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 +1,89 @@
+#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