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 +1,57 @@
+#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