81 lines
2.0 KiB
C++
81 lines
2.0 KiB
C++
#ifndef LIVOXPROTO1_CORE_H
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#define LIVOXPROTO1_CORE_H
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#include <vector>
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#include <string>
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#include <memory>
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#include <cstdint>
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#include <optional>
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#include <user/senseApiDesc.h>
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#include "device.h"
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#include "broadcastListener.h"
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#include "udpCommandDemuxer.h"
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#include "livoxProto1.h"
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#include <spinscale/callback.h>
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namespace livoxProto1 {
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class DeviceManager
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{
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public:
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DeviceManager();
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~DeviceManager() = default;
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static void deviceGoneAwayInd(const comms::DiscoveredDevice &device);
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void getOrCreateDeviceReq(
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const std::string &deviceIdentifier,
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const std::shared_ptr<smo::ComponentThread>& componentThread,
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int commandTimeoutMs, 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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smo::Callback<livoxProto1_getOrCreateDeviceReqCbFn> callback);
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void destroyDeviceReq(
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std::shared_ptr<Device> device,
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smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback);
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std::optional<std::shared_ptr<Device>> getDevice(
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const std::string &deviceIdentifier);
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std::optional<std::shared_ptr<Device>> getDevice(
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const comms::DiscoveredDevice &device)
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{
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return getDevice(device.deviceIdentifier);
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}
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private:
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// Configuration
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static constexpr int RETRY_DELAY_SECONDS = 3; // <N> seconds delay
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public:
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std::vector<std::shared_ptr<Device>> devices;
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comms::BroadcastListener broadcastListener;
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comms::UdpCommandDemuxer udpCommandDemuxer;
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// Nested continuation class for async device creation
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class GetOrCreateDeviceReq;
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class DestroyDeviceReq;
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};
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void main(
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const std::shared_ptr<smo::ComponentThread> &componentThread,
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const smo::stim_buff::SmoCallbacks& smoCallbacks);
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void exit(void);
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// Global state structure
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struct ProtoState
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{
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bool isInitialized = false;
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std::shared_ptr<smo::ComponentThread> componentThread;
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std::unique_ptr<DeviceManager> deviceManager;
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smo::stim_buff::SmoCallbacks smoCallbacks;
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};
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// Access to global state for extern "C" functions
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ProtoState& getProtoState();
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} // namespace livoxProto1
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#endif // LIVOXPROTO1_CORE_H
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