salmanoff/commonLibs/livoxProto1/livoxProto1Protocol.h

#ifndef LIVOXPROTO1_PROTOCOL_H
#define LIVOXPROTO1_PROTOCOL_H

#include <vector>
#include <string>
#include <memory>
#include <sstream>
#include <atomic>
#include <user/senseApiDesc.h>

namespace livoxProto1 {
namespace comms {

// Endianness detection
namespace endian {
	inline bool isLittleEndian() {
		union {
			uint32_t i;
			char c[4];
		} test = {0x01020304};
		return test.c[0] == 4;
	}
}

/**		EXPLANATION:
 * Device types as defined in the Livox protocol specification
 */
enum class DeviceType : uint8_t {
	Hub = 0,
	Mid40 = 1,
	Tele15 = 2,
	Horizon = 3,
	Mid70 = 6,
	Avia = 7
};

/**		EXPLANATION:
 * Protocol frame header structure.
 * All multi-byte fields are in little-endian format as per protocol spec.
 */
struct Header
{
	uint8_t sof;           // 0: Start of Frame (0xAA)
	uint8_t version;       // 1: Protocol Version (1)
	uint16_t length;       // 2-3: Frame Length (little-endian)
	uint8_t cmd_type;      // 4: Command Type (0x02 = MSG for broadcast)
	uint16_t seq_num;      // 5-6: Sequence Number (little-endian)
	uint16_t crc_16;       // 7-8: Header Checksum (little-endian)

	void swapToHostEndianness();
	bool sanityCheck() const;
} __attribute__((packed));

/**		EXPLANATION:
 * Protocol frame footer structure.
 * All multi-byte fields are in little-endian format as per protocol spec.
 */
struct Footer
{
	uint32_t crc_32;       // 0-3: Whole Frame Checksum (little-endian)

	void swapToHostEndianness();
	bool sanityCheck() const;
} __attribute__((packed));

/**		EXPLANATION:
 * Complete wire format for Livox broadcast messages.
 * All multi-byte fields are in little-endian format as per protocol spec.
 */
struct BroadcastMessage
{
	Header header;         // 0-8: Protocol frame header
	uint8_t cmd_set;       // 9: Command Set (0x00 = General)
	uint8_t cmd_id;        // 10: Command ID (0x00 = Broadcast)
	uint8_t broadcast_code[16]; // 11-26: Device Broadcast Code (null-terminated string)
	uint8_t dev_type;      // 27: Device Type
	uint16_t reserved;     // 28-29: Reserved (little-endian)
	Footer footer;         // 30-33: Protocol frame footer

	void swapToHostEndianness();
	bool sanityCheck() const;
} __attribute__((packed));

/**		EXPLANATION:
 * This class represents a discovered device. It is used to store the
 * device identifier and IP address of a discovered device.
 */
class DiscoveredDevice
{
public:
	DiscoveredDevice(
		const std::string &deviceIdentifier,
		DeviceType deviceType,
		const std::string &ipAddr);

	// "Conversion" constructor from BroadcastMessage
	DiscoveredDevice(const BroadcastMessage &msg, const std::string &ipAddr);

	~DiscoveredDevice() = default;

	bool operator==(const DiscoveredDevice &other) const
		{ return deviceIdentifier == other.deviceIdentifier; }

	std::string stringify(void) const;
	std::string getDeviceTypeName(void) const;

public:
	std::string deviceIdentifier;
	DeviceType deviceType;
	std::string ipAddr;
};

/**		EXPLANATION:
 * This class merely listens for UDP bcast dgrams on the designated listening
 * port. It then builds a list of client device IP addrs that it has heard from.
 * It doesn't connect to them or signal any events to the rest of the lib,
 * except in the case that a device which the lib is using has gone away.
 *
 * Other than that, its role is to tell the lib which devices are available
 * on the network.
 */
#define UDP_BCAST_MSG_BUFFER_NBYTES		(1024)

class BroadcastListener
{
public:
	BroadcastListener(
		const std::shared_ptr<smo::ComponentThread>& componentThread,
		uint16_t listeningPort=55000, uint16_t connectPort=65000);

	~BroadcastListener() = default;

	typedef void (DeviceGoneAwayCbFn)(const DiscoveredDevice &device);
	void setDeviceGoneAwayCb(DeviceGoneAwayCbFn *cb)
		{ deviceGoneAwayCb = cb; }

	bool deviceExists(const std::string &deviceIdentifier) const
		{ return getDevice(deviceIdentifier) != nullptr; }

	std::shared_ptr<DiscoveredDevice>
	getDevice(const std::string &deviceIdentifier) const;

	void start(void);
	void stop(void);

	void broadcastMsgInd(
		const boost::system::error_code& ec, std::size_t bytes_received);

private:
	void startReceive(void);

private:
	std::shared_ptr<smo::ComponentThread> componentThread;
	/**		EXPLANATION:
	 * The Livox proto says that client devices will spam broadcast UDP
	 * dgrams to us on the listening port. We can then use the source IP from
	 * the bcast dgram to figure out the client device's IP addr. Then we
	 * should send a connect dgram to the connect port. This will tell the
	 * client device our IP addr.
	 */
	uint16_t listeningPort, connectPort;
	DeviceGoneAwayCbFn *deviceGoneAwayCb;
	std::vector<std::shared_ptr<DiscoveredDevice>> discoveredDevices;

	boost::asio::ip::udp::socket socket;
	boost::asio::ip::udp::endpoint listeningEndpoint, senderEndpoint;
	std::atomic<bool> isListening;

	uint8_t bcastMsgRecvBuffer[UDP_BCAST_MSG_BUFFER_NBYTES];
};

} // namespace comms
} // namespace livoxProto1

#endif // LIVOXPROTO1_PROTOCOL_H