Initial commit: Livox SDK2 source (excluding build artifacts)

sdk_core/comm/sdk_protocol.cpp

@@ -0,0 +1,148 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#include "sdk_protocol.h"
+
+#include <stdio.h>
+#include <string.h>
+namespace livox {
+namespace lidar {
+
+const uint8_t kSdkProtocolSof = 0xAA;
+const uint8_t kSdkVer = 0;
+const uint32_t kSdkPacketCrcSize = 4;          // crc32
+const uint32_t kSdkPacketPreambleCrcSize = 2;  // crc16
+
+SdkProtocol::SdkProtocol() {}
+
+SdkProtocol::~SdkProtocol() {
+}
+
+int32_t SdkProtocol::Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet) {
+  if (kLidarSdk != i_packet.protocol) {
+    return -1;
+  }
+
+  SdkPacket *sdk_packet = (SdkPacket *)o_buf;
+
+  sdk_packet->sof = kSdkProtocolSof;
+  sdk_packet->version = kSdkVer;
+  sdk_packet->length = i_packet.data_len + GetPacketWrapperLen();
+  if (sdk_packet->length > o_buf_size) {
+    return -1;
+  }
+
+  sdk_packet->seq_num = i_packet.seq_num & 0xFFFF;
+  sdk_packet->cmd_id = i_packet.cmd_id;
+  sdk_packet->cmd_type = i_packet.cmd_type;
+  sdk_packet->sender_type = i_packet.sender_type;
+
+  sdk_packet->crc16_h = crc_16_.ccitt(o_buf, 18);
+
+  if (i_packet.data_len == 0) {
+    sdk_packet->crc32_d = 0;
+  }  else {
+    sdk_packet->crc32_d = crc_32_.crc32(i_packet.data, i_packet.data_len);
+  }
+
+  memcpy(sdk_packet->data, i_packet.data, i_packet.data_len);
+
+  *o_len = sdk_packet->length;
+
+  return 0;
+}
+
+bool SdkProtocol::ParsePacket(uint8_t *i_buf, uint32_t buf_size, CommPacket *o_packet) {
+  SdkPacket *sdk_packet = (SdkPacket *)i_buf;
+
+  if (buf_size < GetPacketWrapperLen()) {
+    return false;
+  }
+
+  memset((void *)o_packet, 0, sizeof(CommPacket));
+
+  o_packet->protocol = kLidarSdk;
+  o_packet->version = sdk_packet->version;
+  o_packet->seq_num = sdk_packet->seq_num;
+  o_packet->cmd_id = sdk_packet->cmd_id;
+  o_packet->cmd_type = sdk_packet->cmd_type;
+  o_packet->sender_type = sdk_packet->sender_type;
+  o_packet->data = sdk_packet->data;
+  o_packet->data_len = sdk_packet->length - GetPacketWrapperLen();
+  return true;
+}
+
+uint32_t SdkProtocol::GetPreambleLen() {
+  return sizeof(SdkPreamble);
+}
+
+uint32_t SdkProtocol::GetPacketWrapperLen() {
+  return sizeof(SdkPacket) - 1;
+}
+
+uint32_t SdkProtocol::GetPacketLen(uint8_t *buf) {
+  SdkPreamble *preamble = (SdkPreamble *)buf;
+  return preamble->length;
+}
+
+bool SdkProtocol::CheckPreamble(uint8_t *buf, uint32_t buf_size) {
+  if (buf_size < GetPreambleLen()) {
+    return false;
+  }
+
+  SdkPacket *packet = (SdkPacket *)buf;
+  if (packet->sof != kSdkProtocolSof) {
+    return false;
+  }
+
+  if (packet->version != kSdkVer) {
+    return false;
+  }
+
+  if (packet->length < GetPreambleLen()) {
+    return false;
+  }
+
+  uint16_t crc16_h = crc_16_.ccitt(buf, 18);
+  if (packet->crc16_h != crc16_h) {
+    return false;
+  }
+
+
+  uint32_t crc32_d = 0;
+   if (packet->length - GetPacketWrapperLen() == 0) {
+    crc32_d = 0;
+  } else {
+    crc32_d = crc_32_.crc32(packet->data, packet->length - GetPacketWrapperLen());
+  }
+  
+  if (packet->crc32_d != crc32_d) {
+    return false;
+  }
+  return true;
+}
+
+
+} // namespace lidar
+}  // namespace livox