salmanoff/senseApis/livoxGen1/livoxGen1.cpp

#include <iostream>
#include <memory>
#include <vector>
#include <string>
#include <map>
#include <functional>
#include <dlfcn.h>
#include <user/senseApiDesc.h>
#include <user/deviceAttachmentSpec.h>
#include <livoxProto1/livoxProto1.h>

namespace smo {
namespace sense_api {

// Salmanoff hooks, obtained from SMO_GET_SENSE_API_DESC_FN_NAME().
static const SmoCallbacks* smoHooksPtr = nullptr;
static SmoThreadingModelDesc smoThreadingModelDesc;

// LivoxProto1 library state
struct LivoxProto1DllState
{
	LivoxProto1DllState()
	: dlopenHandle(nullptr, DlCloser),
	  livoxProto1_main(nullptr),
	  livoxProto1_exit(nullptr)
	{}

	static void DlCloser(void* handle)
	{
		if (handle) {
			dlclose(handle);
		}
	}

	std::unique_ptr<void, void(*)(void*)> dlopenHandle;
	livoxProto1_mainFn *livoxProto1_main;
	livoxProto1_exitFn *livoxProto1_exit;
};

static LivoxProto1DllState livoxProto1;

// Callback function declarations
extern "C" int livoxGen1_initializeInd(void);
extern "C" int livoxGen1_finalizeInd(void);
extern "C" int livoxGen1_attachDeviceReq(
	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc);
extern "C" int livoxGen1_detachDeviceReq(
	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc);

// Sense API descriptor
static const SenseApiDesc livoxGen1ApiDesc = {
	.name = "livoxGen1",
	.exportedImplexorApis = {
		{.name = "pointCloudCoords"},
		{.name = "pointCloudIntensity"},
		{.name = "gyro"},
		{.name = "accel"}
	},
	.sal_mgmt_libOps = {
		.initializeInd = livoxGen1_initializeInd,
		.finalizeInd = livoxGen1_finalizeInd,
		.attachDeviceReq = livoxGen1_attachDeviceReq,
		.detachDeviceReq = livoxGen1_detachDeviceReq
	}
};

// Callback function implementations
extern "C" int livoxGen1_initializeInd(void)
{
	if (!smoHooksPtr)
	{
		throw std::runtime_error(std::string(__func__) + ": SMO hooks "
			"pointers not filled in.");
	}

	// Load LivoxProto1 library
	auto libPath = smoHooksPtr->searchForLibInSmoSearchPaths(
		"liblivoxProto1.so");

	livoxProto1.dlopenHandle.reset(dlopen(
		libPath.value_or("liblivoxProto1.so").c_str(), RTLD_LAZY));

	if (!livoxProto1.dlopenHandle)
	{
		throw std::runtime_error(
			std::string(__func__) +
			": Failed to load LivoxProto1 library: " +
			(dlerror() ? dlerror() : "unknown error"));
	}

	// Get LivoxProto1 library functions
	livoxProto1.livoxProto1_main = reinterpret_cast<livoxProto1_mainFn *>(
		dlsym(livoxProto1.dlopenHandle.get(), "livoxProto1_main"));
	livoxProto1.livoxProto1_exit = reinterpret_cast<livoxProto1_exitFn *>(
		dlsym(livoxProto1.dlopenHandle.get(), "livoxProto1_exit"));

	if (!livoxProto1.livoxProto1_main || !livoxProto1.livoxProto1_exit) {
		throw std::runtime_error(
			std::string(__func__) +
			": Failed to get LivoxProto1 library functions");
	}

	// Call LivoxProto1 library main function
	livoxProto1.livoxProto1_main(smoThreadingModelDesc.componentThread);

	return 0; // Success
}

extern "C" int livoxGen1_finalizeInd(void)
{
	// TODO: Implement finalization logic
	if (livoxProto1.livoxProto1_exit) {
		livoxProto1.livoxProto1_exit();
	}

	if (livoxProto1.dlopenHandle)
	{
		dlclose(livoxProto1.dlopenHandle.get());
		livoxProto1.dlopenHandle.reset();
	}

	livoxProto1 = LivoxProto1DllState();
	return 0; // Success
}

extern "C" int livoxGen1_attachDeviceReq(
	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc
	)
{
	// TODO: Implement device attachment logic
	(void)desc; // Suppress unused parameter warning
	return 0; // Success
}

extern "C" int livoxGen1_detachDeviceReq(
	const std::shared_ptr<smo::device::DeviceAttachmentSpec>& desc
	)
{
	// TODO: Implement device detachment logic
	(void)desc; // Suppress unused parameter warning
	return 0; // Success
}

// Exported function
extern "C" smo::sense_api::SMO_GET_SENSE_API_DESC_FN_TYPEDEF
	SMO_GET_SENSE_API_DESC_FN_NAME;

const smo::sense_api::SenseApiDesc& SMO_GET_SENSE_API_DESC_FN_NAME(
	const smo::sense_api::SmoCallbacks& callbacks,
	const smo::sense_api::SmoThreadingModelDesc& threadingModel)
{
	smoHooksPtr = &callbacks;
	smoThreadingModelDesc = threadingModel;

	return livoxGen1ApiDesc;
}

} // namespace sense_api
} // namespace smo