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.

stimBuffApis/livoxGen1/CMakeLists.txt

@@ -14,6 +14,7 @@ if(ENABLE_STIMBUFFAPI_livoxGen1)
 
 	add_library(livoxGen1 SHARED
 		livoxGen1.cpp
+		livoxGen1Proto1CpsBridge.cpp
 		pcloudStimulusProducer.cpp
 		livoxPcloudFrameDumper.cpp
 		ioUringAssemblyEngine.cpp
@@ -36,6 +37,8 @@ if(ENABLE_STIMBUFFAPI_livoxGen1)
 
 	target_include_directories(livoxGen1 PUBLIC
 		${Boost_INCLUDE_DIRS}
+		${CMAKE_SOURCE_DIR}/include
+		${CMAKE_SOURCE_DIR}/smocore/include
 		${CMAKE_SOURCE_DIR}/commonLibs
 		${URING_INCLUDE_DIRS}
 		${OPENCL_INCLUDE_DIRS}
@@ -46,6 +49,7 @@ if(ENABLE_STIMBUFFAPI_livoxGen1)
 		${URING_LIBRARIES}
 		${OPENCL_LIBRARIES}
 		attachmentSupport
+		spinscale
 	)
 	target_link_directories(livoxGen1 PUBLIC
 		${URING_LIBRARY_DIRS}

stimBuffApis/livoxGen1/livoxGen1Internal.h

@@ -0,0 +1,57 @@
+#ifndef LIVOX_GEN1_INTERNAL_H
+#define LIVOX_GEN1_INTERNAL_H
+
+#include <cstdint>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <spinscale/co/invokers.h>
+#include <user/deviceAttachmentSpec.h>
+#include <user/senseApiDesc.h>
+#include <user/stimulusProducer.h>
+
+#include "livoxGen1.h"
+#include "pcloudStimulusProducer.h"
+
+namespace smo::stim_buff {
+
+struct LivoxProviderParams
+{
+	int commandTimeoutMs = 5;		// Default: 5ms
+	int retryDelayMs = 5250;		// Default: 5250ms
+	uint8_t smoSubnetNbits = 24;	// Default: /24 subnet
+	uint16_t dataPort = 56000;		// Default data port
+	uint16_t cmdPort = 56001;		// Default command port
+	uint16_t imuPort = 56002;		// Default IMU port
+	std::string smoIp;			// Default: empty string (will trigger IP auto-detection)
+};
+
+extern const SmoCallbacks *smoHooksPtr;
+extern SmoThreadingModelDesc smoThreadingModelDesc;
+extern std::vector<std::shared_ptr<StimulusProducer>> attachedStimulusProducers;
+
+std::shared_ptr<StimulusProducer> getStimulusProducer(
+	const std::shared_ptr<device::DeviceAttachmentSpec> &spec);
+
+size_t parseNDgramsPerFrame(
+	const std::shared_ptr<device::DeviceAttachmentSpec> &spec);
+
+LivoxProviderParams parseLivoxProviderParams(
+	const std::shared_ptr<device::DeviceAttachmentSpec> &desc);
+
+bool ensureStimBufferAttachedWithoutDuplicates(
+	const std::shared_ptr<PcloudStimulusProducer> &stimProducer,
+	const std::shared_ptr<device::DeviceAttachmentSpec> &spec);
+
+sscl::co::ViralNonPostingInvoker<int> livoxGen1_initializeCInd();
+sscl::co::ViralNonPostingInvoker<int> livoxGen1_finalizeCInd();
+sscl::co::ViralNonPostingInvoker<StimBuffDeviceOpResult> livoxGen1_attachDeviceCReq(
+	const std::shared_ptr<device::DeviceAttachmentSpec> &desc,
+	const std::shared_ptr<sscl::ComponentThread> &componentThread);
+sscl::co::ViralNonPostingInvoker<StimBuffDeviceOpResult> livoxGen1_detachDeviceCReq(
+	const std::shared_ptr<device::DeviceAttachmentSpec> &desc);
+
+} // namespace smo::stim_buff
+
+#endif // LIVOX_GEN1_INTERNAL_H

stimBuffApis/livoxGen1/livoxGen1Proto1CpsBridge.cpp

@@ -0,0 +1,89 @@
+#include "livoxGen1Proto1CpsBridge.h"
+
+#include <stdexcept>
+
+namespace smo::stim_buff {
+
+sscl::co::ViralNonPostingInvoker<adapters::smo::GetOrCreateDeviceResult>
+coAwaitGetOrCreateDevice(
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	const std::string &deviceIdentifier,
+	const LivoxProviderParams &params)
+{
+	if (!livoxProto1.livoxProto1_getOrCreateDeviceReq) {
+		throw std::runtime_error("coAwaitGetOrCreateDevice: proto1 function missing");
+	}
+
+	auto result = co_await adapters::smo::getGetOrCreateDeviceReqAReqAwaiter(
+		componentThread->getIoService(),
+		livoxProto1.livoxProto1_getOrCreateDeviceReq,
+		deviceIdentifier,
+		componentThread,
+		params.commandTimeoutMs,
+		params.retryDelayMs,
+		params.smoIp,
+		params.smoSubnetNbits,
+		params.dataPort,
+		params.cmdPort,
+		params.imuPort);
+	co_return result;
+}
+
+sscl::co::ViralNonPostingInvoker<adapters::smo::GetReturnModeResult>
+coAwaitGetReturnMode(
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	const std::shared_ptr<livoxProto1::Device> &device)
+{
+	if (!livoxProto1.livoxProto1_device_getReturnModeReq) {
+		throw std::runtime_error("coAwaitGetReturnMode: proto1 function missing");
+	}
+
+	co_return co_await adapters::smo::getDeviceGetReturnModeReqAReqAwaiter(
+		componentThread->getIoService(),
+		livoxProto1.livoxProto1_device_getReturnModeReq,
+		device);
+}
+
+sscl::co::ViralNonPostingInvoker<bool> coAwaitEnablePcloudData(
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	const std::shared_ptr<livoxProto1::Device> &device)
+{
+	if (!livoxProto1.livoxProto1_device_enablePcloudDataReq) {
+		throw std::runtime_error("coAwaitEnablePcloudData: proto1 function missing");
+	}
+
+	co_return co_await adapters::smo::getDeviceEnablePcloudDataReqAReqAwaiter(
+		componentThread->getIoService(),
+		livoxProto1.livoxProto1_device_enablePcloudDataReq,
+		device);
+}
+
+sscl::co::ViralNonPostingInvoker<bool> coAwaitDisablePcloudData(
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	const std::shared_ptr<livoxProto1::Device> &device)
+{
+	if (!livoxProto1.livoxProto1_device_disablePcloudDataReq) {
+		throw std::runtime_error("coAwaitDisablePcloudData: proto1 function missing");
+	}
+
+	co_return co_await adapters::smo::getDeviceDisablePcloudDataReqAReqAwaiter(
+		componentThread->getIoService(),
+		livoxProto1.livoxProto1_device_disablePcloudDataReq,
+		device);
+}
+
+sscl::co::ViralNonPostingInvoker<bool> coAwaitDestroyDevice(
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	const std::shared_ptr<livoxProto1::Device> &device)
+{
+	if (!livoxProto1.livoxProto1_destroyDeviceReq) {
+		throw std::runtime_error("coAwaitDestroyDevice: proto1 function missing");
+	}
+
+	co_return co_await adapters::smo::getDestroyDeviceReqAReqAwaiter(
+		componentThread->getIoService(),
+		livoxProto1.livoxProto1_destroyDeviceReq,
+		device);
+}
+
+} // namespace smo::stim_buff

stimBuffApis/livoxGen1/livoxGen1Proto1CpsBridge.h

@@ -0,0 +1,39 @@
+#ifndef LIVOX_GEN1_PROTO1_CPS_BRIDGE_H
+#define LIVOX_GEN1_PROTO1_CPS_BRIDGE_H
+
+#include <memory>
+
+#include <adapters/smo/livoxProto1CpsAwaiters.h>
+#include <spinscale/co/invokers.h>
+#include <spinscale/componentThread.h>
+
+#include "livoxGen1Internal.h"
+
+namespace smo::stim_buff {
+
+sscl::co::ViralNonPostingInvoker<adapters::smo::GetOrCreateDeviceResult>
+coAwaitGetOrCreateDevice(
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	const std::string &deviceIdentifier,
+	const LivoxProviderParams &params);
+
+sscl::co::ViralNonPostingInvoker<adapters::smo::GetReturnModeResult>
+coAwaitGetReturnMode(
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	const std::shared_ptr<livoxProto1::Device> &device);
+
+sscl::co::ViralNonPostingInvoker<bool> coAwaitEnablePcloudData(
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	const std::shared_ptr<livoxProto1::Device> &device);
+
+sscl::co::ViralNonPostingInvoker<bool> coAwaitDisablePcloudData(
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	const std::shared_ptr<livoxProto1::Device> &device);
+
+sscl::co::ViralNonPostingInvoker<bool> coAwaitDestroyDevice(
+	const std::shared_ptr<sscl::ComponentThread> &componentThread,
+	const std::shared_ptr<livoxProto1::Device> &device);
+
+} // namespace smo::stim_buff
+
+#endif // LIVOX_GEN1_PROTO1_CPS_BRIDGE_H