livoxGen1:attach: call getReturnModeReq before enPcloudDataReq

stimBuffApis/livoxGen1/livoxGen1.cpp

@@ -55,7 +55,8 @@ struct LivoxProto1DllState
 	  livoxProto1_getOrCreateDeviceReq(nullptr),
 	  livoxProto1_destroyDeviceReq(nullptr),
 	  livoxProto1_device_enablePcloudDataReq(nullptr),
-	  livoxProto1_device_disablePcloudDataReq(nullptr)
+	  livoxProto1_device_disablePcloudDataReq(nullptr),
+	  livoxProto1_device_getReturnModeReq(nullptr)
 	{}
 
 	static void DlCloser(void* handle)
@@ -74,6 +75,7 @@ struct LivoxProto1DllState
 		*livoxProto1_device_enablePcloudDataReq;
 	livoxProto1_device_disablePcloudDataReqFn
 		*livoxProto1_device_disablePcloudDataReq;
+	livoxProto1_device_getReturnModeReqFn *livoxProto1_device_getReturnModeReq;
 };
 
 static LivoxProto1DllState livoxProto1;
@@ -131,28 +133,65 @@ public:
 		/* Delay here because getOrCreate just sent HandshakeReq, so device
 		 * may not yet be ready for another command.
 		 */
-		context->delayedEnablePcloudData(context);
+		context->delayedGetReturnMode(context);
+	}
+
+	void delayedGetReturnMode(
+		std::shared_ptr<AttachDeviceReq> context)
+	{
+		// Initialize timer with device's component thread
+		delayTimer = std::make_unique<boost::asio::deadline_timer>(
+			context->stimBuff->device->componentThread->getIoService());
+
+		delayTimer->expires_from_now(boost::posix_time::milliseconds(5));
+		delayTimer->async_wait(
+			std::bind(
+				&AttachDeviceReq::attachDeviceReq2,
+				context.get(), context,
+				std::placeholders::_1));
 	}
 
 	void attachDeviceReq2(
 		std::shared_ptr<AttachDeviceReq> context,
-		bool success)
+		const boost::system::error_code& error)
+	{
+		if (error)
+		{
+			std::cerr << __func__ << ": Timer error: " << error.message()
+				<< std::endl;
+			context->callOriginalCb(false, context->spec);
+			return;
+		}
+
+		(*livoxProto1.livoxProto1_device_getReturnModeReq)(
+			context->stimBuff->device,
+			{context, std::bind(
+				&AttachDeviceReq::attachDeviceReq3,
+				context.get(), context,
+				std::placeholders::_1, std::placeholders::_2)});
+	}
+
+	void attachDeviceReq3(
+		std::shared_ptr<AttachDeviceReq> context,
+		bool success, uint8_t mode)
 	{
 		if (!success)
 		{
-			std::cerr << __func__ << ": Failed to enable pcloud data for dev "
+			std::cerr << __func__ << ": Failed to get return mode for dev "
 				<< context->spec->deviceSelector << std::endl;
 
-			// Fallthrough.
+			context->callOriginalCb(false, context->spec);
+			return;
 		}
 
 		if (1 || OptionParser::getOptions().verbose)
 		{
-			std::cout << __func__ << ": Enabled pcloud data for device: "
-				<< context->spec->deviceSelector << std::endl;
+			std::cout << __func__ << ": Got return mode (" << (int)mode
+				<< ") for device: " << context->spec->deviceSelector
+				<< std::endl;
 		}
 
-		context->callOriginalCb(success, context->spec);
+		context->delayedEnablePcloudData(context);
 	}
 
 	// Helper method to delay and then call enablePcloudDataReq
@@ -166,13 +205,12 @@ public:
 		delayTimer->expires_from_now(boost::posix_time::milliseconds(5));
 		delayTimer->async_wait(
 			std::bind(
-				&AttachDeviceReq::delayedEnablePcloudDataCallback,
+				&AttachDeviceReq::attachDeviceReq4,
 				context.get(), context,
 				std::placeholders::_1));
 	}
 
-	// Callback for the delayed enablePcloudDataReq
-	void delayedEnablePcloudDataCallback(
+	void attachDeviceReq4(
 		std::shared_ptr<AttachDeviceReq> context,
 		const boost::system::error_code& error)
 	{
@@ -187,10 +225,32 @@ public:
 		(*livoxProto1.livoxProto1_device_enablePcloudDataReq)(
 			context->stimBuff->device,
 			{context, std::bind(
-			&AttachDeviceReq::attachDeviceReq2,
+			&AttachDeviceReq::attachDeviceReq5,
 			context.get(), context,
 			std::placeholders::_1)});
 	}
+
+	void attachDeviceReq5(
+		std::shared_ptr<AttachDeviceReq> context,
+		bool success)
+	{
+		if (!success)
+		{
+			std::cerr << __func__ << ": Failed to enable pcloud data for dev "
+				<< context->spec->deviceSelector << std::endl;
+
+			context->callOriginalCb(false, context->spec);
+			return;
+		}
+
+		if (1 || OptionParser::getOptions().verbose)
+		{
+			std::cout << __func__ << ": Enabled pcloud data for device: "
+				<< context->spec->deviceSelector << std::endl;
+		}
+
+		context->callOriginalCb(success, context->spec);
+	}
 };
 
 class DetachDeviceReq
@@ -373,12 +433,18 @@ extern "C" int livoxGen1_initializeInd(void)
 			dlsym(
 				livoxProto1.dlopenHandle.get(),
 				"livoxProto1_device_disablePcloudDataReq"));
+	livoxProto1.livoxProto1_device_getReturnModeReq = reinterpret_cast<
+		livoxProto1_device_getReturnModeReqFn *>(
+			dlsym(
+				livoxProto1.dlopenHandle.get(),
+				"livoxProto1_device_getReturnModeReq"));
 
 	if (!livoxProto1.livoxProto1_main || !livoxProto1.livoxProto1_exit
 		|| !livoxProto1.livoxProto1_getOrCreateDeviceReq
 		|| !livoxProto1.livoxProto1_destroyDeviceReq
 		|| !livoxProto1.livoxProto1_device_enablePcloudDataReq
-		|| !livoxProto1.livoxProto1_device_disablePcloudDataReq)
+		|| !livoxProto1.livoxProto1_device_disablePcloudDataReq
+		|| !livoxProto1.livoxProto1_device_getReturnModeReq)
 	{
 		throw std::runtime_error(
 			std::string(__func__) +
@@ -443,16 +509,15 @@ extern "C" void livoxGen1_attachDeviceReq(
 			return;
 		}
 
-		/* Enable pcloud data. Don't need delay since this no commands were
+		/* Get return mode first. Don't need delay since this no commands were
 		 * sent to device prior to us reaching here.
 		 */
-		(*livoxProto1.livoxProto1_device_enablePcloudDataReq)(
+		(*livoxProto1.livoxProto1_device_getReturnModeReq)(
 			pcloudStimBuff->device,
 			{request, std::bind(
-				&AttachDeviceReq::attachDeviceReq2,
+				&AttachDeviceReq::attachDeviceReq3,
 				request.get(), request,
-				std::placeholders::_1)});
-
+				std::placeholders::_1, std::placeholders::_2)});
 		return;
 	}