102 lines
3.3 KiB
C++
102 lines
3.3 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 handshakeTimeoutMs Handshake 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 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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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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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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#ifdef __cplusplus
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}
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#endif
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#endif // LIVOXPROTO1_H
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