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LivoxGen/Proto1: Move en/disablePcloudData call to Gen1

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We no longer try to enable pcloud data as part of the connectReq()
sequence. Instead we separate them so that a device can be connected
but not be issuing pcloud data.
This commit is contained in:
Hayodea Hekol
2025-10-25 12:53:07 -04:00
parent 0e872042ee
commit 6f4a2dd649
4 changed files with 254 additions and 95 deletions
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commonLibs/livoxProto1/device.cpp
+15 -45
View File
@@ -142,17 +142,6 @@ public:
* WE need to assign the ipAddr to the Device being connected up.
*/
// Helper method to delay and then call enablePcloudDataReq
void delayedEnablePcloudData(std::shared_ptr<ConnectReq> context)
{
delayTimer.expires_from_now(boost::posix_time::milliseconds(5));
delayTimer.async_wait(
std::bind(
&ConnectReq::connectReq3,
context.get(), context,
std::placeholders::_1));
}
// Callback methods for the connection sequence
void connectReq1(
std::shared_ptr<ConnectReq> context,
@@ -181,8 +170,7 @@ public:
context->device.discoveredDevice.ipAddr = ipAddr;
context->device.startHeartbeat();
// Use async delay before enabling point cloud data
delayedEnablePcloudData(context);
context->connectReq3(context, success);
}
void connectReq2(
@@ -201,39 +189,18 @@ public:
context->device.discoveredDevice.ipAddr = ipAddr;
context->device.startHeartbeat();
// Use async delay before enabling point cloud data
delayedEnablePcloudData(context);
context->connectReq3(context, success);
}
void connectReq3(
std::shared_ptr<ConnectReq> context,
const boost::system::error_code& error
)
{
if (error)
{
// Timer was cancelled or error occurred
context->callOriginalCallbackWithFailure();
return;
}
context->device.enablePcloudDataReq(
{context, std::bind(&ConnectReq::connectReq4,
context.get(), context,
std::placeholders::_1)});
}
void connectReq4(
std::shared_ptr<ConnectReq> context,
bool success
std::shared_ptr<ConnectReq> context, bool success
)
{
if (!success)
{
std::cerr << __func__ << ": Failed to enable point cloud data for "
"device (" << context->device.discoveredDevice.deviceIdentifier
std::cerr << __func__ << ": Failed to connect to device "
"(" << context->device.discoveredDevice.deviceIdentifier
<< ") @(" << context->device.discoveredDevice.ipAddr << ").\n";
context->callOriginalCallbackWithFailure();
return;
}
@@ -1550,13 +1517,16 @@ protected:
response->command.cmd_id == 0x04 &&
response->ret_code == 0x00))
{
std::cerr << __func__ << ": Failed to enable pcloud data for dev "
"(" << context->device.discoveredDevice.deviceIdentifier
<< ") @(" << context->device.discoveredDevice.ipAddr << "). "
<< "cmd_set: " << (int)response->command.cmd_set
<< ", cmd_id: " << (int)response->command.cmd_id
<< ", ret_code: " << (int)response->ret_code << "\n";
if (OptionParser::getOptions().verbose)
{
std::cout << __func__ << ": Failed to en/disable pcloud data "
"for device "
"(" << context->device.discoveredDevice.deviceIdentifier
<< ") @(" << context->device.discoveredDevice.ipAddr << "). "
<< "cmd_set: " << (int)response->command.cmd_set
<< ", cmd_id: " << (int)response->command.cmd_id
<< ", ret_code: " << (int)response->ret_code << "\n";
}
context->callOriginalCallbackWithFailure();
return;
}
commonLibs/livoxProto1/livoxProto1.cpp
+28
View File
@@ -62,4 +62,32 @@ void livoxProto1_exit(void)
livoxProto1::exit();
}
void livoxProto1_device_enablePcloudDataReq(
std::shared_ptr<livoxProto1::Device> device,
smo::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback
)
{
if (!device)
{
throw std::runtime_error(std::string(__func__)
+ ": Device pointer is null");
}
device->enablePcloudDataReq(callback);
}
void livoxProto1_device_disablePcloudDataReq(
std::shared_ptr<livoxProto1::Device> device,
smo::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback
)
{
if (!device)
{
throw std::runtime_error(std::string(__func__)
+ ": Device pointer is null");
}
device->disablePcloudDataReq(callback);
}
} // extern "C"
commonLibs/livoxProto1/livoxProto1.h
+16 -1
View File
@@ -67,14 +67,29 @@ typedef void livoxProto1_destroyDeviceReqFn(
std::shared_ptr<livoxProto1::Device> device,
smo::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);
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);
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;
#ifdef __cplusplus
}
#endif
#endif // LIVOXPROTO1_H
#endif // LIVOXPROTO1_H