72 lines
2.4 KiB
C++
72 lines
2.4 KiB
C++
#ifndef LIVOX_GEN1_INTERNAL_H
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#define LIVOX_GEN1_INTERNAL_H
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#include <cstdint>
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#include <memory>
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#include <string>
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#include <vector>
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#include <spinscale/co/invokers.h>
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#include <user/deviceAttachmentSpec.h>
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#include <user/senseApiDesc.h>
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#include <user/stimulusProducer.h>
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#include "livoxGen1.h"
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#include "pcloudStimulusProducer.h"
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namespace smo::stim_buff {
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struct LivoxProviderParams
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{
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int commandTimeoutMs = 5; // Default: 5ms
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int retryDelayMs = 5250; // Default: 5250ms
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uint8_t smoSubnetNbits = 24; // Default: /24 subnet
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uint16_t dataPort = 56000; // Default data port
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uint16_t cmdPort = 56001; // Default command port
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uint16_t imuPort = 56002; // Default IMU port
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std::string smoIp; // Default: empty string (will trigger IP auto-detection)
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};
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extern const SmoCallbacks *smoHooksPtr;
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extern SmoThreadingModelDesc smoThreadingModelDesc;
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extern std::vector<std::shared_ptr<StimulusProducer>> managedStimulusProducers;
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void addManagedStimulusProducer(
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const std::shared_ptr<PcloudStimulusProducer> &producer,
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const std::shared_ptr<livoxProto1::Device> &device);
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sscl::co::ViralNonPostingInvoker<bool> removeManagedStimulusProducerIfUnused(
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const std::shared_ptr<PcloudStimulusProducer> &producer,
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const std::shared_ptr<sscl::ComponentThread> &componentThread);
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std::shared_ptr<StimulusProducer> getStimulusProducer(
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const std::shared_ptr<device::DeviceAttachmentSpec> &spec);
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size_t parseNDgramsPerFrame(
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const std::shared_ptr<device::DeviceAttachmentSpec> &spec);
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LivoxProviderParams parseLivoxProviderParams(
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const std::shared_ptr<device::DeviceAttachmentSpec> &desc);
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bool ensureStimBufferAttachedWithoutDuplicates(
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const std::shared_ptr<PcloudStimulusProducer> &stimProducer,
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const std::shared_ptr<device::DeviceAttachmentSpec> &spec);
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sscl::co::ViralNonPostingInvoker<int> livoxGen1_initializeCInd();
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sscl::co::ViralNonPostingInvoker<int> livoxGen1_finalizeCInd();
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sscl::co::DynamicViralPostingInvoker<StimBuffDeviceOpResult>
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livoxGen1_attachDeviceCReq(
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sscl::co::ExplicitPostTarget postTarget,
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const std::shared_ptr<device::DeviceAttachmentSpec> &desc,
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const std::shared_ptr<sscl::ComponentThread> &componentThread);
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sscl::co::DynamicViralPostingInvoker<StimBuffDeviceOpResult>
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livoxGen1_detachDeviceCReq(
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sscl::co::ExplicitPostTarget postTarget,
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const std::shared_ptr<device::DeviceAttachmentSpec> &desc);
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} // namespace smo::stim_buff
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#endif // LIVOX_GEN1_INTERNAL_H
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