbFn>
{
public:
@@ -241,8 +241,8 @@ public:
std::string deviceIP;
std::shared_ptr<livoxProto1::comms::DiscoveredDevice> deviceInfo;
ConnectToKnownDeviceReq(Device& dev, smo::Callback<Device::connectToKnownDeviceReqCbFn> cb)
: smo::NonPostedAsynchronousContinuation<
ConnectToKnownDeviceReq(Device& dev, sscl::Callback<Device::connectToKnownDeviceReqCbFn> cb)
: sscl::NonPostedAsynchronousContinuation<
Device::connectToKnownDeviceReqCbFn>(std::move(cb)), device(dev)
{}
@@ -269,7 +269,7 @@ public:
* broadcastListener.
*/
void Device::connectToKnownDeviceReq(
smo::Callback<Device::connectToKnownDeviceReqCbFn> callback
sscl::Callback<Device::connectToKnownDeviceReqCbFn> callback
)
{
// Create the connection request object to hold state and callbacks
@@ -336,7 +336,7 @@ void Device::connectToKnownDeviceReq(
}
class Device::ConnectByDeviceIdentifierReq
: public smo::NonPostedAsynchronousContinuation<
: public sscl::NonPostedAsynchronousContinuation<
Device::connectByDeviceIdentifierReqCbFn>
{
public:
@@ -344,8 +344,8 @@ public:
std::string deviceIP;
ConnectByDeviceIdentifierReq(
Device& dev, smo::Callback<Device::connectByDeviceIdentifierReqCbFn> cb)
: smo::NonPostedAsynchronousContinuation<
Device& dev, sscl::Callback<Device::connectByDeviceIdentifierReqCbFn> cb)
: sscl::NonPostedAsynchronousContinuation<
Device::connectByDeviceIdentifierReqCbFn>(
std::move(cb)), device(dev)
{}
@@ -370,7 +370,7 @@ public:
};
void Device::connectByDeviceIdentifierReq(
smo::Callback<Device::connectByDeviceIdentifierReqCbFn> callback
sscl::Callback<Device::connectByDeviceIdentifierReqCbFn> callback
)
{
/** EXPLANATION:
@@ -419,13 +419,13 @@ void Device::connectByDeviceIdentifierReq(
}
class Device::ExecuteHandshakeReq
: public smo::NonPostedAsynchronousContinuation<
: public sscl::NonPostedAsynchronousContinuation<
Device::executeHandshakeReqCbFn>
{
public:
friend void Device::executeHandshakeReq(
const std::string& deviceIP,
smo::Callback<Device::executeHandshakeReqCbFn> callback);
sscl::Callback<Device::executeHandshakeReqCbFn> callback);
enum class SocketState
{
@@ -459,8 +459,8 @@ public:
Device& dev, const std::string& deviceIP,
std::shared_ptr<boost::asio::posix::stream_descriptor>
&cmdEndpointFdDesc,
smo::Callback<Device::executeHandshakeReqCbFn> cb)
: smo::NonPostedAsynchronousContinuation<Device::executeHandshakeReqCbFn>(
sscl::Callback<Device::executeHandshakeReqCbFn> cb)
: sscl::NonPostedAsynchronousContinuation<Device::executeHandshakeReqCbFn>(
std::move(cb)),
device(dev), deviceIP(deviceIP),
cmdEndpointFdDesc(cmdEndpointFdDesc),
@@ -753,7 +753,7 @@ private:
void Device::executeHandshakeReq(
const std::string& deviceIP,
smo::Callback<Device::executeHandshakeReqCbFn> callback
sscl::Callback<Device::executeHandshakeReqCbFn> callback
)
{
// Get the command endpoint from the UdpCommandDemuxer
@@ -803,7 +803,7 @@ void Device::executeHandshakeReq(
}
}
void Device::disconnectReq(smo::Callback<Device::disconnectReqCbFn> callback)
void Device::disconnectReq(sscl::Callback<Device::disconnectReqCbFn> callback)
{
// Stop heartbeat first
stopHeartbeat();
@@ -1042,7 +1042,7 @@ void Device::startHeartbeat()
}
// Register heartbeat ACK handler (cmd_set=0x00, cmd_id=0x03)
smo::SpinLock::Guard lock(heartbeatActiveLock);
sscl::SpinLock::Guard lock(heartbeatActiveLock);
registerUdpCommandHandler(
0x00, 0x03, discardHeartbeatAck, discoveredDevice.ipAddr);
@@ -1060,7 +1060,7 @@ void Device::startHeartbeat()
void Device::stopHeartbeat()
{
{
smo::SpinLock::Guard lock(heartbeatActiveLock);
sscl::SpinLock::Guard lock(heartbeatActiveLock);
heartbeatActive.store(false);
unregisterUdpCommandHandler(0x00, 0x03, discoveredDevice.ipAddr);
@@ -1168,7 +1168,7 @@ void Device::onHeartbeatTimer(const boost::system::error_code& error)
// Send next heartbeat
{
smo::SpinLock::Guard lock(heartbeatActiveLock);
sscl::SpinLock::Guard lock(heartbeatActiveLock);
if (!heartbeatActive.load())
{ return; }
@@ -1331,7 +1331,7 @@ std::optional<std::string> Device::getSmoIp(const std::string& deviceIP)
// Base class for both enable and disable pcloud data requests
template<typename CallbackType>
class EnDisablePcloudDataReq
: public smo::NonPostedAsynchronousContinuation<CallbackType>
: public sscl::NonPostedAsynchronousContinuation<CallbackType>
{
public:
enum class SocketState
@@ -1362,8 +1362,8 @@ public:
protected:
EnDisablePcloudDataReq(
Device& dev,
smo::Callback<CallbackType> cb)
: smo::NonPostedAsynchronousContinuation<CallbackType>(std::move(cb)),
sscl::Callback<CallbackType> cb)
: sscl::NonPostedAsynchronousContinuation<CallbackType>(std::move(cb)),
device(dev),
timeoutTimer(device.componentThread->getIoService())
{}
@@ -1608,11 +1608,11 @@ class Device::EnablePcloudDataReq
{
public:
friend void Device::enablePcloudDataReq(
smo::Callback<Device::enablePcloudDataReqCbFn> callback);
sscl::Callback<Device::enablePcloudDataReqCbFn> callback);
EnablePcloudDataReq(
Device& dev,
smo::Callback<Device::enablePcloudDataReqCbFn> cb)
sscl::Callback<Device::enablePcloudDataReqCbFn> cb)
: EnDisablePcloudDataReq<Device::enablePcloudDataReqCbFn>(dev, std::move(cb))
{}
@@ -1643,11 +1643,11 @@ class Device::DisablePcloudDataReq
{
public:
friend void Device::disablePcloudDataReq(
smo::Callback<Device::disablePcloudDataReqCbFn> callback);
sscl::Callback<Device::disablePcloudDataReqCbFn> callback);
DisablePcloudDataReq(
Device& dev,
smo::Callback<Device::disablePcloudDataReqCbFn> cb)
sscl::Callback<Device::disablePcloudDataReqCbFn> cb)
: EnDisablePcloudDataReq<Device::disablePcloudDataReqCbFn>(
dev, std::move(cb))
{}
@@ -1675,7 +1675,7 @@ private:
};
void Device::enablePcloudDataReq(
smo::Callback<Device::enablePcloudDataReqCbFn> callback
sscl::Callback<Device::enablePcloudDataReqCbFn> callback
)
{
auto request = std::make_shared<EnablePcloudDataReq>(
@@ -1702,7 +1702,7 @@ void Device::enablePcloudDataReq(
}
void Device::disablePcloudDataReq(
smo::Callback<Device::disablePcloudDataReqCbFn> callback
sscl::Callback<Device::disablePcloudDataReqCbFn> callback
)
{
auto request = std::make_shared<DisablePcloudDataReq>(
@@ -1858,7 +1858,7 @@ void Device::unregisterUdpCommandHandler(
// SetReturnModeReq continuation class
class Device::SetReturnModeReq
: public smo::NonPostedAsynchronousContinuation<Device::setReturnModeReqCbFn>
: public sscl::NonPostedAsynchronousContinuation<Device::setReturnModeReqCbFn>
{
public:
enum class SocketState
@@ -1890,12 +1890,12 @@ public:
public:
friend void Device::setReturnModeReq(
uint8_t returnMode,
smo::Callback<Device::setReturnModeReqCbFn> callback);
sscl::Callback<Device::setReturnModeReqCbFn> callback);
SetReturnModeReq(
Device& dev, uint8_t mode,
smo::Callback<Device::setReturnModeReqCbFn> cb)
: smo::NonPostedAsynchronousContinuation<Device::setReturnModeReqCbFn>(
sscl::Callback<Device::setReturnModeReqCbFn> cb)
: sscl::NonPostedAsynchronousContinuation<Device::setReturnModeReqCbFn>(
std::move(cb)),
device(dev), returnMode(mode),
timeoutTimer(device.componentThread->getIoService())
@@ -2107,7 +2107,7 @@ public:
// GetReturnModeReq continuation class
class Device::GetReturnModeReq
: public smo::NonPostedAsynchronousContinuation<Device::getReturnModeReqCbFn>
: public sscl::NonPostedAsynchronousContinuation<Device::getReturnModeReqCbFn>
{
public:
enum class SocketState
@@ -2137,12 +2137,12 @@ public:
public:
friend void Device::getReturnModeReq(
smo::Callback<Device::getReturnModeReqCbFn> callback);
sscl::Callback<Device::getReturnModeReqCbFn> callback);
GetReturnModeReq(
Device& dev,
smo::Callback<Device::getReturnModeReqCbFn> cb)
: smo::NonPostedAsynchronousContinuation<Device::getReturnModeReqCbFn>(
sscl::Callback<Device::getReturnModeReqCbFn> cb)
: sscl::NonPostedAsynchronousContinuation<Device::getReturnModeReqCbFn>(
std::move(cb)),
device(dev),
timeoutTimer(device.componentThread->getIoService())
@@ -2351,7 +2351,7 @@ public:
void Device::setReturnModeReq(
uint8_t returnMode,
smo::Callback<Device::setReturnModeReqCbFn> callback
sscl::Callback<Device::setReturnModeReqCbFn> callback
)
{
auto request = std::make_shared<SetReturnModeReq>(
@@ -2378,7 +2378,7 @@ void Device::setReturnModeReq(
}
void Device::getReturnModeReq(
smo::Callback<Device::getReturnModeReqCbFn> callback
sscl::Callback<Device::getReturnModeReqCbFn> callback
)
{
auto request = std::make_shared<GetReturnModeReq>(
commonLibs/livoxProto1/device.h
+12 -12
View File
@@ -77,7 +77,7 @@ class Device
{
public:
Device(const std::string &deviceIdentifier,
const std::shared_ptr<smo::ComponentThread>& componentThread,
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);
@@ -163,27 +163,27 @@ public:
getReturnModeReqCbFn;
// Async connection methods
void connectReq(smo::Callback<connectReqCbFn> callback);
void connectReq(sscl::Callback<connectReqCbFn> callback);
void connectToKnownDeviceReq(
smo::Callback<connectToKnownDeviceReqCbFn> callback);
sscl::Callback<connectToKnownDeviceReqCbFn> callback);
void connectByDeviceIdentifierReq(
smo::Callback<connectByDeviceIdentifierReqCbFn> callback);
sscl::Callback<connectByDeviceIdentifierReqCbFn> callback);
void executeHandshakeReq(
const std::string& deviceIP,
smo::Callback<executeHandshakeReqCbFn> callback);
void disconnectReq(smo::Callback<disconnectReqCbFn> callback);
void enablePcloudDataReq(smo::Callback<enablePcloudDataReqCbFn> callback);
void disablePcloudDataReq(smo::Callback<disablePcloudDataReqCbFn> callback);
sscl::Callback<executeHandshakeReqCbFn> callback);
void disconnectReq(sscl::Callback<disconnectReqCbFn> callback);
void enablePcloudDataReq(sscl::Callback<enablePcloudDataReqCbFn> callback);
void disablePcloudDataReq(sscl::Callback<disablePcloudDataReqCbFn> callback);
void setReturnModeReq(
uint8_t returnMode, smo::Callback<setReturnModeReqCbFn> callback);
void getReturnModeReq(smo::Callback<getReturnModeReqCbFn> callback);
uint8_t returnMode, sscl::Callback<setReturnModeReqCbFn> callback);
void getReturnModeReq(sscl::Callback<getReturnModeReqCbFn> callback);
public:
comms::DiscoveredDevice discoveredDevice;
std::atomic<size_t> nAttachedStimulusProducers;
// Configuration
std::shared_ptr<smo::ComponentThread> componentThread;
std::shared_ptr<sscl::ComponentThread> componentThread;
int commandTimeoutMs, retryDelayMs;
std::string smoIp;
std::string detectedSmoListeningIp;
@@ -193,7 +193,7 @@ public:
// Heartbeat state
std::unique_ptr<boost::asio::deadline_timer> heartbeatTimer;
std::atomic<bool> heartbeatActive;
smo::SpinLock heartbeatActiveLock;
sscl::SpinLock heartbeatActiveLock;
// Point cloud data state
std::atomic<bool> pcloudDataActive;
commonLibs/livoxProto1/livoxProto1.cpp
+7 -7
View File
@@ -12,11 +12,11 @@ extern "C" {
void livoxProto1_getOrCreateDeviceReq(
const std::string& deviceIdentifier,
const std::shared_ptr<smo::ComponentThread>& componentThread,
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,
smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback
sscl::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback
)
{
// Get the global DeviceManager instance
@@ -39,7 +39,7 @@ void livoxProto1_getOrCreateDeviceReq(
void livoxProto1_destroyDeviceReq(
std::shared_ptr<livoxProto1::Device> device,
smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback
sscl::Callback<livoxProto1_destroyDeviceReqCbFn> callback
)
{
auto& protoState = livoxProto1::getProtoState();
@@ -54,7 +54,7 @@ void livoxProto1_destroyDeviceReq(
}
void livoxProto1_main(
const std::shared_ptr<smo::ComponentThread>& componentThread,
const std::shared_ptr<sscl::ComponentThread>& componentThread,
const smo::stim_buff::SmoCallbacks& smoCallbacks)
{
livoxProto1::main(componentThread, smoCallbacks);
@@ -67,7 +67,7 @@ void livoxProto1_exit(void)
void livoxProto1_device_enablePcloudDataReq(
std::shared_ptr<livoxProto1::Device> device,
smo::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback
sscl::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback
)
{
if (!device)
@@ -81,7 +81,7 @@ void livoxProto1_device_enablePcloudDataReq(
void livoxProto1_device_disablePcloudDataReq(
std::shared_ptr<livoxProto1::Device> device,
smo::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback
sscl::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback
)
{
if (!device)
@@ -95,7 +95,7 @@ void livoxProto1_device_disablePcloudDataReq(
void livoxProto1_device_getReturnModeReq(
std::shared_ptr<livoxProto1::Device> device,
smo::Callback<livoxProto1_device_getReturnModeReqCbFn> callback
sscl::Callback<livoxProto1_device_getReturnModeReqCbFn> callback
)
{
if (!device)
commonLibs/livoxProto1/livoxProto1.h
+9 -7
View File
@@ -14,6 +14,8 @@ namespace smo {
namespace stim_buff {
struct SmoCallbacks;
}
}
namespace sscl {
class ComponentThread;
}
@@ -31,7 +33,7 @@ extern "C" {
* @param smoCallbacks Callbacks provided by SMO
*/
typedef void livoxProto1_mainFn(
const std::shared_ptr<smo::ComponentThread>& componentThread,
const std::shared_ptr<sscl::ComponentThread>& componentThread,
const smo::stim_buff::SmoCallbacks& smoCallbacks);
/**
@@ -58,34 +60,34 @@ typedef std::function<
typedef void livoxProto1_getOrCreateDeviceReqFn(
const std::string& deviceIdentifier,
const std::shared_ptr<smo::ComponentThread>& componentThread,
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,
smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);
sscl::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);
typedef std::function<void(bool success)> livoxProto1_destroyDeviceReqCbFn;
typedef void livoxProto1_destroyDeviceReqFn(
std::shared_ptr<livoxProto1::Device> device,
smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback);
sscl::Callback<livoxProto1_destroyDeviceReqCbFn> callback);
typedef std::function<void(bool success)>
livoxProto1_device_enablePcloudDataReqCbFn;
typedef void livoxProto1_device_enablePcloudDataReqFn(
std::shared_ptr<livoxProto1::Device> device,
smo::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback);
sscl::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback);
typedef std::function<void(bool success)>
livoxProto1_device_disablePcloudDataReqCbFn;
typedef void livoxProto1_device_disablePcloudDataReqFn(
std::shared_ptr<livoxProto1::Device> device,
smo::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback);
sscl::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback);
typedef std::function<void(bool success, uint8_t returnMode)>
livoxProto1_device_getReturnModeReqCbFn;
typedef void livoxProto1_device_getReturnModeReqFn(
std::shared_ptr<livoxProto1::Device> device,
smo::Callback<livoxProto1_device_getReturnModeReqCbFn> callback);
sscl::Callback<livoxProto1_device_getReturnModeReqCbFn> callback);
typedef std::shared_ptr<boost::asio::posix::stream_descriptor>
livoxProto1_getPcloudDataFdDescFn(void);
commonLibs/livoxProto1/udpCommandDemuxer.cpp
+4 -4
View File
@@ -16,7 +16,7 @@ namespace livoxProto1 {
namespace comms {
UdpCommandDemuxer::UdpCommandDemuxer(
const std::shared_ptr<smo::ComponentThread> &componentThread,
const std::shared_ptr<sscl::ComponentThread> &componentThread,
DeviceManager &deviceManager,
uint16_t commandPort,
uint16_t dataPort
@@ -44,7 +44,7 @@ void UdpCommandDemuxer::start()
try
{
{
smo::SpinLock::Guard lock(isActiveAndShouldStopLock);
sscl::SpinLock::Guard lock(isActiveAndShouldStopLock);
setupSockets();
isActive.store(true);
@@ -71,7 +71,7 @@ void UdpCommandDemuxer::start()
void UdpCommandDemuxer::stop()
{
{
smo::SpinLock::Guard lock(isActiveAndShouldStopLock);
sscl::SpinLock::Guard lock(isActiveAndShouldStopLock);
if (!isActive.load())
{ return; }
@@ -291,7 +291,7 @@ void UdpCommandDemuxer::onDataReady(const boost::system::error_code &error)
return;
}
smo::SpinLock::Guard lock(isActiveAndShouldStopLock);
sscl::SpinLock::Guard lock(isActiveAndShouldStopLock);
if (!isActive.load() || shouldStop.load())
{ return; }
commonLibs/livoxProto1/udpCommandDemuxer.h
+3 -3
View File
@@ -37,7 +37,7 @@ class UdpCommandDemuxer
{
public:
UdpCommandDemuxer(
const std::shared_ptr<smo::ComponentThread>& componentThread,
const std::shared_ptr<sscl::ComponentThread>& componentThread,
DeviceManager& deviceManager,
uint16_t commandPort = 56001,
uint16_t dataPort = 56000);
@@ -76,13 +76,13 @@ private:
void onDataReady(const boost::system::error_code& error);
void processIncomingData();
std::shared_ptr<smo::ComponentThread> componentThread;
std::shared_ptr<sscl::ComponentThread> componentThread;
DeviceManager& deviceManager;
uint16_t commandPort;
uint16_t dataPort;
// State management
smo::SpinLock isActiveAndShouldStopLock;
sscl::SpinLock isActiveAndShouldStopLock;
std::atomic<bool> isActive{false};
std::atomic<bool> shouldStop{false};