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livoxProto1: Open pcloudDataSocket in UdpCmdDemux

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The pcloudData socket is now opened by UdpCommandDemuxer, when
libLivoxProto1 is initialized. We can now just pick up the socket
and be certain it'll be there if the lib is being executed.
This commit is contained in:
Hayodea Hekol
2025-11-01 22:41:58 -04:00
parent 10e615e75e
commit 45ad5c83ee
6 changed files with 101 additions and 99 deletions
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commonLibs/livoxProto1/device.cpp
+1 -92
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@@ -113,13 +113,9 @@ Device::~Device()
if (pcloudDataActive.load()) {
pcloudDataActive.store(false);
if (pcloudDataSocketDesc) {
pcloudDataSocketDesc->cancel();
}
}
heartbeatTimer.reset();
pcloudDataSocketDesc.reset();
}
/**
@@ -1347,9 +1343,6 @@ public:
// The timeout timer.
boost::asio::deadline_timer timeoutTimer;
// Temporary point cloud data socket descriptor (for enable operations)
boost::asio::posix::stream_descriptor tmpPcloudEnableFdDesc;
// Received data storage
uint8_t responseBuffer[1024]{};
ssize_t bytesReceived = -1;
@@ -1362,8 +1355,7 @@ protected:
smo::Callback<CallbackType> cb)
: smo::NonPostedAsynchronousContinuation<CallbackType>(std::move(cb)),
device(dev),
timeoutTimer(device.componentThread->getIoService()),
tmpPcloudEnableFdDesc(device.componentThread->getIoService())
timeoutTimer(device.componentThread->getIoService())
{}
public:
@@ -1540,10 +1532,6 @@ protected:
void cleanup()
{
timeoutTimer.cancel();
if (tmpPcloudEnableFdDesc.is_open()) {
tmpPcloudEnableFdDesc.cancel();
tmpPcloudEnableFdDesc.close();
}
}
// Pure virtual methods that derived classes must implement
@@ -1551,61 +1539,6 @@ protected:
virtual const char* getCommandName() const = 0;
virtual void setPcloudDataActiveState() = 0;
// Method to set up temporary point cloud data socket
bool setupTmpPcloudDataSocket()
{
// RAII class to manage socket file descriptor
struct SocketRAII
{
int fd;
SocketRAII(int socketFd) : fd(socketFd) {}
~SocketRAII() { if (fd >= 0) close(fd); }
void release() { fd = -1; } // Release ownership, prevent close
int getFd() const { return fd; }
bool isValid() const { return fd >= 0; }
};
// Create UDP socket for point cloud data reception
SocketRAII socketGuard(socket(AF_INET, SOCK_DGRAM, 0));
if (!socketGuard.isValid())
{
std::cerr << __func__ << ": Failed to create socket: "
<< strerror(errno) << std::endl;
return false;
}
// Set socket to non-blocking mode
int flags = fcntl(socketGuard.getFd(), F_GETFL, 0);
if (flags < 0 ||
fcntl(socketGuard.getFd(), F_SETFL, flags | O_NONBLOCK) < 0)
{
std::cerr << __func__ << ": Failed to set non-blocking mode: "
<< strerror(errno) << std::endl;
return false;
}
// Bind to the data port (65001)
struct sockaddr_in localAddr;
memset(&localAddr, 0, sizeof(localAddr));
localAddr.sin_family = AF_INET;
localAddr.sin_addr.s_addr = INADDR_ANY;
localAddr.sin_port = htons(65001); // Data port
if (bind(
socketGuard.getFd(), (struct sockaddr *)&localAddr,
sizeof(localAddr)) < 0)
{
std::cerr << __func__ << ": Failed to bind to data port: "
<< strerror(errno) << std::endl;
return false;
}
// Assign the file descriptor to the stream descriptor
tmpPcloudEnableFdDesc.assign(socketGuard.getFd());
socketGuard.release();
return true;
}
// Common sendCommand implementation
bool sendCommand()
{
@@ -1691,17 +1624,6 @@ private:
void setPcloudDataActiveState() override
{
// Transfer ownership of the socket from temporary to main descriptor
if (tmpPcloudEnableFdDesc.is_open())
{
// Close the temporary descriptor (but don't close the fd)
int fd = tmpPcloudEnableFdDesc.native_handle();
tmpPcloudEnableFdDesc.release();
// Give the transient FD to the Device object.
device.pcloudDataSocketDesc =
std::make_unique<boost::asio::posix::stream_descriptor>(
device.componentThread->getIoService(), fd);
}
device.pcloudDataActive.store(true);
}
};
@@ -1758,15 +1680,6 @@ void Device::enablePcloudDataReq(
return;
}
// Set up the temporary point cloud data socket for actual data reception
if (!request->setupTmpPcloudDataSocket())
{
std::cerr << __func__ << ": Failed to set up transient pcloud data FD."
<< std::endl;
request->callOriginalCallbackWithFailure();
return;
}
// Send the start sampling command
if (!request->sendCommand())
{
@@ -1813,10 +1726,6 @@ void Device::disablePcloudDataReq(
void Device::cleanupPcloudDataSocket()
{
if (pcloudDataSocketDesc) {
pcloudDataSocketDesc->cancel();
pcloudDataSocketDesc.reset();
}
pcloudDataActive.store(false);
}