livoxProto1: connectReq: Add 5ms delay before Sample enable msg

commonLibs/livoxProto1/device.cpp

@@ -134,16 +134,30 @@ class Device::ConnectReq
 {
 private:
 	Device& device;
+	boost::asio::deadline_timer delayTimer;
 
 public:
 	ConnectReq(Device& dev, smo::Callback<Device::connectReqCbFn> cb)
 	:	smo::NonPostedAsynchronousContinuation<Device::connectReqCbFn>(
-			std::move(cb)), device(dev)
+			std::move(cb)), device(dev),
+		delayTimer(dev.componentThread->getIoService())
 	{}
 
 	/**		FIXME:
 	 * 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,
@@ -172,9 +186,8 @@ public:
 		context->device.discoveredDevice.ipAddr = ipAddr;
 		context->device.startHeartbeat();
 
-		context->device.enablePcloudDataReq(
-			{context, std::bind(&ConnectReq::connectReq3, context.get(), context,
-			std::placeholders::_1)});
+		// Use async delay before enabling point cloud data
+		delayedEnablePcloudData(context);
 	}
 
 	void connectReq2(
@@ -193,12 +206,29 @@ public:
 		context->device.discoveredDevice.ipAddr = ipAddr;
 		context->device.startHeartbeat();
 
-		context->device.enablePcloudDataReq(
-			{context, std::bind(&ConnectReq::connectReq3, context.get(), context,
-			std::placeholders::_1)});
+		// Use async delay before enabling point cloud data
+		delayedEnablePcloudData(context);
 	}
 
 	void connectReq3(
+		std::shared_ptr<ConnectReq> context,
+		const boost::system::error_code& error
+		)
+	{
+		if (error)
+		{
+			// Timer was cancelled or error occurred
+			context->callOriginalCb(false);
+			return;
+		}
+
+		context->device.enablePcloudDataReq(
+			{context, std::bind(&ConnectReq::connectReq4,
+			context.get(), context,
+			std::placeholders::_1)});
+	}
+
+	void connectReq4(
 		std::shared_ptr<ConnectReq> context,
 		bool success
 		)
@@ -1588,8 +1618,6 @@ void Device::enablePcloudDataReq(
 	smo::Callback<Device::enablePcloudDataReqCbFn> callback
 	)
 {
-	std::this_thread::sleep_for(std::chrono::milliseconds(105));
-
 	auto request = std::make_shared<EnablePcloudDataReq>(
 		*this, std::move(callback));