Commit Graph

42 Commits

Author SHA1 Message Date
hayodea 5845f1a41d Bug:Boost: Use shlibs instead of header-only for call_stack::top_
This symbol is defined as a static member object inside of a
boost detail header. When boost headers are used in a project
that uses Boost in both the main binary as well as dlopen()'d
shlibs, the top_ symbol gets duplicated and the metadata gets
partitioned.

We use the Boost shlib to unify both the main binary and the
shlibs to use the same memory address for top_.

This involves marking the templated object call_stack::top_ as
"extern" and then declaring to Boost that we intend to use the
shlibs.
2025-11-03 22:59:52 -04:00
hayodea 45ad5c83ee livoxProto1: Open pcloudDataSocket in UdpCmdDemux
The pcloudData socket is now opened by UdpCommandDemuxer, when
libLivoxProto1 is initialized. We can now just pick up the socket
and be certain it'll be there if the lib is being executed.
2025-11-01 22:41:58 -04:00
hayodea c8474edad7 livox: rename handshakeTimeoutMs=>commandTimeoutMs 2025-11-01 02:45:24 -04:00
hayodea f658e97ed0 livoxProto1: export getReturnModeReq; cache result in Device 2025-10-31 08:57:37 -04:00
hayodea 9e83a99c9c LivoxProto1:Device: Refcount num stimbuffs attached 2025-10-25 23:03:00 -04:00
hayodea 92399ba283 Use piecemeal boost headers 2025-10-25 12:55:19 -04:00
hayodea 6f4a2dd649 LivoxGen/Proto1: Move en/disablePcloudData call to Gen1
We no longer try to enable pcloud data as part of the connectReq()
sequence. Instead we separate them so that a device can be connected
but not be issuing pcloud data.
2025-10-25 12:55:19 -04:00
hayodea 266cabcddb LivoxGen1: Add get/setReturnModeReq() 2025-10-25 00:19:06 -04:00
hayodea 452d1966fc LivoxProto1: Document UDP demuxer purpose & use cases
Also fix bug in transient resource transfer from continuation
to Device object.
2025-10-24 03:09:17 -04:00
hayodea f7dcb7307d LivoxProto1: registerUdpHandler: enforce overwriting
Enforce handler overwriting in the devicesUnderConstruction
collection, for combos of cmd_set+cmd_id that pre-exist the
current invocation
2025-10-24 02:42:50 -04:00
hayodea bd0118531f LivoxProto1: Pcloud socket is set up transiently in contin 2025-10-24 02:05:32 -04:00
hayodea 4bfcdf37da LivoxProto1:enPcloudData: reorder success case here 2025-10-24 01:46:08 -04:00
hayodea 2b8f6b6ad5 Formatting 2025-10-24 01:45:03 -04:00
hayodea a5cf996ed2 LivoxProto1: Get rid of raw FD for pcloudData recv 2025-10-24 01:44:19 -04:00
hayodea 71c2b855ec LivoxProto1: Device: misc logging, cleanup, bugfix 2025-10-24 01:29:18 -04:00
hayodea bede123691 LivoxProto1: Print when Lidar isn't ready for work 2025-10-24 00:51:28 -04:00
hayodea 83c937ae8f LivoxProto1: Cancel async contin branch cbs in oracle fn
We were canceling the registered handler CBs in their branch
segments instead of in the unifying oracle fn.
This caused a bug where handlers were left behind in the
udpCmdDemuxer and thus a handler was invoked twice when a UDP
msg came in.
2025-10-24 00:46:13 -04:00
hayodea d39dfb5334 livoxProto1: connectReq: Add 5ms delay before Sample enable msg 2025-10-23 01:27:35 -04:00
hayodea 44cfd7ab69 LivoxProto1: Add 105ms delay before Sample msg 2025-10-23 01:06:34 -04:00
hayodea 5db1cfdac8 LivoxProto1: Pcloud data stream now working 2025-10-23 00:24:23 -04:00
hayodea a4d99e5d4d LivoxProto1: ExecuteHandshake uses udpCommandDemuxer
UdpCommandDemuxer also now supports devices "under construction".
2025-10-22 22:13:38 -04:00
hayodea 8e1d609ca1 livoxProto1: udpCmdDemux now consults per-device handler registry
Device class objects now have a per-Device unordered_map of handlers
keyed by cmd_set+cmd_id.
2025-10-22 07:28:00 -04:00
hayodea 10afec2532 LivoxProto1: Add UdpCommandDemuxer.
We haven't genericized it with an unordered_map or integrated it
into device.cpp's async methods yet.
2025-10-22 06:17:42 -04:00
hayodea 66a9db13c3 LivoxProto1: invoke enablePcloudDataReq
Sadly we don't get to immediately see the results of our
work because we have to do a unified dispatcher for the incoming
UDP messages on the command channel.
2025-10-22 01:59:04 -04:00
hayodea d9042c6510 LivoxProto1: Add en/disablePcloudDataReq()
Untested, but this should enable us to enable and disable data
from the device.
2025-10-22 01:21:35 -04:00
hayodea 65b9460a3a LivoxProto1:connectReq: Remove retryDelay; DevReattacher replaces
The new DeviceReattacher daemon in DeviceManager makes this retry
delay feature obsolete.
2025-09-29 01:18:36 -04:00
hayodea 782bcd4567 Async: add sh_ptr<ContinuationChainLink> to Callback<>
This change enables us to finally implement the tracing of
continuations backward from the point of acquisition for deadlock
debugging.
2025-09-27 18:30:09 -04:00
hayodea 816a047920 Async: new hierachy; manages reply posting and unlocking
Async: Use new [Non]PostedAsyncCont and callOriginalCb

This new hierarchy of classes gives us a central mechanism for
managing both reply-posting and lockSpec unlocking.

* callOriginalCb: Now uses a modern C++ variadic template design
  enabling it to handle both direct calling and std::bind()
  re-binding of an arbitrary number of arguments from the caller.

This enables us to mostly eliminate the repeated, bespoke
definitions of callOriginalCb littered throughout the codebase.

We've also propagated these changes throughout the codebase in
this patch.
2025-09-17 16:38:48 -04:00
hayodea 77acbdd8de Indentation 2025-09-15 13:10:30 -04:00
hayodea b8c931397d Async: add TargetedContinuation
This class enables us to consistently represent continuations
that are intended to be posted on a particular target handling
thread. It hols a sh_ptr to the caller so that the target thread
can re-enqueue the response on the caller after processing the
REQ/IND op.
2025-09-11 18:37:48 -04:00
hayodea 01da06b051 Rename this file 2025-09-10 15:10:10 -04:00
hayodea 3457efcbf8 Whitespace 2025-09-10 03:57:37 -04:00
hayodea cc33b333d2 livoxProto1: Document potential bug 2025-09-09 20:09:57 -04:00
hayodea 0449e557b0 livoxGen/Proto1: Refine auto-detection vs heuristic logic 2025-09-09 19:54:14 -04:00
hayodea 20cdf64afb livoxProto1: Implement async getOrCreateDeviceReq+destroyDeviceReq
These are now both fully asynchronous. They also work fully
and both connect and disconnect to/from the Avia just fine,
in all tested scenarios.
2025-09-09 12:07:49 -04:00
hayodea f587b45b38 livoxProto1: Connecting to bcast-advertised device works :)
We tested it.
It's important to note that between test runs, we need to take
into account the fact that the Avia stops sending bcast adverts
when it's been handshaken.

So the retry-delay-ms may be longer due to the fact that the Avia
may not be sending adverts for a good portion of that retry-delay-ms
time.
2025-09-07 11:42:32 -04:00
hayodea 1ededb85b9 livoxProto1:bug workaround: for boost:asio:udp async ops on dlopen libs
Updated Boost dependency to version 1.73.0 to address segfault issues with boost::asio in dynamic libraries. Refactored heartbeat socket management to use raw UDP sockets instead of boost::asio, improving compatibility and error handling during socket operations.
2025-09-07 08:14:46 -04:00
hayodea 9a500e39ab livoxProto1: Fix source and dest port for handshake & heartbeat
Handshake: We must wait for the handshake ACK on the same port as
the one we sent the handshake REQ from.
Heartbeat: We must send the heartbeats from the same source port
as the one we sent the handshake REQ from.
2025-09-07 06:47:53 -04:00
hayodea b0596d12f9 Formatting 2025-09-06 22:46:03 -04:00
hayodea 38b29ddfc0 Comments and formatting 2025-09-06 22:46:03 -04:00
hayodea d2bf5aceee livoxProto1: detectSmoIp should be based on target dev IP
We previously used the smoIp provided by the user, but this
function is intended to enable us to figure out the correct
IP to send to the target device in the Handshake message.
2025-09-06 22:46:03 -04:00
hayodea a0d577bf81 LivoxProto1: Implemented Device and getOrCreateDevice
Includes everything from sending heartbeat msgs to performing
the connection handshake. We also accept many params to
provider-params to customize and make things easier.
2025-09-06 22:46:03 -04:00