hayodea
45ad5c83ee
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.
106 lines
3.5 KiB
C++
106 lines
3.5 KiB
C++
#ifndef LIVOXPROTO1_H
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#define LIVOXPROTO1_H
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#include <memory>
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#include <string>
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#include <cstdint>
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#include <functional>
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#include <callback.h>
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// Forward declarations
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namespace smo {
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namespace stim_buff {
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struct SmoCallbacks;
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}
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class ComponentThread;
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}
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namespace livoxProto1 {
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class Device;
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}
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* Initialize the Livox protocol library
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* @param componentThread Component thread shared pointer
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* @param smoCallbacks Callbacks provided by SMO
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*/
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typedef void livoxProto1_mainFn(
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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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/**
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* Cleanup the Livox protocol library
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*/
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typedef void livoxProto1_exitFn(void);
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/**
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* Create a new Livox device connection
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* @param deviceIdentifier The device identifier (broadcast code)
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* @param componentThread Component thread for async operations
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* @param commandTimeoutMs Command timeout in milliseconds (default: 1000)
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* @param retryDelayMs Retry delay in milliseconds (default: 3000)
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* @param smoIp SMO IP address (empty string for auto-detection)
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* @param smoSubnetNbits SMO subnet mask bits (e.g., 24 for /24, 16 for /16)
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* @param dataPort Data port for point cloud (default: 56000)
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* @param cmdPort Command port (default: 56001)
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* @param imuPort IMU port (default: 56002)
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* @return Device pointer on success, nullptr on failure
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*/
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typedef std::function<
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void(bool success, std::shared_ptr<livoxProto1::Device> device)>
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livoxProto1_getOrCreateDeviceReqCbFn;
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typedef void livoxProto1_getOrCreateDeviceReqFn(
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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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typedef std::function<void(bool success)> livoxProto1_destroyDeviceReqCbFn;
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typedef void livoxProto1_destroyDeviceReqFn(
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std::shared_ptr<livoxProto1::Device> device,
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smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback);
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typedef std::function<void(bool success)>
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livoxProto1_device_enablePcloudDataReqCbFn;
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typedef void livoxProto1_device_enablePcloudDataReqFn(
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std::shared_ptr<livoxProto1::Device> device,
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smo::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback);
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typedef std::function<void(bool success)>
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livoxProto1_device_disablePcloudDataReqCbFn;
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typedef void livoxProto1_device_disablePcloudDataReqFn(
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std::shared_ptr<livoxProto1::Device> device,
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smo::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback);
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typedef std::function<void(bool success, uint8_t returnMode)>
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livoxProto1_device_getReturnModeReqCbFn;
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typedef void livoxProto1_device_getReturnModeReqFn(
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std::shared_ptr<livoxProto1::Device> device,
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smo::Callback<livoxProto1_device_getReturnModeReqCbFn> callback);
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typedef std::shared_ptr<boost::asio::posix::stream_descriptor>
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livoxProto1_getPcloudDataFdDescFn(void);
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livoxProto1_mainFn livoxProto1_main;
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livoxProto1_exitFn livoxProto1_exit;
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livoxProto1_getOrCreateDeviceReqFn livoxProto1_getOrCreateDeviceReq;
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livoxProto1_destroyDeviceReqFn livoxProto1_destroyDeviceReq;
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livoxProto1_device_enablePcloudDataReqFn livoxProto1_device_enablePcloudDataReq;
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livoxProto1_device_disablePcloudDataReqFn
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livoxProto1_device_disablePcloudDataReq;
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livoxProto1_device_getReturnModeReqFn livoxProto1_device_getReturnModeReq;
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livoxProto1_getPcloudDataFdDescFn livoxProto1_getPcloudDataFdDesc;
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#ifdef __cplusplus
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}
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#endif
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#endif // LIVOXPROTO1_H
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