LivoxGen1: Port to coros

No longer uses CPS. We also found and documented a potential bug in the way we deal with disablePcloudData during detachDeviceReq.
2026-05-28 15:17:50 -04:00
parent 7643cf7fed
commit fc5ebb72b9
10 changed files with 966 additions and 741 deletions
@@ -0,0 +1,121 @@
+#ifndef ADAPTERS_SMO_LIVOX_PROTO1_CPS_AWAITERS_H
+#define ADAPTERS_SMO_LIVOX_PROTO1_CPS_AWAITERS_H
+
+#include <cstdint>
+#include <memory>
+
+#include <adapters/smo/cpsCallbackAReq.h>
+#include <livoxProto1/livoxProto1.h>
+#include <spinscale/componentThread.h>
+
+namespace adapters::smo {
+
+struct GetOrCreateDeviceResult
+{
+	bool success = false;
+	std::shared_ptr<livoxProto1::Device> device;
+};
+
+struct GetReturnModeResult
+{
+	bool success = false;
+	uint8_t returnMode = 0;
+};
+
+inline auto getGetOrCreateDeviceReqAReqAwaiter(
+	boost::asio::io_service &resumeIoService,
+	livoxProto1_getOrCreateDeviceReqFn *fn,
+	const std::string &deviceIdentifier,
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	int commandTimeoutMs,
+	int retryDelayMs,
+	const std::string &smoIp,
+	uint8_t smoSubnetNbits,
+	uint16_t dataPort,
+	uint16_t cmdPort,
+	uint16_t imuPort)
+{
+	return ::smo::cpsBoundary::CpsCallbackAReq<
+		GetOrCreateDeviceResult,
+		livoxProto1_getOrCreateDeviceReqCbFn,
+		std::function<void(sscl::cps::Callback<livoxProto1_getOrCreateDeviceReqCbFn>)>>(
+			resumeIoService,
+			[=](sscl::cps::Callback<livoxProto1_getOrCreateDeviceReqCbFn> cb)
+			{
+				(*fn)(
+					deviceIdentifier,
+					componentThread,
+					commandTimeoutMs, retryDelayMs,
+					smoIp, smoSubnetNbits,
+					dataPort, cmdPort, imuPort,
+					std::move(cb));
+			});
+}
+
+inline auto getDeviceGetReturnModeReqAReqAwaiter(
+	boost::asio::io_service &resumeIoService,
+	livoxProto1_device_getReturnModeReqFn *fn,
+	std::shared_ptr<livoxProto1::Device> device)
+{
+	return ::smo::cpsBoundary::CpsCallbackAReq<
+		GetReturnModeResult,
+		livoxProto1_device_getReturnModeReqCbFn,
+		std::function<void(sscl::cps::Callback<livoxProto1_device_getReturnModeReqCbFn>)>>(
+			resumeIoService,
+			[=](sscl::cps::Callback<livoxProto1_device_getReturnModeReqCbFn> cb)
+			{
+				(*fn)(device, std::move(cb));
+			});
+}
+
+inline auto getDeviceEnablePcloudDataReqAReqAwaiter(
+	boost::asio::io_service &resumeIoService,
+	livoxProto1_device_enablePcloudDataReqFn *fn,
+	std::shared_ptr<livoxProto1::Device> device)
+{
+	return ::smo::cpsBoundary::CpsCallbackAReq<
+		bool,
+		livoxProto1_device_enablePcloudDataReqCbFn,
+		std::function<void(sscl::cps::Callback<livoxProto1_device_enablePcloudDataReqCbFn>)>>(
+			resumeIoService,
+			[=](sscl::cps::Callback<livoxProto1_device_enablePcloudDataReqCbFn> cb)
+			{
+				(*fn)(device, std::move(cb));
+			});
+}
+
+inline auto getDeviceDisablePcloudDataReqAReqAwaiter(
+	boost::asio::io_service &resumeIoService,
+	livoxProto1_device_disablePcloudDataReqFn *fn,
+	std::shared_ptr<livoxProto1::Device> device)
+{
+	return ::smo::cpsBoundary::CpsCallbackAReq<
+		bool,
+		livoxProto1_device_disablePcloudDataReqCbFn,
+		std::function<void(sscl::cps::Callback<livoxProto1_device_disablePcloudDataReqCbFn>)>>(
+			resumeIoService,
+			[=](sscl::cps::Callback<livoxProto1_device_disablePcloudDataReqCbFn> cb)
+			{
+				(*fn)(device, std::move(cb));
+			});
+}
+
+inline auto getDestroyDeviceReqAReqAwaiter(
+	boost::asio::io_service &resumeIoService,
+	livoxProto1_destroyDeviceReqFn *fn,
+	std::shared_ptr<livoxProto1::Device> device)
+{
+	return ::smo::cpsBoundary::CpsCallbackAReq<
+		bool,
+		livoxProto1_destroyDeviceReqCbFn,
+		std::function<void(sscl::cps::Callback<livoxProto1_destroyDeviceReqCbFn>)>>(
+			resumeIoService,
+			[=](sscl::cps::Callback<livoxProto1_destroyDeviceReqCbFn> cb)
+			{
+				(*fn)(device, std::move(cb));
+			});
+}
+
+} // namespace adapters::smo
+
+#endif // ADAPTERS_SMO_LIVOX_PROTO1_CPS_AWAITERS_H