hayodea
20cdf64afb
These are now both fully asynchronous. They also work fully and both connect and disconnect to/from the Avia just fine, in all tested scenarios.
64 lines
1.5 KiB
C++
64 lines
1.5 KiB
C++
#include <stdexcept>
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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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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 handshakeTimeoutMs, 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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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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handshakeTimeoutMs, 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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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(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::sense_api::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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} // extern "C"
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