gardentech
92 lines
2.4 KiB
C++
92 lines
2.4 KiB
C++
//
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// The MIT License (MIT)
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//
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// Copyright (c) 2022 Livox. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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#ifndef LIVOX_SDK_PROTOCOL_H_
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#define LIVOX_SDK_PROTOCOL_H_
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#include <stdint.h>
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#include "comm/protocol.h"
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#include "FastCRC/FastCRC.h"
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namespace livox {
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namespace lidar {
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typedef enum { kSdkVerNone, kSdkVer0, kSdkVer1 } SdkVersion;
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#pragma pack(1)
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typedef struct {
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uint8_t sof;
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uint8_t version;
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uint16_t length;
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uint32_t seq_num;
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uint16_t cmd_id;
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uint8_t cmd_type;
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uint8_t sender_type;
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char rsvd[6];
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uint16_t crc16_h;
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uint32_t crc32_d;
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} SdkPreamble;
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typedef struct {
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uint8_t sof;
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uint8_t version;
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uint16_t length;
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uint32_t seq_num;
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uint16_t cmd_id;
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uint8_t cmd_type;
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uint8_t sender_type;
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char rsvd[6];
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uint16_t crc16_h;
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uint32_t crc32_d;
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uint8_t data[1];
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} SdkPacket;
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#pragma pack()
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class SdkProtocol : public Protocol {
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public:
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SdkProtocol();
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~SdkProtocol();
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bool ParsePacket(uint8_t *i_buf, uint32_t buf_size, CommPacket *o_packet);
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int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet);
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uint32_t GetPreambleLen();
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uint32_t GetPacketWrapperLen();
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uint32_t GetPacketLen(uint8_t *buf);
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bool CheckPreamble(uint8_t *buf, uint32_t buf_size);
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private:
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FastCRC16 crc_16_;
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FastCRC32 crc_32_;
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};
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} // namespace lidar
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} // namespace livox
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#endif // LIVOX_SDK_PROTOCOL_H_
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