123 lines
2.9 KiB
C++
123 lines
2.9 KiB
C++
#include <stdexcept>
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#include <callback.h>
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#include <boost/asio/posix/stream_descriptor.hpp>
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#include "livoxProto1.h"
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#include "device.h"
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#include "core.h"
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#include "udpCommandDemuxer.h"
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extern "C" {
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void livoxProto1_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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)
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{
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// Get the global DeviceManager instance
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auto& protoState = livoxProto1::getProtoState();
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if (!protoState.deviceManager)
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{
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throw std::runtime_error(
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std::string(__func__) + ": LivoxProto1 not initialized - call "
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"livoxProto1_main first");
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}
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// Delegate to DeviceManager
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protoState.deviceManager->getOrCreateDeviceReq(
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deviceIdentifier, componentThread,
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commandTimeoutMs, retryDelayMs,
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smoIp, smoSubnetNbits,
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dataPort, cmdPort, imuPort,
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callback);
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}
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void livoxProto1_destroyDeviceReq(
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std::shared_ptr<livoxProto1::Device> device,
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smo::Callback<livoxProto1_destroyDeviceReqCbFn> callback
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)
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{
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auto& protoState = livoxProto1::getProtoState();
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if (!protoState.deviceManager)
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{
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throw std::runtime_error(std::string(__func__)
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+ ": DeviceManager not initialized");
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}
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protoState.deviceManager->destroyDeviceReq(
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device, callback);
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}
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void livoxProto1_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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{
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livoxProto1::main(componentThread, smoCallbacks);
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}
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void livoxProto1_exit(void)
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{
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livoxProto1::exit();
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}
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void livoxProto1_device_enablePcloudDataReq(
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std::shared_ptr<livoxProto1::Device> device,
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smo::Callback<livoxProto1_device_enablePcloudDataReqCbFn> callback
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)
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{
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if (!device)
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{
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throw std::runtime_error(std::string(__func__)
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+ ": Device pointer is null");
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}
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device->enablePcloudDataReq(callback);
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}
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void livoxProto1_device_disablePcloudDataReq(
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std::shared_ptr<livoxProto1::Device> device,
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smo::Callback<livoxProto1_device_disablePcloudDataReqCbFn> callback
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)
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{
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if (!device)
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{
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throw std::runtime_error(std::string(__func__)
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+ ": Device pointer is null");
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}
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device->disablePcloudDataReq(callback);
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}
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void livoxProto1_device_getReturnModeReq(
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std::shared_ptr<livoxProto1::Device> device,
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smo::Callback<livoxProto1_device_getReturnModeReqCbFn> callback
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)
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{
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if (!device)
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{
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throw std::runtime_error(std::string(__func__)
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+ ": Device pointer is null");
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}
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device->getReturnModeReq(callback);
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}
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std::shared_ptr<boost::asio::posix::stream_descriptor>
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livoxProto1_getPcloudDataFdDesc(void)
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{
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auto& protoState = livoxProto1::getProtoState();
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if (!protoState.deviceManager)
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{
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throw std::runtime_error(std::string(__func__)
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+ ": DeviceManager not initialized");
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}
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return protoState.deviceManager->udpCommandDemuxer.getPcloudDataFdDesc();
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}
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} // extern "C"
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