hayodea
1ededb85b9
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.
108 lines
2.6 KiB
C++
108 lines
2.6 KiB
C++
#ifndef LIVOX_PROTO1_DEVICE_H
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#define LIVOX_PROTO1_DEVICE_H
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#include <string>
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#include <cstdint>
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#include <memory>
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#include <atomic>
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#include <optional>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <arpa/inet.h>
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#include <unistd.h>
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#include <boost/asio.hpp>
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#include "protocol.h"
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// Forward declaration
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namespace smo {
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class ComponentThread;
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}
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namespace livoxProto1 {
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namespace comms {
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/** EXPLANATION:
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* This class represents a discovered device. It is used to store the
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* device identifier and IP address of a discovered device.
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*/
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class DiscoveredDevice
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{
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public:
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DiscoveredDevice(
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const std::string &deviceIdentifier,
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DeviceType deviceType,
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const std::string &ipAddr);
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// "Conversion" constructor from BroadcastMessage
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DiscoveredDevice(const BroadcastMessage &msg, const std::string &ipAddr);
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~DiscoveredDevice() = default;
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bool operator==(const DiscoveredDevice &other) const
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{
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return comms::deviceIdentifiersEqual(
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deviceIdentifier, other.deviceIdentifier);
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}
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std::string stringify(void) const;
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std::string getDeviceTypeName(void) const;
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public:
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std::string deviceIdentifier;
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DeviceType deviceType;
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std::string ipAddr;
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};
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} // namespace comms
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class Device
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{
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public:
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Device(const std::string &deviceIdentifier,
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const std::shared_ptr<smo::ComponentThread>& componentThread,
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int handshakeTimeoutMs, int retryDelayMs,
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const std::string& smoIp, uint8_t smoSubnetNbits,
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uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort);
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~Device();
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public:
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comms::DiscoveredDevice discoveredDevice;
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// Configuration
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std::shared_ptr<smo::ComponentThread> componentThread;
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int handshakeTimeoutMs, retryDelayMs;
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std::string smoIp;
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uint8_t smoSubnetNbits;
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uint16_t dataPort, cmdPort, imuPort;
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private:
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// Connection logic
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void connect();
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bool connectToKnownDevice();
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bool connectByDeviceIdentifier();
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bool executeHandshake(
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const std::string& deviceIP, int timeoutMs,
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uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort);
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std::string generateClientDeviceIpFromSerialNumber(
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const std::string& broadcastCode);
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// IP detection methods
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std::optional<std::string> detectSmoIp(const std::string& deviceIP);
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std::string getSmoIp(const std::string& deviceIP);
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uint32_t getSubnetMaskFor(uint8_t nbits);
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// Heartbeat mechanism
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void startHeartbeat();
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void sendHeartbeat();
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void onHeartbeatTimer(const boost::system::error_code& error);
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// Heartbeat state
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std::unique_ptr<boost::asio::deadline_timer> heartbeatTimer;
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int heartbeatSocketFd; // Raw socket file descriptor
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std::atomic<bool> heartbeatActive;
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};
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} // namespace livoxProto1
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#endif // LIVOX_PROTO1_DEVICE_H
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