Livox: Add new loadable libs for Protocolv1 and gen1 lidars

We've added two new libs:
* commonLibs/livoxProto1
* senseApis/livoxGen1

They currently get to the point of detecting my Livox Avia on the
network over UDP. This was really easy to get done in one night
using boost::asio and Cursor, honestly.

senseApis/CMakeLists.txt

@@ -1 +1,2 @@
 add_subdirectory(xcbWindow)
+add_subdirectory(livoxGen1)

senseApis/livoxGen1/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_dependent_option(ENABLE_SENSEAPI_livoxGen1
+	"Enable Livox Gen1 LiDAR sense API" OFF
+	"ENABLE_LIB_livoxProto1" ON)
+
+if(ENABLE_SENSEAPI_livoxGen1)
+	add_library(livoxGen1 SHARED
+		livoxGen1.cpp
+	)
+
+	# Set config define for header generation
+	add_compile_definitions(CONFIG_SENSEAPI_LIVOXGEN1_ENABLED)
+	target_include_directories(livoxGen1 PUBLIC
+		${Boost_INCLUDE_DIRS}
+		${CMAKE_SOURCE_DIR}/commonLibs
+	)
+	target_link_libraries(livoxGen1
+		${Boost_LIBRARIES}
+	)
+
+	# Install rules
+	install(TARGETS livoxGen1 DESTINATION lib)
+endif()

senseApis/livoxGen1/livoxGen1.cpp

@@ -0,0 +1,159 @@
+#include <iostream>
+#include <memory>
+#include <vector>
+#include <string>
+#include <map>
+#include <functional>
+#include <dlfcn.h>
+#include <user/senseApiDesc.h>
+#include <user/deviceAttachmentSpec.h>
+#include <livoxProto1/livoxProto1.h>
+
+namespace smo {
+namespace sense_api {
+
+// Salmanoff hooks, obtained from SMO_GET_SENSE_API_DESC_FN_NAME().
+static const SmoCallbacks* smoHooksPtr = nullptr;
+static SmoThreadingModelDesc smoThreadingModelDesc;
+
+// LivoxProto1 library state
+struct LivoxProto1DllState
+{
+	LivoxProto1DllState()
+	: dlopenHandle(nullptr, DlCloser),
+	  livoxProto1_main(nullptr),
+	  livoxProto1_exit(nullptr)
+	{}
+
+	static void DlCloser(void* handle)
+	{
+		if (handle) {
+			dlclose(handle);
+		}
+	}
+
+	std::unique_ptr<void, void(*)(void*)> dlopenHandle;
+	livoxProto1_mainFn *livoxProto1_main;
+	livoxProto1_exitFn *livoxProto1_exit;
+};
+
+static LivoxProto1DllState livoxProto1;
+
+// Callback function declarations
+extern "C" int livoxGen1_initializeInd(void);
+extern "C" int livoxGen1_finalizeInd(void);
+extern "C" int livoxGen1_attachDeviceReq(
+	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc);
+extern "C" int livoxGen1_detachDeviceReq(
+	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc);
+
+// Sense API descriptor
+static const SenseApiDesc livoxGen1ApiDesc = {
+	.name = "livoxGen1",
+	.exportedImplexorApis = {
+		{.name = "pointCloudCoords"},
+		{.name = "pointCloudIntensity"},
+		{.name = "gyro"},
+		{.name = "accel"}
+	},
+	.sal_mgmt_libOps = {
+		.initializeInd = livoxGen1_initializeInd,
+		.finalizeInd = livoxGen1_finalizeInd,
+		.attachDeviceReq = livoxGen1_attachDeviceReq,
+		.detachDeviceReq = livoxGen1_detachDeviceReq
+	}
+};
+
+// Callback function implementations
+extern "C" int livoxGen1_initializeInd(void)
+{
+	if (!smoHooksPtr)
+	{
+		throw std::runtime_error(std::string(__func__) + ": SMO hooks "
+			"pointers not filled in.");
+	}
+
+	// Load LivoxProto1 library
+	auto libPath = smoHooksPtr->searchForLibInSmoSearchPaths(
+		"liblivoxProto1.so");
+
+	livoxProto1.dlopenHandle.reset(dlopen(
+		libPath.value_or("liblivoxProto1.so").c_str(), RTLD_LAZY));
+
+	if (!livoxProto1.dlopenHandle)
+	{
+		throw std::runtime_error(
+			std::string(__func__) +
+			": Failed to load LivoxProto1 library: " +
+			(dlerror() ? dlerror() : "unknown error"));
+	}
+
+	// Get LivoxProto1 library functions
+	livoxProto1.livoxProto1_main = reinterpret_cast<livoxProto1_mainFn *>(
+		dlsym(livoxProto1.dlopenHandle.get(), "livoxProto1_main"));
+	livoxProto1.livoxProto1_exit = reinterpret_cast<livoxProto1_exitFn *>(
+		dlsym(livoxProto1.dlopenHandle.get(), "livoxProto1_exit"));
+
+	if (!livoxProto1.livoxProto1_main || !livoxProto1.livoxProto1_exit) {
+		throw std::runtime_error(
+			std::string(__func__) +
+			": Failed to get LivoxProto1 library functions");
+	}
+
+	// Call LivoxProto1 library main function
+	livoxProto1.livoxProto1_main(smoThreadingModelDesc.componentThread);
+
+	return 0; // Success
+}
+
+extern "C" int livoxGen1_finalizeInd(void)
+{
+	// TODO: Implement finalization logic
+	if (livoxProto1.livoxProto1_exit) {
+		livoxProto1.livoxProto1_exit();
+	}
+
+	if (livoxProto1.dlopenHandle)
+	{
+		dlclose(livoxProto1.dlopenHandle.get());
+		livoxProto1.dlopenHandle.reset();
+	}
+
+	livoxProto1 = LivoxProto1DllState();
+	return 0; // Success
+}
+
+extern "C" int livoxGen1_attachDeviceReq(
+	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc
+	)
+{
+	// TODO: Implement device attachment logic
+	(void)desc; // Suppress unused parameter warning
+	return 0; // Success
+}
+
+extern "C" int livoxGen1_detachDeviceReq(
+	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc
+	)
+{
+	// TODO: Implement device detachment logic
+	(void)desc; // Suppress unused parameter warning
+	return 0; // Success
+}
+
+// Exported function
+extern "C" smo::sense_api::SMO_GET_SENSE_API_DESC_FN_TYPEDEF
+	SMO_GET_SENSE_API_DESC_FN_NAME;
+
+const smo::sense_api::SenseApiDesc& SMO_GET_SENSE_API_DESC_FN_NAME(
+	const smo::sense_api::SmoCallbacks& callbacks,
+	const smo::sense_api::SmoThreadingModelDesc& threadingModel)
+{
+	smoHooksPtr = &callbacks;
+	smoThreadingModelDesc = threadingModel;
+
+	return livoxGen1ApiDesc;
+}
+
+} // namespace sense_api
+} // namespace smo