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LivoxProto1: Remove superfluous proto methods

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This commit is contained in:
Hayodea Hekol
2025-10-24 22:18:36 -04:00
parent 3373393755
commit 444555e9b6
2 changed files with 0 additions and 157 deletions
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commonLibs/livoxProto1/protocol.cpp
-144
View File
@@ -230,7 +230,6 @@ uint32_t HandshakeRequest::calculateCrc32() const
return comms::calculateCrc32(messageData, messageSize);
}
void HandshakeRequest::swapContentsToProtocolEndianness()
{
// Protocol uses little-endian, so on little-endian machines, no swap needed
@@ -246,26 +245,6 @@ void HandshakeRequest::swapContentsToProtocolEndianness()
// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
}
void HandshakeRequest::swapContentsToHostEndianness()
{
if (endian::isLittleEndian()) { return; }
header.swapToHostEndianness();
command.swapToHostEndianness();
data_port = __builtin_bswap16(data_port);
cmd_port = __builtin_bswap16(cmd_port);
imu_port = __builtin_bswap16(imu_port);
// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
}
bool HandshakeRequest::sanityCheck() const
{
return header.sanityCheck() &&
command.sanityCheck() &&
(command.cmd_set == 0x00) && (command.cmd_id == 0x01) &&
footer.sanityCheck();
}
// HandshakeResponse methods
void HandshakeResponse::swapContentsToHostEndianness()
{
@@ -583,7 +562,6 @@ uint32_t HeartbeatMessage::calculateCrc32() const
return comms::calculateCrc32(messageData, messageSize);
}
void HeartbeatMessage::swapContentsToProtocolEndianness()
{
// Protocol is little-endian, so if host is already little-endian, no swap needed
@@ -598,46 +576,6 @@ void HeartbeatMessage::swapContentsToProtocolEndianness()
// Note: footer.swapToProtocolEndianness() swaps CRC, so we skip it here
}
void HeartbeatMessage::swapContentsToHostEndianness()
{
// If host is already little-endian, no swap needed
if (endian::isLittleEndian()) {
return;
}
// Host is big-endian, need to swap from little-endian protocol to big-endian host
// Only swap content fields, not CRC fields
header.swapToHostEndianness();
command.swapToHostEndianness();
// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
}
bool HeartbeatMessage::sanityCheck() const
{
return header.sanityCheck() &&
command.sanityCheck() &&
(command.cmd_set == 0x00) && (command.cmd_id == 0x03) &&
footer.sanityCheck();
}
bool HeartbeatMessage::validateCrc32() const
{
// Use the calculateCrc32 method to avoid code duplication
uint32_t calculatedCrc = calculateCrc32();
// Compare with the CRC in the footer
bool isValid = (calculatedCrc == footer.crc_32);
// Debug output only if validation fails
if (!isValid) {
std::cout << "HeartbeatMessage CRC32 Debug: calculated=0x" << std::hex << calculatedCrc
<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
}
return isValid;
}
// DisconnectMessage methods
DisconnectMessage::DisconnectMessage()
{
@@ -681,33 +619,6 @@ void DisconnectMessage::swapContentsToProtocolEndianness()
// Note: footer.swapToProtocolEndianness() swaps CRC, so we skip it here
}
bool DisconnectMessage::sanityCheck() const
{
return header.sanityCheck() &&
command.sanityCheck() &&
(command.cmd_set == 0x00) && (command.cmd_id == 0x06) &&
footer.sanityCheck();
}
bool DisconnectMessage::validateCrc32() const
{
// Use the calculateCrc32 method to avoid code duplication
uint32_t calculatedCrc = calculateCrc32();
// Compare with the CRC in the footer
bool isValid = (calculatedCrc == footer.crc_32);
// Debug output only if validation fails
if (!isValid)
{
std::cout << "DisconnectMessage CRC32 Debug: calculated=0x"
<< std::hex << calculatedCrc
<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
}
return isValid;
}
// StartStopSamplingMessage methods
StartStopSamplingMessage::StartStopSamplingMessage()
{
@@ -745,28 +656,6 @@ void StartStopSamplingMessage::swapContentsToProtocolEndianness()
command.swapToProtocolEndianness();
}
bool StartStopSamplingMessage::sanityCheck() const
{
return header.sanityCheck() && command.sanityCheck() && footer.sanityCheck();
}
bool StartStopSamplingMessage::validateCrc32() const
{
uint32_t calculatedCrc = calculateCrc32();
bool isValid = (calculatedCrc == footer.crc_32);
// Debug output only if validation fails
if (!isValid)
{
std::cout << "StartStopSamplingMessage CRC32 Debug: calculated=0x"
<< std::hex << calculatedCrc
<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
}
return isValid;
}
// SamplingResponse methods
void SamplingResponse::swapContentsToHostEndianness()
{
@@ -874,23 +763,6 @@ void SetLiDARReturnMode::swapContentsToProtocolEndianness()
footer.swapToProtocolEndianness();
}
bool SetLiDARReturnMode::sanityCheck() const
{
return header.sanityCheck() &&
command.sanityCheck() &&
(command.cmd_set == 0x01) && (command.cmd_id == 0x06) &&
(mode <= 0x03) && // Valid modes: 0x00-0x03
footer.sanityCheck();
}
bool SetLiDARReturnMode::validateCrc32() const
{
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
size_t messageSize = sizeof(SetLiDARReturnMode) - sizeof(footer.crc_32);
uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
return (calculatedCrc == footer.crc_32);
}
// SetLiDARReturnModeResponse methods
void SetLiDARReturnModeResponse::swapContentsToHostEndianness()
{
@@ -950,22 +822,6 @@ void GetLiDARReturnMode::swapContentsToProtocolEndianness()
footer.swapToProtocolEndianness();
}
bool GetLiDARReturnMode::sanityCheck() const
{
return header.sanityCheck() &&
command.sanityCheck() &&
(command.cmd_set == 0x01) && (command.cmd_id == 0x07) &&
footer.sanityCheck();
}
bool GetLiDARReturnMode::validateCrc32() const
{
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
size_t messageSize = sizeof(GetLiDARReturnMode) - sizeof(footer.crc_32);
uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
return (calculatedCrc == footer.crc_32);
}
// GetLiDARReturnModeResponse methods
void GetLiDARReturnModeResponse::swapContentsToHostEndianness()
{
commonLibs/livoxProto1/protocol.h
-13
View File
@@ -191,8 +191,6 @@ struct HandshakeRequest
// Calculate CRC32 for the entire message
uint32_t calculateCrc32() const;
void swapContentsToProtocolEndianness();
void swapContentsToHostEndianness();
bool sanityCheck() const;
} __attribute__((packed));
/** EXPLANATION:
@@ -224,9 +222,6 @@ struct HeartbeatMessage
HeartbeatMessage();
uint32_t calculateCrc32() const;
void swapContentsToProtocolEndianness();
void swapContentsToHostEndianness();
bool sanityCheck() const;
bool validateCrc32() const;
} __attribute__((packed));
/** EXPLANATION:
@@ -242,8 +237,6 @@ struct DisconnectMessage
DisconnectMessage();
uint32_t calculateCrc32() const;
void swapContentsToProtocolEndianness();
bool sanityCheck() const;
bool validateCrc32() const;
} __attribute__((packed));
/** EXPLANATION:
@@ -260,8 +253,6 @@ struct StartStopSamplingMessage
StartStopSamplingMessage();
uint32_t calculateCrc32() const;
void swapContentsToProtocolEndianness();
bool sanityCheck() const;
bool validateCrc32() const;
} __attribute__((packed));
/** EXPLANATION:
@@ -313,8 +304,6 @@ struct SetLiDARReturnMode
SetLiDARReturnMode();
uint32_t calculateCrc32() const;
void swapContentsToProtocolEndianness();
bool sanityCheck() const;
bool validateCrc32() const;
} __attribute__((packed));
/** EXPLANATION:
@@ -346,8 +335,6 @@ struct GetLiDARReturnMode
GetLiDARReturnMode();
uint32_t calculateCrc32() const;
void swapContentsToProtocolEndianness();
bool sanityCheck() const;
bool validateCrc32() const;
} __attribute__((packed));
/** EXPLANATION: