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vlivox_hunter.cpp
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vlivox_hunter.cpp
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#include "vlivox_hunter.h"
#include "vlog.h"
#include "vcat.h"
#include "vbyte_buffer.h"
#include "vbyte_buffer_view.h"
#include <QNetworkDatagram>
#include <QIODevice>
//=======================================================================================
static constexpr auto heartbeat_ms = 800;
using namespace livox;
// Copied from sdk_protocol.cpp
//const uint8_t kSdkProtocolSof = 0xAA;
//const uint32_t kSdkPacketCrcSize = 4; // crc32
static bool check_crc16( const char* buf, uint len );
//static uint16_t calc_crc16( const char* buf, uint len );
//static uint32_t calc_crc32( const char* buf, uint len );
//=======================================================================================
VLivox_Hunter::VLivox_Hunter( const QString broadcast_code,
const QString livox_ip,
QObject* parent )
: QObject ( parent )
, _broadcast_code ( broadcast_code )
, _livox_ip ( livox_ip )
{
_heart_timer = new QTimer();
_heart_timer->start( heartbeat_ms );
auto ok = _recv.bind( local_data_port );
if ( !ok )
throw verror << "Cannot bind to port "
<< local_data_port
<< " (for listen broadcast livoxes)";
ok = _cmd.bind( local_cmd_port );
if ( !ok )
throw verror << "Cannot bind to port "
<< local_cmd_port
<< " (for listen broadcast livoxes)";
// объект1, сигнал, объект2, действие
connect( &_recv, &QUdpSocket::readyRead, this, &VLivox_Hunter::_on_udp );
connect( this, &VLivox_Hunter::receive, this, &VLivox_Hunter::_to_udp );
}
//=======================================================================================
void VLivox_Hunter::_on_udp()
{
while ( _recv.hasPendingDatagrams() )
_read_one_udp();
}
//=======================================================================================
void VLivox_Hunter::_read_one_udp()
{
auto dgram = _recv.receiveDatagram();
vdeb << "Receive...";
Info res;
if ( _livox_ip.size() == 0 )
res.address = dgram.senderAddress();
else
res.address = QHostAddress( _livox_ip );
auto ba_data = dgram.data();
vbyte_buffer_view view( ba_data.data(), uint( ba_data.size() ) );
res.sdk.sof = view.u8();
res.sdk.version = view.u8();
res.sdk.length = view.u16_LE();
res.sdk.packet_type = view.u8();
res.sdk.seq_num = view.u16_LE();
res.sdk.preamble_crc = view.u16_LE();
(void) res.sdk.preamble_crc;
res.sdk.cmd_set = view.u8();
res.sdk.cmd_id = view.u8();
_seq_num = res.sdk.seq_num;
constexpr uint preambul_sz = sizeof( livox::SdkPreamble );
if ( !check_crc16( ba_data.data(), preambul_sz ) )
{
vwarning << "Bad preambul CRC16 in bcast message";
return;
}
res.broadcast_code = view.string( kBroadcastCodeSize );
if ( res.broadcast_code.compare( 0,
kBroadcastCodeSize - 1,
_broadcast_code.toStdString() ) != 0 )
{
vwarning << "It's not device with broadcast: " << _broadcast_code;
return;
}
res.dev_type = view.u8();
view.omit(2);
if ( res.dev_type != kDeviceTypeLidarMid40 )
{
vwarning << "No Mid-40 connected device";
return;
}
auto crc = view.u32_LE();
uint packet_sz = res.sdk.length - kSdkPacketCrcSize;
if ( crc != calc_crc32( ba_data.data(), packet_sz ) )
{
vwarning << "Bad preambul CRC32 in bcast message";
return;
}
if ( res.sdk.sof != kSdkProtocolSof )
throw verror.hex() << "sof != kSdkProtocolSof (" << uint( res.sdk.sof ) << ")";
assert( view.finished() );
assert( res.sdk.length == 34 );
if ( res.sdk.cmd_set != livox::kCommandSetGeneral )
throw verror << "cmd_set != livox::kCommandSetGeneral";
if ( res.sdk.cmd_id != livox::kCommandIDGeneralBroadcast )
throw verror << "cmd_id != livox::kCommandIDGeneralBroadcast";
_control.cmd_set = livox::kCommandSetGeneral;
if ( _control.cmd_id == livox::kCommandIDGeneralBroadcast )
_control.cmd_id = livox::kCommandIDGeneralHandshake;
_control.packet_type = livox::kCommandTypeAck;
emit receive( res, _control );
}
//=======================================================================================
//=======================================================================================
void VLivox_Hunter::_to_udp()
{
_write_one_udp();
}
//=======================================================================================
void VLivox_Hunter::_write_one_udp()
{
QByteArray dgram;
Info res;
HandshakeRequest handshake_req;
{
QHostAddress adr( _livox_ip );
handshake_req.ip_addr = 1318496448; //192.168.150.240
// handshake_req.ip_addr = adr.toString().toInt();
handshake_req.cmd_port = local_data_port;
handshake_req.data_port = local_cmd_port;
handshake_req.sensor_port = local_cmd_port;
}
CommPacket packet;
{
packet.packet_type = kCommandTypeAck;
packet.seq_num = _seq_num;
packet.cmd_set = kCommandSetGeneral;
packet.cmd_code = kCommandIDGeneralHandshake;
packet.data_len = sizeof( handshake_req );
packet.data = (uint8_t *)&handshake_req;
}
dgram.resize( kMaxCommandBufferSize + 1 );
SdkPacket *sdk_packet = (SdkPacket *)dgram.data();
{
sdk_packet->sof = kSdkProtocolSof;
sdk_packet->length = packet.data_len +
sizeof( livox::SdkPacket ) - 1 + kSdkPacketCrcSize;
sdk_packet->version = livox::kSdkVer0;
sdk_packet->packet_type = _control.packet_type;
sdk_packet->seq_num = packet.seq_num & 0xFFFF;
sdk_packet->preamble_crc = calc_crc16( dgram.data(), sizeof(SdkPreamble) - kSdkPacketPreambleCrcSize );
sdk_packet->cmd_set = _control.cmd_set;
sdk_packet->cmd_id = _control.cmd_id;
memcpy( sdk_packet->data, packet.data, packet.data_len );
uint32_t crc = calc_crc32( dgram.data(), sdk_packet->length - kSdkPacketCrcSize );
dgram.data()[sdk_packet->length - 4] = crc & 0xFF;
dgram.data()[sdk_packet->length - 3] = (crc >> 8) & 0xFF;
dgram.data()[sdk_packet->length - 2] = (crc >> 16) & 0xFF;
dgram.data()[sdk_packet->length - 1] = (crc >> 24) & 0xFF;
// vdeb << vbyte_buffer( {reinterpret_cast<const char *>( dgram.data() ), sdk_packet->length } ).to_Hex();
_cmd.writeDatagram( dgram.data(), QHostAddress( _livox_ip ), livox_port );
_control.packet_type = kCommandTypeCmd;
_control.cmd_id = kCommandIDGeneralHeartbeat;
vdeb << "Control command sended! ";
}
}
//=======================================================================================
//=======================================================================================
// CRC-s
//=======================================================================================
static bool check_crc16( const char* buf, uint len )
{
static constexpr quint16 seed_16 = 0x4c49;
static FastCRC16 fast_crc16 { seed_16 };
auto ptr = static_cast<const uchar*>( static_cast<const void*>( buf ) );
return fast_crc16.mcrf4xx_calc( ptr, uint16_t( len ) ) == 0;
}
//=======================================================================================
uint16_t calc_crc16( const char* buf, uint len )
{
static constexpr quint32 seed_16 = 0x4c49;
static FastCRC16 fast_crc16 { seed_16 };
auto ptr = static_cast<const uchar*>( static_cast<const void*>( buf ) );
return fast_crc16.mcrf4xx_calc( ptr, uint16_t( len ) );
}
//=======================================================================================
uint32_t calc_crc32( const char* buf, uint len )
{
static constexpr quint32 seed_32 = 0x564f580a;
static FastCRC32 fast_crc32 { seed_32 };
auto ptr = static_cast<const uchar*>( static_cast<const void*>( buf ) );
return fast_crc32.crc32_calc( ptr, uint16_t( len ) );
}
//=======================================================================================
//=======================================================================================
std::string Info::str() const
{
return vcat( "ID=", broadcast_code,
", Address: ", address,
", port: ", port,
", sof: ", int( sdk.sof ),
", Version: ", int( sdk.version ),
", Length: ", int( sdk.length ),
", Packet_type: ", int( sdk.packet_type ),
", Seq_num: ", int( sdk.seq_num ),
", Preamble_CRC: ", int( sdk.preamble_crc ),
", CMD Set: ", int( sdk.cmd_set ),
", CMD ID: ", int( sdk.cmd_id )
);
}
//=======================================================================================