写出完整libusb 异步传输例程，使用多线程读写操作，使用c++实现，封装成一个类

在C++中，我们可以创建一个类来封装libusb的异步传输功能，采用多线程读写操作。以下是一个基本的示例，展示了一个名为`UsbAsyncTransfer`的类，包含了设备打开、关闭以及异步读写的方法：

#include <iostream>
#include <vector>
#include <thread>
#include "libusb.h"

class UsbAsyncTransfer {
private:
    libusb_context* context;
    libusb_device* device;
    uint8_t in_endpoint;
    uint8_t out_endpoint;

public:
    UsbAsyncTransfer(uint16_t vendor_id, uint16_t product_id)
        : context(libusb_init(nullptr)), device(nullptr), in_endpoint(...), out_endpoint(...) {
        if ((device = libusb_open_device_with_vid_pid(context, vendor_id, product_id)) == nullptr) {
            std::cerr << "Failed to open device: " << libusb_strerror(libusb_get_errno()) << std::endl;
            return;
        }
    }

    ~UsbAsyncTransfer() {
        if (device) {
            libusb_close(device);
            libusb_exit(context);
        }
    }

    void startRead(std::vector<uint8_t>& buffer, std::function<void(const std::vector<uint8_t>& received)> callback) {
        std::unique_ptr<libusb_transfer, decltype(&libusb_free_transfer)> transfer(new libusb_transfer());
        std::thread readerThread([this, transfer, buffer, callback]() {
            libusb_fill_bulk_transfer(
                transfer.get(), device, in_endpoint, buffer.data(), buffer.size(),
                [](libusb_transfer* trans, unsigned char* user_data) {
                    auto buffer = static_cast<std::vector<uint8_t>*>(user_data);
                    callback(*buffer);
                },
                &buffer, LIBUSB_TRANSFER_TIMEOUT_USEC(1000)
            );

            int result = libusb_submit_transfer(transfer.get());
            if (result < 0) {
                std::cerr << "Error submitting read transfer: " << libusb_strerror(result) << std::endl;
            } else {
                std::cout << "Reading started." << std::endl;
            }
        });

        readerThread.detach();
    }

    void startWrite(const std::vector<uint8_t>& data, const std::function<void(bool success)> callback) {
        std::unique_ptr<libusb_transfer, decltype(&libusb_free_transfer)> transfer(new libusb_transfer());
        libusb_fill_bulk_transfer(
            transfer.get(), device, out_endpoint, data.data(), data.size(),
            nullptr, nullptr, LIBUSB_TRANSFER_TIMEOUT_USEC(1000)
        );

        int result = libusb_submit_transfer(transfer.get());
        if (result < 0) {
            std::cerr << "Error submitting write transfer: " << libusb_strerror(result) << std::endl;
            callback(false);
        } else {
            std::cout << "Writing started." << std::endl;
            callback(true);
        }
    }
};