152 lines
4.3 KiB
C++
152 lines
4.3 KiB
C++
#ifndef LIVOX_PROTO1_DEVICE_H
|
|
#define LIVOX_PROTO1_DEVICE_H
|
|
|
|
#include <string>
|
|
#include <cstdint>
|
|
#include <memory>
|
|
#include <atomic>
|
|
#include <optional>
|
|
#include <functional>
|
|
#include <sys/socket.h>
|
|
#include <netinet/in.h>
|
|
#include <arpa/inet.h>
|
|
#include <unistd.h>
|
|
#include <boost/asio/deadline_timer.hpp>
|
|
#include <boost/asio/posix/stream_descriptor.hpp>
|
|
#include "protocol.h"
|
|
#include <callback.h>
|
|
|
|
// Forward declaration
|
|
namespace smo {
|
|
class ComponentThread;
|
|
}
|
|
|
|
namespace livoxProto1 {
|
|
namespace comms {
|
|
|
|
/** EXPLANATION:
|
|
* This class represents a discovered device. It is used to store the
|
|
* device identifier and IP address of a discovered device.
|
|
*/
|
|
class DiscoveredDevice
|
|
{
|
|
public:
|
|
DiscoveredDevice(
|
|
const std::string &deviceIdentifier,
|
|
DeviceType deviceType,
|
|
const std::string &ipAddr);
|
|
|
|
// "Conversion" constructor from BroadcastMessage
|
|
DiscoveredDevice(const BroadcastMessage &msg, const std::string &ipAddr);
|
|
|
|
~DiscoveredDevice() = default;
|
|
|
|
bool operator==(const DiscoveredDevice &other) const
|
|
{
|
|
return comms::deviceIdentifiersEqual(
|
|
deviceIdentifier, other.deviceIdentifier);
|
|
}
|
|
|
|
std::string stringify(void) const;
|
|
std::string getDeviceTypeName(void) const;
|
|
|
|
public:
|
|
std::string deviceIdentifier;
|
|
DeviceType deviceType;
|
|
std::string ipAddr;
|
|
};
|
|
|
|
} // namespace comms
|
|
|
|
class Device
|
|
{
|
|
public:
|
|
Device(const std::string &deviceIdentifier,
|
|
const std::shared_ptr<smo::ComponentThread>& componentThread,
|
|
int handshakeTimeoutMs, int retryDelayMs,
|
|
const std::string& smoIp, uint8_t smoSubnetNbits,
|
|
uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort);
|
|
~Device();
|
|
|
|
public:
|
|
comms::DiscoveredDevice discoveredDevice;
|
|
|
|
// Configuration
|
|
std::shared_ptr<smo::ComponentThread> componentThread;
|
|
int handshakeTimeoutMs, retryDelayMs;
|
|
std::string smoIp;
|
|
std::string detectedSmoListeningIp;
|
|
uint8_t smoSubnetNbits;
|
|
uint16_t dataPort, cmdPort, imuPort;
|
|
|
|
private:
|
|
// Heartbeat mechanism
|
|
void startHeartbeat();
|
|
void sendHeartbeat();
|
|
void onHeartbeatTimer(const boost::system::error_code& error);
|
|
std::string generateClientDeviceIpFromSerialNumber(
|
|
const std::string& broadcastCode);
|
|
|
|
// IP detection methods
|
|
std::optional<std::string> detectSmoIp(const std::string& deviceIP);
|
|
uint32_t getSubnetMaskFor(uint8_t nbits);
|
|
|
|
class ConnectReq;
|
|
class ConnectToKnownDeviceReq;
|
|
class ConnectByDeviceIdentifierReq;
|
|
class ExecuteHandshakeReq;
|
|
class DisconnectReq;
|
|
class EnablePcloudDataReq;
|
|
class DisablePcloudDataReq;
|
|
|
|
public:
|
|
// Utility methods
|
|
std::optional<std::string> getSmoIp(const std::string& deviceIP);
|
|
|
|
// Callback function type definitions for async methods
|
|
typedef std::function<void(bool success)> connectReqCbFn;
|
|
typedef std::function<
|
|
void(bool success, const std::string& ipAddr, int fd)>
|
|
connectToKnownDeviceReqCbFn;
|
|
typedef std::function<
|
|
void(bool success, const std::string& ipAddr, int fd)>
|
|
connectByDeviceIdentifierReqCbFn;
|
|
typedef std::function<void(bool success, int fd)> executeHandshakeReqCbFn;
|
|
typedef std::function<void(bool success)> disconnectReqCbFn;
|
|
typedef std::function<void(bool success)> enablePcloudDataReqCbFn;
|
|
typedef std::function<void(bool success)> disablePcloudDataReqCbFn;
|
|
|
|
// Async connection methods
|
|
void connectReq(smo::Callback<connectReqCbFn> callback);
|
|
void connectToKnownDeviceReq(
|
|
smo::Callback<connectToKnownDeviceReqCbFn> callback);
|
|
void connectByDeviceIdentifierReq(
|
|
smo::Callback<connectByDeviceIdentifierReqCbFn> callback);
|
|
void executeHandshakeReq(
|
|
const std::string& deviceIP,
|
|
smo::Callback<executeHandshakeReqCbFn> callback);
|
|
void disconnectReq(smo::Callback<disconnectReqCbFn> callback);
|
|
void enablePcloudDataReq(smo::Callback<enablePcloudDataReqCbFn> callback);
|
|
void disablePcloudDataReq(smo::Callback<disablePcloudDataReqCbFn> callback);
|
|
|
|
// Heartbeat state
|
|
std::unique_ptr<boost::asio::deadline_timer> heartbeatTimer;
|
|
// FIXME: Might be useful to rename this to commandAndHeartbeatFd.
|
|
int heartbeatFd; // Socket file descriptor used for heartbeat
|
|
std::atomic<bool> heartbeatActive;
|
|
|
|
// Point cloud data state
|
|
std::unique_ptr<boost::asio::posix::stream_descriptor> pcloudDataSocketDesc;
|
|
std::atomic<bool> pcloudDataActive;
|
|
int pcloudDataFd; // Socket file descriptor for point cloud data reception
|
|
|
|
private:
|
|
// Point cloud data setup
|
|
bool setupPcloudDataSocket();
|
|
void cleanupPcloudDataSocket();
|
|
};
|
|
|
|
} // namespace livoxProto1
|
|
|
|
#endif // LIVOX_PROTO1_DEVICE_H
|