LivoxProto1: Implemented Device and getOrCreateDevice

Includes everything from sending heartbeat msgs to performing
the connection handshake. We also accept many params to
provider-params to customize and make things easier.

commonLibs/livoxProto1/CMakeLists.txt

@@ -3,9 +3,9 @@ option(ENABLE_LIB_livoxProto1 "Enable Livox Protocol v1 backend lib" OFF)
 if(ENABLE_LIB_livoxProto1)
 	add_library(livoxProto1 SHARED
 		livoxProto1.cpp
-		livoxProto1Core.cpp
-		livoxProto1Device.cpp
-		livoxProto1Protocol.cpp
+		core.cpp
+		device.cpp
+		protocol.cpp
 		broadcastListener.cpp
 	)
 

commonLibs/livoxProto1/broadcastListener.cpp

@@ -24,7 +24,8 @@ BroadcastListener::getDevice(const std::string &deviceIdentifier) const
 {
 	auto it = std::find_if(discoveredDevices.begin(), discoveredDevices.end(),
 		[&deviceIdentifier](const std::shared_ptr<DiscoveredDevice>& device) {
-			return device->deviceIdentifier == deviceIdentifier;
+			return comms::deviceIdentifiersEqual(
+				device->deviceIdentifier, deviceIdentifier);
 		}
 	);
 
@@ -43,35 +44,59 @@ void BroadcastListener::broadcastMsgInd(
 
 	if (bytes_received < sizeof(BroadcastMessage))
 	{
-		std::cerr << "Received packet too small: " << bytes_received
-			<< " bytes (expected at least " << sizeof(BroadcastMessage) << ")"
-			<< std::endl;
+		std::cerr << __func__
+			<< ": Received packet too small: " << bytes_received
+			<< " bytes (expected at least "
+			<< sizeof(BroadcastMessage) << ")" << std::endl;
 		return;
 	}
 
+
 	// Use placement new to construct BroadcastMessage in the buffer
 	BroadcastMessage* msg = new (bcastMsgRecvBuffer) BroadcastMessage;
 
-	// Validate the message using sanity check methods
-	if (!msg->sanityCheck())
+	// Following the clean receiving flow:
+	// 1. Swap CRC32 to host endianness first
+	msg->footer.swapCrc32ToHostEndianness();
+	// 2. Validate CRC32 (on whole message excluding footer CRC32 field)
+	if (!msg->validateCrc32())
 	{
-		std::cerr << "Broadcast message failed sanity check" << std::endl;
+		std::cerr << __func__
+			<< ": Broadcast message failed CRC32 validation" << std::endl;
 		return;
 	}
 
-	// Convert from little-endian to host endianness
-	msg->swapToHostEndianness();
+	// 3. Swap CRC16 to host endianness
+	msg->header.swapCrc16ToHostEndianness();
+	// 4. Validate CRC16 (on header only)
+	if (!msg->header.validateCrc16())
+	{
+		std::cerr << __func__
+			<< ": Broadcast message failed CRC16 validation" << std::endl;
+		return;
+	}
+	// 5. Swap content to host endianness
+	msg->swapContentsToHostEndianness();
+	// 6. Validate message sanity
+	if (!msg->sanityCheck())
+	{
+		std::cerr << __func__
+			<< ": Broadcast message failed sanity check" << std::endl;
+		return;
+	}
 
 	// Extract device information
 	std::string senderIP = senderEndpoint.address().to_string();
-	std::string broadcastCode(reinterpret_cast<const char*>(msg->broadcast_code));
+	std::string broadcastCode(
+		reinterpret_cast<const char*>(msg->broadcast_code));
 
 	// Early return if device already exists
 	if (deviceExists(broadcastCode))
 	{
 		// Device already exists, just log the update
-		std::cout << "Received broadcast from known device: " << broadcastCode
-			<< " at " << senderIP << std::endl;
+		std::cout << __func__
+			<< ": Received broadcast from known device: "
+			<< broadcastCode << " at " << senderIP << std::endl;
 		return;
 	}
 
@@ -80,8 +105,8 @@ void BroadcastListener::broadcastMsgInd(
 	discoveredDevices.push_back(device);
 
 	// Output device information using stringify
-	std::cout << "Discovered new Livox device: " << device->stringify()
-		<< std::endl;
+	std::cout << __func__ << ": Discovered new Livox device: "
+		<< device->stringify() << std::endl;
 }
 
 void BroadcastListener::start(void)

commonLibs/livoxProto1/broadcastListener.h

@@ -6,7 +6,7 @@
 #include <memory>
 #include <atomic>
 #include <user/senseApiDesc.h>
-#include "livoxProto1Device.h"
+#include "device.h"
 
 namespace livoxProto1 {
 namespace comms {

commonLibs/livoxProto1/core.cpp

@@ -0,0 +1,136 @@
+#include <algorithm>
+#include <iostream>
+#include <user/senseApiDesc.h>
+#include "protocol.h"
+#include "core.h"
+
+namespace livoxProto1 {
+
+static ProtoState protoState =
+{
+	.isInitialized = false,
+	.componentThread = nullptr,
+	.deviceManager = nullptr
+};
+
+ProtoState& getProtoState()
+{
+	return protoState;
+}
+
+DeviceManager::DeviceManager()
+: broadcastListener(protoState.componentThread)
+{
+	broadcastListener.setDeviceGoneAwayCb(deviceGoneAwayInd);
+}
+
+void DeviceManager::deviceGoneAwayInd(const comms::DiscoveredDevice &device)
+{
+	std::cout << "Device gone away: " << device.stringify() << std::endl;
+
+	// Check if device exists in our collection
+	if (!protoState.deviceManager->getDevice(device)) {
+		return;
+	}
+
+	// Find and remove the device from the collection
+	auto it = std::find_if(
+		protoState.deviceManager->devices.begin(),
+		protoState.deviceManager->devices.end(),
+		[&device](const std::shared_ptr<Device> &d) {
+			return d->discoveredDevice == device;
+		}
+	);
+	if (it != protoState.deviceManager->devices.end()) {
+		protoState.deviceManager->devices.erase(it);
+	}
+}
+
+std::shared_ptr<Device> DeviceManager::getOrCreateDevice(
+	const std::string &deviceIdentifier,
+	const std::shared_ptr<smo::ComponentThread>& componentThread,
+	int handshakeTimeoutMs, int retryDelayMs,
+	const std::string& smoIp, uint8_t smoSubnetNbits,
+	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort
+	)
+{
+	// Validate smoIp format using Boost.Asio IPv4 validation
+	if (!smoIp.empty() && !comms::isValidIPv4(smoIp))
+	{
+		throw std::invalid_argument(
+			std::string(__func__) +
+			": Invalid IPv4 smoIp format: " + smoIp);
+	}
+
+	// Validate subnet nbits
+	if (smoSubnetNbits > 32)
+	{
+		throw std::invalid_argument(
+			std::string(__func__) +
+			": smoSubnetNbits must be between 0 and 32, got: " +
+			std::to_string(smoSubnetNbits));
+	}
+
+	// First try to get existing device
+	auto existingDevice = getDevice(deviceIdentifier);
+	if (existingDevice) {
+		return existingDevice;
+	}
+
+	// Device doesn't exist, create a new one
+	auto newDevice = std::make_shared<Device>(
+		deviceIdentifier, componentThread,
+		handshakeTimeoutMs, retryDelayMs,
+		smoIp, smoSubnetNbits,
+		dataPort, cmdPort, imuPort);
+
+	// Add to our collection
+	devices.push_back(newDevice);
+	return newDevice;
+}
+
+std::shared_ptr<Device> DeviceManager::getDevice(
+	const std::string &deviceIdentifier
+	)
+{
+	for (auto& device : devices)
+	{
+		if (comms::deviceIdentifiersEqual(
+			device->discoveredDevice.deviceIdentifier, deviceIdentifier))
+		{
+			return device;
+		}
+	}
+	return nullptr;
+}
+
+bool DeviceManager::isDeviceKnown(const std::string& deviceIdentifier)
+{
+	return broadcastListener.deviceExists(deviceIdentifier);
+}
+
+void main(const std::shared_ptr<smo::ComponentThread> &componentThread)
+{
+	if (protoState.isInitialized) {
+		return;
+	}
+
+	protoState.isInitialized = true;
+	protoState.componentThread = componentThread;
+	protoState.deviceManager = std::make_unique<DeviceManager>();
+	protoState.deviceManager->broadcastListener.start();
+}
+
+void exit(void)
+{
+	if (!protoState.isInitialized) {
+		return;
+	}
+
+	protoState.deviceManager->broadcastListener.stop();
+	protoState.deviceManager.reset();
+	protoState.componentThread.reset();
+	protoState.isInitialized = false;
+}
+
+} // namespace livoxProto1

commonLibs/livoxProto1/core.h

@@ -0,0 +1,60 @@
+#ifndef LIVOXPROTO1_CORE_H
+#define LIVOXPROTO1_CORE_H
+
+#include <vector>
+#include <string>
+#include <memory>
+#include <cstdint>
+#include "device.h"
+#include "broadcastListener.h"
+
+namespace livoxProto1 {
+
+class DeviceManager
+{
+public:
+	DeviceManager();
+	~DeviceManager() = default;
+
+	static void deviceGoneAwayInd(const comms::DiscoveredDevice &device);
+
+	std::shared_ptr<Device> getOrCreateDevice(
+		const std::string &deviceIdentifier,
+		const std::shared_ptr<smo::ComponentThread>& componentThread,
+		int handshakeTimeoutMs, int retryDelayMs,
+		const std::string& smoIp, uint8_t smoSubnetNbits,
+		uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort);
+
+	std::shared_ptr<Device> getDevice(const std::string &deviceIdentifier);
+	std::shared_ptr<Device> getDevice(const comms::DiscoveredDevice &device)
+		{ return getDevice(device.deviceIdentifier); }
+
+private:
+	// Helper methods
+	bool isDeviceKnown(const std::string& deviceIdentifier);
+
+	// Configuration
+	static constexpr int RETRY_DELAY_SECONDS = 3; // <N> seconds delay
+
+public:
+	std::vector<std::shared_ptr<Device>> devices;
+	comms::BroadcastListener broadcastListener;
+};
+
+void main(const std::shared_ptr<smo::ComponentThread> &componentThread);
+void exit(void);
+
+// Global state structure
+struct ProtoState
+{
+	bool isInitialized = false;
+	std::shared_ptr<smo::ComponentThread> componentThread;
+	std::unique_ptr<DeviceManager> deviceManager;
+};
+
+// Access to global state for extern "C" functions
+ProtoState& getProtoState();
+
+} // namespace livoxProto1
+
+#endif // LIVOXPROTO1_CORE_H

commonLibs/livoxProto1/device.cpp

@@ -0,0 +1,606 @@
+#include <sstream>
+#include <thread>
+#include <chrono>
+#include <string>
+#include <stdexcept>
+#include <memory>
+#include <unistd.h>
+#include <ifaddrs.h>
+#include <arpa/inet.h>
+#include <sys/socket.h>
+#include <netinet/in.h>
+#include <boost/asio.hpp>
+#include "device.h"
+#include "protocol.h"
+#include "core.h"
+
+namespace livoxProto1 {
+namespace comms {
+
+// DiscoveredDevice constructors
+DiscoveredDevice::DiscoveredDevice(
+	const std::string &deviceIdentifier,
+	DeviceType deviceType,
+	const std::string &ipAddr)
+: deviceIdentifier(deviceIdentifier),
+  deviceType(deviceType),
+  ipAddr(ipAddr)
+{
+}
+
+DiscoveredDevice::DiscoveredDevice(
+	const BroadcastMessage &msg, const std::string &ipAddr
+)
+: DiscoveredDevice(
+	reinterpret_cast<const char*>(msg.broadcast_code),
+	static_cast<DeviceType>(msg.dev_type),
+	ipAddr)
+{
+}
+
+std::string DiscoveredDevice::stringify(void) const
+{
+	std::ostringstream oss;
+	oss << "DiscoveredDevice{"
+		<< "identifier='" << deviceIdentifier << "', "
+		<< "ipAddr='" << ipAddr << "', "
+		<< "deviceType=" << (int)deviceType << " (" << getDeviceTypeName() << ")"
+		<< "}";
+	return oss.str();
+}
+
+std::string DiscoveredDevice::getDeviceTypeName(void) const
+{
+	switch (deviceType)
+	{
+		case DeviceType::Hub: return "Hub";
+		case DeviceType::Mid40: return "Mid-40";
+		case DeviceType::Tele15: return "Tele-15";
+		case DeviceType::Horizon: return "Horizon";
+		case DeviceType::Mid70: return "Mid-70";
+		case DeviceType::Avia: return "Avia";
+		default: return "Unknown";
+	}
+}
+
+} // namespace comms
+
+// Device implementation
+Device::Device(const std::string &deviceIdentifier,
+	const std::shared_ptr<smo::ComponentThread>& componentThread,
+	int handshakeTimeoutMs, int retryDelayMs,
+	const std::string& smoIp, uint8_t smoSubnetNbits,
+	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort)
+: discoveredDevice(
+	deviceIdentifier, comms::DeviceType::Mid40,
+	// Initialize empty. IP will be set upon successful connection.
+	""),
+componentThread(componentThread),
+handshakeTimeoutMs(handshakeTimeoutMs), retryDelayMs(retryDelayMs),
+smoIp(smoIp), smoSubnetNbits(smoSubnetNbits),
+dataPort(dataPort), cmdPort(cmdPort), imuPort(imuPort),
+heartbeatActive(false)
+{
+	connect();
+}
+
+Device::~Device()
+{
+	// Stop heartbeat if active
+	if (heartbeatActive.load()) {
+		heartbeatActive.store(false);
+		if (heartbeatTimer) {
+			heartbeatTimer->cancel();
+		}
+	}
+
+	// Clean up heartbeat resources
+	heartbeatTimer.reset();
+	heartbeatSocket.reset();
+}
+
+void Device::connect()
+{
+	/**		EXPLANATION:
+	 * First check the broadcastListener to see if the device is already known.
+	 * * If it is, return the DiscoveredDevice..
+	 * If it is not, attempt to connect to the device by assuming that its IP
+	 * address is the same as the last 2 octets of the deviceIdentifier.
+	 * * If the connection is successful, return the DiscoveredDevice.
+	 * If the connection is not successful, delay by retryDelayMs and check
+	 * the broadcastListener again.
+	 * * If the connection is successful return the DiscoveredDevice.
+	 * If the connection is not successful, throw exception?
+	 *
+	 * If the connection is successful at any point, also set up the heartbeat
+	 * pulse signal to be sent periodically by us to the device over the wire.
+	 */
+	// Try connecting to known device first
+	if (connectToKnownDevice()) {
+		startHeartbeat();
+		return;
+	}
+
+	// Try direct connect by device identifier
+	if (connectByDeviceIdentifier()) {
+		startHeartbeat();
+		return;
+	}
+
+	// Wait retry delay, then try known device again
+	std::this_thread::sleep_for(std::chrono::milliseconds(retryDelayMs));
+	if (connectToKnownDevice()) {
+		startHeartbeat();
+		return;
+	}
+
+	// All connection attempts failed
+	throw std::runtime_error(
+		std::string(__func__) + ": Failed to connect to device: "
+		+ discoveredDevice.deviceIdentifier);
+}
+
+bool Device::connectToKnownDevice()
+{
+	// Get the global DeviceManager instance
+	auto& protoState = livoxProto1::getProtoState();
+	if (!protoState.deviceManager)
+	{
+		throw std::runtime_error(
+			std::string(__func__)
+			+ ": DeviceManager is not initialized in connectToKnownDevice()");
+	}
+
+	// Check if the device is known to the broadcastListener
+	if (!protoState.deviceManager->broadcastListener.deviceExists(
+		discoveredDevice.deviceIdentifier))
+	{
+		return false;
+	}
+
+	// Get the device info from broadcastListener
+	auto deviceInfo = protoState.deviceManager->broadcastListener.getDevice(
+		discoveredDevice.deviceIdentifier);
+	if (!deviceInfo)
+		{ return false; }
+
+	// Use the IP address from the broadcast message
+	std::string deviceIP = deviceInfo->ipAddr;
+	// Execute handshake with the known device
+	bool success = executeHandshake(
+		deviceIP, handshakeTimeoutMs, dataPort, cmdPort, imuPort);
+
+	// If successful, update our device's IP address with the one from broadcast
+	if (success) {
+		discoveredDevice.ipAddr = deviceInfo->ipAddr;
+	}
+
+	return success;
+}
+
+bool Device::connectByDeviceIdentifier()
+{
+	std::string deviceIP = generateClientDeviceIpFromSerialNumber(
+		discoveredDevice.deviceIdentifier);
+	bool success = executeHandshake(
+		deviceIP, handshakeTimeoutMs, dataPort, cmdPort, imuPort);
+
+	// If successful, store the calculated IP address
+	if (success) {
+		discoveredDevice.ipAddr = deviceIP;
+	}
+
+	return success;
+}
+
+bool Device::executeHandshake(
+	const std::string& deviceIP, int timeoutMs,
+	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort
+	)
+{
+	try {
+		// Create boost::asio UDP socket
+		boost::asio::io_context io_context;
+		boost::asio::ip::udp::socket socket(io_context);
+		socket.open(boost::asio::ip::udp::v4());
+
+		std::string smoIp = getSmoIp();
+		comms::HandshakeRequest handshakeReq(smoIp, dataPort, cmdPort, imuPort);
+		handshakeReq.swapContentsToProtocolEndianness();
+		handshakeReq.header.setCrc16FromRawBytes();
+		handshakeReq.header.swapCrc16ToProtocolEndianness();
+		handshakeReq.footer.crc_32 = handshakeReq.calculateCrc32();
+		handshakeReq.footer.swapCrc32ToProtocolEndianness();
+		boost::asio::ip::udp::endpoint deviceEndpoint(
+			boost::asio::ip::address::from_string(deviceIP), 65000);
+
+		socket.send_to(
+			boost::asio::buffer(&handshakeReq, sizeof(handshakeReq)),
+			deviceEndpoint);
+
+		std::cout << __func__ << ": Sent handshake request to "
+			<< deviceIP << ":65000" << std::endl;
+
+		// Wait for response with timeout using deadline_timer
+		boost::asio::deadline_timer timer(io_context);
+		timer.expires_from_now(boost::posix_time::milliseconds(timeoutMs));
+
+		uint8_t responseBuffer[1024];
+		boost::asio::ip::udp::endpoint senderEndpoint;
+		std::atomic<bool> timeoutOccurred{false};
+
+		timer.async_wait(
+			[&timeoutOccurred](const boost::system::error_code& ec) {
+			if (!ec) { timeoutOccurred.store(true); }
+			}
+		);
+
+		size_t bytesReceived = 0;
+		boost::system::error_code receiveError;
+		socket.async_receive_from(
+			boost::asio::buffer(responseBuffer, sizeof(responseBuffer)),
+			senderEndpoint,
+			[&bytesReceived, &receiveError](
+				const boost::system::error_code& ec, size_t bytes)
+			{
+				bytesReceived = bytes;
+				receiveError = ec;
+			}
+		);
+
+		while (!timeoutOccurred.load() && !receiveError && bytesReceived == 0) {
+			io_context.run_one();
+		}
+
+		timer.cancel();
+
+		if (timeoutOccurred.load())
+		{
+			std::cerr << __func__ << ": Handshake timeout with " << deviceIP
+				<< ":" << deviceEndpoint << std::endl;
+			return false;
+		}
+
+		if (receiveError)
+		{
+			std::cerr << __func__ << ": Handshake error with " << deviceIP
+				<< ": " << receiveError.message() << ":" << deviceEndpoint
+				<< std::endl;
+			return false;
+		}
+
+		if (bytesReceived < sizeof(comms::HandshakeResponse))
+		{
+			std::cerr << __func__ << ": Handshake failed - response too small from "
+				<< deviceIP << ":" << deviceEndpoint << std::endl;
+			return false;
+		}
+
+		// Parse response as complete frame
+		comms::HandshakeResponse* resp = reinterpret_cast<
+			comms::HandshakeResponse*
+			>(responseBuffer);
+
+		// Following the clean receiving flow:
+		// 1. Swap CRC32 to host endianness first
+		resp->footer.swapCrc32ToHostEndianness();
+		// 2. Validate CRC32 (on whole message excluding footer CRC32 field)
+		if (!resp->validateCrc32())
+		{
+			std::cerr << __func__ << ": Handshake failed - CRC32 validation "
+				"failed from " << deviceIP << ":" << deviceEndpoint
+				<< std::endl;
+			return false;
+		}
+		// 3. Swap CRC16 to host endianness
+		resp->header.swapCrc16ToHostEndianness();
+		// 4. Validate CRC16 (on header only)
+		if (!resp->header.validateCrc16())
+		{
+			std::cerr << __func__ << ": Handshake failed - CRC16 validation "
+				"failed from " << deviceIP << ":" << deviceEndpoint
+				<< std::endl;
+			return false;
+		}
+		// 5. Swap content to host endianness
+		resp->swapContentsToHostEndianness();
+		if (!resp->sanityCheck() || resp->ret_code != 0x00)
+		{
+			std::cerr << __func__ << ": Handshake failed - invalid response from "
+				<< deviceIP << ":" << deviceEndpoint
+				<< std::endl;
+			return false;
+		}
+
+		std::cout << __func__ << ": Handshake successful with " << deviceIP
+			<< ":" << deviceEndpoint << std::endl;
+		return true;
+	} catch (const std::exception& e) {
+		std::cerr << __func__ << ": Handshake failed with " << deviceIP << ": "
+			<< e.what() << std::endl;
+	}
+	return false;
+}
+
+std::string Device::generateClientDeviceIpFromSerialNumber(
+	const std::string& broadcastCode
+	)
+{
+	// Determine if input is serial number (14 chars) or broadcast code (15 chars)
+	if (broadcastCode.empty())
+	{
+		throw std::invalid_argument(
+			std::string(__func__) + ": Broadcast code cannot be empty");
+	}
+
+	std::string serialNumber;
+	if (broadcastCode.length() == 14)
+	{
+		// Input is a serial number
+		serialNumber = broadcastCode;
+	} else if (broadcastCode.length() == 15)
+	{
+		// Input is a broadcast code (serial + selector)
+		serialNumber = broadcastCode.substr(0, 14);
+	} else
+	{
+		// Invalid length
+		throw std::invalid_argument(
+			std::string(__func__) +
+			": Broadcast code must be 14 or 15 characters long");
+	}
+
+	// Extract last two digits of serial number
+	if (serialNumber.length() < 2)
+	{
+		throw std::invalid_argument(
+			std::string(__func__) + ": Serial number too short");
+	}
+
+	std::string lastTwoDigits = serialNumber.substr(serialNumber.length() - 2);
+	// Validate that last two characters are digits
+	if (lastTwoDigits[0] < '0' || lastTwoDigits[0] > '9' ||
+		lastTwoDigits[1] < '0' || lastTwoDigits[1] > '9')
+	{
+		throw std::invalid_argument(
+			std::string(__func__) +
+			": Last two characters of serial number must be digits");
+	}
+
+	/**		EXPLANATION:
+	 * Use the device's subnet: X.X.X.1XX where XX = last two digits of serial.
+	 * We use the smoIp and smoSubnetNbits to determine the network prefix.
+	 */
+	// Parse smoIp to extract network prefix
+	auto smoIpOctets = comms::parseIPv4Address(smoIp);
+	if (!smoIpOctets.has_value()) {
+		throw std::invalid_argument(
+			std::string(__func__) + ": Invalid smoIp format: must be X.X.X.X");
+	}
+
+	// Generate subnet mask based on nbits
+	uint32_t subnetMask = getSubnetMaskFor(smoSubnetNbits);
+
+	// Convert smoIp to uint32_t for bitwise operations
+	uint32_t smoIpAddr = (std::stoi(smoIpOctets->octet1) << 24) |
+		(std::stoi(smoIpOctets->octet2) << 16) |
+		(std::stoi(smoIpOctets->octet3) << 8) |
+		std::stoi(smoIpOctets->octet4);
+
+	// Apply subnet mask to get network prefix
+	uint32_t networkPrefix = smoIpAddr & subnetMask;
+
+	// Extract octets from network prefix
+	uint8_t octet1 = (networkPrefix >> 24) & 0xFF;
+	uint8_t octet2 = (networkPrefix >> 16) & 0xFF;
+	uint8_t octet3 = (networkPrefix >> 8) & 0xFF;
+
+	// Use the first three octets and append "1" + last two digits
+	return std::to_string(octet1) + "." + std::to_string(octet2) + "." +
+		std::to_string(octet3) + ".1" + lastTwoDigits;
+}
+
+void Device::startHeartbeat()
+{
+	if (!componentThread || discoveredDevice.ipAddr.empty()) {
+		return; // Can't start heartbeat without component thread or IP
+	}
+
+	// Create heartbeat socket using the component thread's io_service
+	heartbeatSocket = std::make_unique<boost::asio::ip::udp::socket>(
+		componentThread->getIoService());
+	heartbeatSocket->open(boost::asio::ip::udp::v4());
+
+	// Create heartbeat timer
+	heartbeatTimer = std::make_unique<boost::asio::deadline_timer>(
+		componentThread->getIoService());
+
+	heartbeatActive.store(true);
+
+	// Send first heartbeat immediately
+	sendHeartbeat();
+}
+
+void Device::sendHeartbeat()
+{
+	if (!heartbeatActive.load() || !heartbeatSocket
+		|| discoveredDevice.ipAddr.empty())
+	{
+		return;
+	}
+
+	try {
+		// Create heartbeat message using the new HeartbeatMessage type
+		comms::HeartbeatMessage heartbeatMsg;
+
+		heartbeatMsg.swapContentsToProtocolEndianness();
+		heartbeatMsg.header.setCrc16FromRawBytes();
+		heartbeatMsg.header.swapCrc16ToProtocolEndianness();
+		heartbeatMsg.footer.crc_32 = heartbeatMsg.calculateCrc32();
+		heartbeatMsg.footer.swapCrc32ToProtocolEndianness();
+		// Send the heartbeat packet
+		boost::asio::ip::udp::endpoint deviceEndpoint(
+			boost::asio::ip::address::from_string(discoveredDevice.ipAddr), cmdPort);
+
+		heartbeatSocket->send_to(
+			boost::asio::buffer(&heartbeatMsg, sizeof(heartbeatMsg)),
+			deviceEndpoint);
+
+		// Schedule next heartbeat in 1 second
+		heartbeatTimer->expires_from_now(boost::posix_time::seconds(1));
+		heartbeatTimer->async_wait(
+			[this](const boost::system::error_code& error) {
+				onHeartbeatTimer(error);
+			}
+		);
+	}
+	catch (const std::exception& e)
+	{
+		heartbeatActive.store(false);
+		std::cerr << "[" << __func__ << "] Heartbeat send failed for device "
+			<< discoveredDevice.deviceIdentifier
+			<< ": " << e.what() << std::endl;
+	}
+}
+
+void Device::onHeartbeatTimer(const boost::system::error_code& error)
+{
+	// Timer was cancelled, heartbeat stopped
+	if (error == boost::asio::error::operation_aborted) {
+		return;
+	}
+
+	if (error)
+	{
+		heartbeatActive.store(false);
+		std::cerr << "[" << __func__ << "] Heartbeat timer error for device "
+			<< discoveredDevice.deviceIdentifier
+			<< ": " << error.message() << std::endl;
+		return;
+	}
+
+	// Send next heartbeat
+	sendHeartbeat();
+}
+
+uint32_t Device::getSubnetMaskFor(uint8_t nbits)
+{
+	if (nbits > 32) {
+		throw std::invalid_argument(
+			std::string(__func__) + ": nbits must be between 0 and 32");
+	}
+
+	// Generate subnet mask: set the first nbits to 1, rest to 0
+	if (nbits == 0) {
+		return 0x00000000;
+	} else if (nbits == 32) {
+		return 0xFFFFFFFF;
+	} else {
+		// Create mask with nbits set to 1 from the left
+		return (0xFFFFFFFF << (32 - nbits));
+	}
+}
+
+std::optional<std::string> Device::detectSmoIp()
+{
+	try {
+		// Parse the smoIp to get the network prefix
+		auto smoIpOctets = comms::parseIPv4Address(smoIp);
+		if (!smoIpOctets.has_value()) {
+			return std::nullopt;
+		}
+
+		// Convert smoIp octets to integers for bitwise operations
+		uint32_t smoIpAddr = (std::stoi(smoIpOctets->octet1) << 24) |
+			(std::stoi(smoIpOctets->octet2) << 16) |
+			(std::stoi(smoIpOctets->octet3) << 8) |
+			std::stoi(smoIpOctets->octet4);
+
+		// Generate subnet mask based on nbits
+		uint32_t subnetMask = getSubnetMaskFor(smoSubnetNbits);
+
+		// Get all network interfaces using getifaddrs (Linux/Unix specific)
+		// TODO: Add Windows support using GetAdaptersAddresses when porting
+		struct ifaddrs *ifaddr;
+		if (getifaddrs(&ifaddr) == -1) {
+			return std::nullopt;
+		}
+
+		// Use unique_ptr for automatic cleanup (RAII)
+		// This ensures freeifaddrs is called even if we break out of the loop or throw an exception
+		auto ifaddr_deleter = [](struct ifaddrs* ptr) { freeifaddrs(ptr); };
+		std::unique_ptr<struct ifaddrs, decltype(ifaddr_deleter)> ifaddr_ptr(
+			ifaddr, ifaddr_deleter);
+
+		std::string found_ip;
+
+		// Iterate through all network interfaces
+		for (struct ifaddrs *ifa = ifaddr; ifa != nullptr; ifa = ifa->ifa_next)
+		{
+			if (ifa->ifa_addr == nullptr) continue;
+
+			// Check if it's IPv4
+			if (ifa->ifa_addr->sa_family != AF_INET) { continue; }
+
+			// Get the IPv4 address
+			struct sockaddr_in* addr_in = (struct sockaddr_in*)ifa->ifa_addr;
+			char ip_str[INET_ADDRSTRLEN];
+			if (inet_ntop(
+				AF_INET, &addr_in->sin_addr, ip_str, INET_ADDRSTRLEN)
+					== nullptr)
+			{
+				continue;
+			}
+
+			std::string ip = ip_str;
+
+			// Check if this IP is in the same subnet
+			auto ipOctets = comms::parseIPv4Address(ip);
+			if (!ipOctets.has_value()) { continue; }
+
+			// Convert IP octets to integer
+			uint32_t ipAddr = (std::stoi(ipOctets->octet1) << 24) |
+				(std::stoi(ipOctets->octet2) << 16) |
+				(std::stoi(ipOctets->octet3) << 8) |
+				std::stoi(ipOctets->octet4);
+
+			// Check if IP matches the subnet using the calculated mask
+			// Only compare the bits that are set in the subnet mask
+			if ((ipAddr & subnetMask) == (smoIpAddr & subnetMask)) {
+				found_ip = ip;
+				break; // Exit loop, let unique_ptr handle cleanup
+			}
+		}
+
+		// Return the found IP (empty string if none found)
+		if (!found_ip.empty()) {
+			return found_ip;
+		}
+
+		return std::nullopt;
+	} catch (const std::exception& e) {
+		std::cerr << "Error detecting SMO IP: " << e.what() << std::endl;
+		return std::nullopt;
+	}
+}
+
+std::string Device::getSmoIp()
+{
+	// If smo-ip was provided, return it
+	if (!smoIp.empty()) {
+		return smoIp;
+	}
+
+	// Otherwise, try to detect it
+	auto detectedIp = detectSmoIp();
+	if (detectedIp.has_value()) {
+		return detectedIp.value();
+	}
+
+	// If detection failed, throw an exception
+	throw std::runtime_error(
+		std::string(__func__) + ": Failed to detect SMO IP address for smoIp "
+		+ smoIp + " with subnet mask /" + std::to_string(smoSubnetNbits));
+}
+
+} // namespace livoxProto1

commonLibs/livoxProto1/device.h

@@ -0,0 +1,103 @@
+#ifndef LIVOX_PROTO1_DEVICE_H
+#define LIVOX_PROTO1_DEVICE_H
+
+#include <string>
+#include <cstdint>
+#include <memory>
+#include <atomic>
+#include <optional>
+#include <boost/asio.hpp>
+#include "protocol.h"
+
+// Forward declaration
+namespace smo {
+	class ComponentThread;
+}
+
+namespace livoxProto1 {
+namespace comms {
+
+/**		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 comms::deviceIdentifiersEqual(
+			deviceIdentifier, other.deviceIdentifier);
+	}
+
+	std::string stringify(void) const;
+	std::string getDeviceTypeName(void) const;
+
+public:
+	std::string deviceIdentifier;
+	DeviceType deviceType;
+	std::string ipAddr;
+};
+
+} // namespace comms
+
+class Device
+{
+public:
+	Device(const std::string &deviceIdentifier,
+		const std::shared_ptr<smo::ComponentThread>& componentThread,
+		int handshakeTimeoutMs, int retryDelayMs,
+		const std::string& smoIp, uint8_t smoSubnetNbits,
+		uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort);
+	~Device();
+
+public:
+	comms::DiscoveredDevice discoveredDevice;
+
+	// Configuration
+	std::shared_ptr<smo::ComponentThread> componentThread;
+	int handshakeTimeoutMs, retryDelayMs;
+	std::string smoIp;
+	uint8_t smoSubnetNbits;
+	uint16_t dataPort, cmdPort, imuPort;
+
+private:
+	// Connection logic
+	void connect();
+	bool connectToKnownDevice();
+	bool connectByDeviceIdentifier();
+	bool executeHandshake(
+		const std::string& deviceIP, int timeoutMs,
+		uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort);
+	std::string generateClientDeviceIpFromSerialNumber(
+		const std::string& broadcastCode);
+
+	// IP detection methods
+	std::optional<std::string> detectSmoIp();
+	std::string getSmoIp();
+	uint32_t getSubnetMaskFor(uint8_t nbits);
+
+	// Heartbeat mechanism
+	void startHeartbeat();
+	void sendHeartbeat();
+	void onHeartbeatTimer(const boost::system::error_code& error);
+
+	// Heartbeat state
+	std::unique_ptr<boost::asio::deadline_timer> heartbeatTimer;
+	std::unique_ptr<boost::asio::ip::udp::socket> heartbeatSocket;
+	std::atomic<bool> heartbeatActive;
+};
+
+} // namespace livoxProto1
+
+#endif // LIVOX_PROTO1_DEVICE_H

commonLibs/livoxProto1/livoxProto1.cpp

@@ -1,14 +1,37 @@
-#include <user/senseApiDesc.h>
+#include <stdexcept>
 #include "livoxProto1.h"
-#include "livoxProto1Core.h"
+#include "device.h"
+#include "core.h"
+
 
 extern "C" {
 
-livoxProto1_mainFn livoxProto1_main;
-livoxProto1_exitFn livoxProto1_exit;
+std::shared_ptr<livoxProto1::Device> livoxProto1_getOrCreateDevice(
+	const std::string& deviceIdentifier,
+	const std::shared_ptr<smo::ComponentThread>& componentThread,
+	int handshakeTimeoutMs, int retryDelayMs,
+	const std::string& smoIp, uint8_t smoSubnetNbits,
+	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort
+)
+{
+	// Get the global DeviceManager instance
+	auto& protoState = livoxProto1::getProtoState();
+	if (!protoState.deviceManager)
+	{
+		throw std::runtime_error(
+			std::string(__func__) + ": LivoxProto1 not initialized - call "
+			"livoxProto1_main first");
+	}
 
-void livoxProto1_main(
-	const std::shared_ptr<smo::ComponentThread> &componentThread)
+	// Delegate to DeviceManager
+	return protoState.deviceManager->getOrCreateDevice(
+		deviceIdentifier, componentThread,
+		handshakeTimeoutMs, retryDelayMs,
+		smoIp, smoSubnetNbits,
+		dataPort, cmdPort, imuPort);
+}
+
+void livoxProto1_main(const std::shared_ptr<smo::ComponentThread>& componentThread)
 {
 	livoxProto1::main(componentThread);
 }

commonLibs/livoxProto1/livoxProto1.h

@@ -1,25 +1,61 @@
-#ifndef LIVOX_PROTO1_API_H
-#define LIVOX_PROTO1_API_H
+#ifndef LIVOXPROTO1_H
+#define LIVOXPROTO1_H
 
-#include <string>
-#include <vector>
 #include <memory>
-#include <map>
-#include "livoxProto1Core.h"
-#include "livoxProto1Device.h"
+#include <string>
+#include <cstdint>
+
+// Forward declarations
+namespace smo {
+	class ComponentThread;
+}
 
 namespace livoxProto1 {
+	class Device;
+}
 
-} // namespace livoxProto1
-
+#ifdef __cplusplus
 extern "C" {
-	typedef void (livoxProto1_mainFn)(
-		const std::shared_ptr<smo::ComponentThread> &componentThread);
-	typedef void (livoxProto1_exitFn)(void);
+#endif
 
-	void livoxProto1_main(
-		const std::shared_ptr<smo::ComponentThread> &componentThread);
-	void livoxProto1_exit(void);
-} // extern "C"
+/**
+ * Initialize the Livox protocol library
+ * @param componentThread Component thread shared pointer
+ */
+typedef void livoxProto1_mainFn(
+	const std::shared_ptr<smo::ComponentThread>& componentThread);
 
-#endif // LIVOX_PROTO1_API_H
+/**
+ * Cleanup the Livox protocol library
+ */
+typedef void livoxProto1_exitFn(void);
+
+/**
+ * Create a new Livox device connection
+ * @param deviceIdentifier The device identifier (broadcast code)
+ * @param componentThread Component thread for async operations
+ * @param handshakeTimeoutMs Handshake timeout in milliseconds (default: 1000)
+ * @param retryDelayMs Retry delay in milliseconds (default: 3000)
+ * @param smoIp SMO IP address (empty string for auto-detection)
+ * @param smoSubnetNbits SMO subnet mask bits (e.g., 24 for /24, 16 for /16)
+ * @param dataPort Data port for point cloud (default: 56000)
+ * @param cmdPort Command port (default: 56001)
+ * @param imuPort IMU port (default: 56002)
+ * @return Device pointer on success, nullptr on failure
+ */
+typedef std::shared_ptr<livoxProto1::Device> livoxProto1_getOrCreateDeviceFn(
+	const std::string& deviceIdentifier,
+	const std::shared_ptr<smo::ComponentThread>& componentThread,
+	int handshakeTimeoutMs, int retryDelayMs,
+	const std::string& smoIp, uint8_t smoSubnetNbits,
+	uint16_t dataPort,  uint16_t cmdPort, uint16_t imuPort);
+
+livoxProto1_mainFn livoxProto1_main;
+livoxProto1_exitFn livoxProto1_exit;
+livoxProto1_getOrCreateDeviceFn livoxProto1_getOrCreateDevice;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // LIVOXPROTO1_H

commonLibs/livoxProto1/livoxProto1Core.cpp

@@ -1,67 +0,0 @@
-#include <user/senseApiDesc.h>
-#include "livoxProto1Protocol.h"
-#include "livoxProto1Core.h"
-
-namespace livoxProto1 {
-
-struct ProtoState
-{
-		bool isInitialized = false;
-		std::shared_ptr<smo::ComponentThread> componentThread;
-		std::unique_ptr<DeviceManager> deviceManager;
-};
-
-static ProtoState protoState =
-{
-	.isInitialized = false,
-	.componentThread = nullptr,
-	.deviceManager = nullptr
-};
-
-DeviceManager::DeviceManager()
-: broadcastListener(protoState.componentThread)
-{
-	broadcastListener.setDeviceGoneAwayCb(deviceGoneAwayInd);
-}
-
-void DeviceManager::deviceGoneAwayInd(const comms::DiscoveredDevice &device)
-{
-	std::cout << "Device gone away: " << device.stringify() << std::endl;
-	auto it = std::find_if(
-		protoState.deviceManager->devices.begin(),
-		protoState.deviceManager->devices.end(),
-		[&device](const Device &d) {
-			return d.discoveredDevice == device;
-		}
-	);
-
-	if (it != protoState.deviceManager->devices.end()) {
-		protoState.deviceManager->devices.erase(it);
-	}
-}
-
-void main(const std::shared_ptr<smo::ComponentThread> &componentThread)
-{
-	if (protoState.isInitialized) {
-		return;
-	}
-
-	protoState.isInitialized = true;
-	protoState.componentThread = componentThread;
-	protoState.deviceManager = std::make_unique<DeviceManager>();
-	protoState.deviceManager->broadcastListener.start();
-}
-
-void exit(void)
-{
-	if (!protoState.isInitialized) {
-		return;
-	}
-
-	protoState.deviceManager->broadcastListener.stop();
-	protoState.deviceManager.reset();
-	protoState.isInitialized = false;
-	protoState.componentThread = nullptr;
-}
-
-} // namespace livoxProto1

commonLibs/livoxProto1/livoxProto1Core.h

@@ -1,30 +0,0 @@
-#ifndef LIVOXPROTO1_CORE_H
-#define LIVOXPROTO1_CORE_H
-
-#include <vector>
-#include <string>
-#include <memory>
-#include "livoxProto1Device.h"
-#include "broadcastListener.h"
-
-namespace livoxProto1 {
-
-class DeviceManager
-{
-public:
-	DeviceManager();
-	~DeviceManager() = default;
-
-	static void deviceGoneAwayInd(const comms::DiscoveredDevice &device);
-
-public:
-	std::vector<Device> devices;
-	comms::BroadcastListener broadcastListener;
-};
-
-void main(const std::shared_ptr<smo::ComponentThread> &componentThread);
-void exit(void);
-
-} // namespace livoxProto1
-
-#endif // LIVOXPROTO1_CORE_H

commonLibs/livoxProto1/livoxProto1Device.cpp

@@ -1,61 +0,0 @@
-#include <sstream>
-#include "livoxProto1Device.h"
-
-namespace livoxProto1 {
-namespace comms {
-
-// DiscoveredDevice constructors
-DiscoveredDevice::DiscoveredDevice(
-	const std::string &deviceIdentifier,
-	DeviceType deviceType,
-	const std::string &ipAddr)
-: deviceIdentifier(deviceIdentifier),
-  deviceType(deviceType),
-  ipAddr(ipAddr)
-{
-}
-
-DiscoveredDevice::DiscoveredDevice(
-	const BroadcastMessage &msg, const std::string &ipAddr
-)
-: DiscoveredDevice(
-	reinterpret_cast<const char*>(msg.broadcast_code),
-	static_cast<DeviceType>(msg.dev_type),
-	ipAddr)
-{
-}
-
-std::string DiscoveredDevice::stringify(void) const
-{
-	std::ostringstream oss;
-	oss << "DiscoveredDevice{"
-		<< "identifier='" << deviceIdentifier << "', "
-		<< "ipAddr='" << ipAddr << "', "
-		<< "deviceType=" << (int)deviceType << " (" << getDeviceTypeName() << ")"
-		<< "}";
-	return oss.str();
-}
-
-std::string DiscoveredDevice::getDeviceTypeName(void) const
-{
-	switch (deviceType)
-	{
-		case DeviceType::Hub: return "Hub";
-		case DeviceType::Mid40: return "Mid-40";
-		case DeviceType::Tele15: return "Tele-15";
-		case DeviceType::Horizon: return "Horizon";
-		case DeviceType::Mid70: return "Mid-70";
-		case DeviceType::Avia: return "Avia";
-		default: return "Unknown";
-	}
-}
-
-} // namespace comms
-
-// Device implementation
-Device::Device(const comms::DiscoveredDevice &discoveredDevice)
-: discoveredDevice(discoveredDevice)
-{
-}
-
-} // namespace livoxProto1

commonLibs/livoxProto1/livoxProto1Device.h

@@ -1,53 +0,0 @@
-#ifndef LIVOX_PROTO1_DEVICE_H
-#define LIVOX_PROTO1_DEVICE_H
-
-#include <string>
-#include "livoxProto1Protocol.h"
-
-namespace livoxProto1 {
-namespace comms {
-
-/**		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;
-};
-
-} // namespace comms
-
-class Device
-{
-public:
-	Device(const comms::DiscoveredDevice &discoveredDevice);
-	~Device() = default;
-
-public:
-	comms::DiscoveredDevice discoveredDevice;
-};
-
-} // namespace livoxProto1
-
-#endif // LIVOX_PROTO1_DEVICE_H

commonLibs/livoxProto1/livoxProto1Protocol.cpp

@@ -1,58 +0,0 @@
-#include <algorithm>
-#include <iostream>
-#include <iomanip>
-#include <cstring>
-#include "livoxProto1Protocol.h"
-
-namespace livoxProto1 {
-namespace comms {
-
-// Header methods
-void Header::swapToHostEndianness()
-{
-	if (endian::isLittleEndian()) { return; }
-	length = __builtin_bswap16(length);
-	seq_num = __builtin_bswap16(seq_num);
-	crc_16 = __builtin_bswap16(crc_16);
-}
-
-bool Header::sanityCheck() const
-{
-	return (sof == 0xAA) && (version == 1);
-}
-
-// Footer methods
-void Footer::swapToHostEndianness()
-{
-	if (endian::isLittleEndian()) { return; }
-	crc_32 = __builtin_bswap32(crc_32);
-}
-
-bool Footer::sanityCheck() const
-{
-	/**		FIXME:
-	 * Add CRC validation here.
-	 */
-	return true;
-}
-
-// BroadcastMessage methods
-void BroadcastMessage::swapToHostEndianness()
-{
-	if (endian::isLittleEndian()) { return; }
-	header.swapToHostEndianness();
-	reserved = __builtin_bswap16(reserved);
-	footer.swapToHostEndianness();
-}
-
-bool BroadcastMessage::sanityCheck() const
-{
-	return header.sanityCheck() &&
-		(cmd_set == 0x00) &&
-		(cmd_id == 0x00) &&
-		(header.cmd_type == 0x02) &&
-		footer.sanityCheck();
-}
-
-} // namespace comms
-} // namespace livoxProto1

commonLibs/livoxProto1/livoxProto1Protocol.h

@@ -1,87 +0,0 @@
-#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));
-
-} // namespace comms
-} // namespace livoxProto1
-
-#endif // LIVOXPROTO1_PROTOCOL_H

commonLibs/livoxProto1/protocol.cpp

@@ -0,0 +1,626 @@
+#include <algorithm>
+#include <iostream>
+#include <iomanip>
+#include <cstring>
+#include "protocol.h"
+
+namespace livoxProto1 {
+namespace comms {
+
+// Command methods
+void Command::swapToHostEndianness()
+{
+	// No multi-byte fields to swap
+}
+
+void Command::swapToProtocolEndianness()
+{
+	// No multi-byte fields to swap
+}
+
+bool Command::sanityCheck() const
+{
+	// Basic validation - can be extended for specific command sets
+	return true;
+}
+
+// Header methods
+void Header::swapToHostEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	length = __builtin_bswap16(length);
+	seq_num = __builtin_bswap16(seq_num);
+	crc_16 = __builtin_bswap16(crc_16);
+}
+
+void Header::swapToProtocolEndianness()
+{
+	// Protocol is little-endian, so if host is already little-endian, no swap needed
+	if (endian::isLittleEndian()) { return; }
+	// Host is big-endian, need to swap to little-endian
+	length = __builtin_bswap16(length);
+	seq_num = __builtin_bswap16(seq_num);
+	crc_16 = __builtin_bswap16(crc_16);
+}
+
+bool Header::sanityCheck() const
+{
+	return (sof == 0xAA) && (version == 1);
+}
+
+uint16_t Header::calculateCrc16() const
+{
+	// Calculate CRC16 for the header excluding the crc_16 field itself
+	// This matches the Livox SDK approach: calculate over raw bytes excluding CRC16 field
+	const uint8_t* headerData = reinterpret_cast<const uint8_t*>(this);
+	size_t headerSize = sizeof(Header) - sizeof(crc_16); // Exclude CRC16 field
+
+	return comms::calculateCrc16(headerData, headerSize);
+}
+
+bool Header::validateCrc16() const
+{
+	// Calculate CRC16 for the header excluding the crc_16 field itself
+	uint16_t calculatedCrc = calculateCrc16();
+
+	// Debug output
+	std::cout << "CRC16 Debug: calculated=0x" << std::hex << calculatedCrc
+		<< ", received=0x" << crc_16 << std::dec << std::endl;
+
+	// Compare with the CRC in the header
+	return calculatedCrc == crc_16;
+}
+
+void Header::setCrc16FromRawBytes()
+{
+	// Calculate CRC16 on raw bytes and set it (after endianness swap)
+	crc_16 = calculateCrc16();
+}
+
+void Header::swapCrc16ToHostEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	crc_16 = __builtin_bswap16(crc_16);
+}
+
+void Header::swapCrc16ToProtocolEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	crc_16 = __builtin_bswap16(crc_16);
+}
+
+// Footer methods
+void Footer::swapToHostEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	crc_32 = __builtin_bswap32(crc_32);
+}
+
+void Footer::swapToProtocolEndianness()
+{
+	// Protocol is little-endian, so if host is already little-endian, no swap needed
+	if (endian::isLittleEndian()) { return; }
+	// Host is big-endian, need to swap to little-endian
+	crc_32 = __builtin_bswap32(crc_32);
+}
+
+void Footer::swapCrc32ToHostEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	crc_32 = __builtin_bswap32(crc_32);
+}
+
+void Footer::swapCrc32ToProtocolEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	crc_32 = __builtin_bswap32(crc_32);
+}
+
+bool Footer::validateCrc32() const
+{
+	// This method should validate the CRC32 against the message content
+	// For now, we'll return true since the validation is done on raw bytes
+	// before struct construction in the receiving flow
+	return true;
+}
+
+bool Footer::sanityCheck() const
+{
+	/**		FIXME:
+	 * Add CRC validation here.
+	 */
+	return true;
+}
+
+// BroadcastMessage methods
+void BroadcastMessage::swapContentsToHostEndianness()
+{
+	if (endian::isLittleEndian()) { return; }
+	// Only swap content fields, not CRC fields
+	header.swapToHostEndianness();
+	command.swapToHostEndianness();
+	reserved = __builtin_bswap16(reserved);
+	// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
+}
+
+
+bool BroadcastMessage::sanityCheck() const
+{
+	return header.sanityCheck() &&
+		command.sanityCheck() &&
+		(command.cmd_set == 0x00) &&
+		(command.cmd_id == 0x00) &&
+		(header.cmd_type == 0x02) &&
+		footer.sanityCheck();
+}
+
+bool BroadcastMessage::validateCrc32() const
+{
+	// Calculate CRC32 for the entire message excluding the footer.crc_32 field
+	// Try calculating on the raw bytes of the entire message (excluding CRC field)
+	uint32_t calculatedCrc = 0xFFFFFFFF;
+
+	// Calculate CRC32 over the entire message except the CRC field itself
+	// The message structure is: header + command + broadcast_code + dev_type + reserved + footer(without crc_32)
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(BroadcastMessage) - sizeof(footer.crc_32);
+
+	calculatedCrc = comms::calculateCrc32(messageData, messageSize);
+
+	// Debug output
+	std::cout << "BroadcastMessage CRC32 Debug: calculated=0x" << std::hex << calculatedCrc 
+		<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
+
+		// Compare with the CRC in the footer
+	return calculatedCrc == footer.crc_32;
+}
+
+// HandshakeRequest methods
+HandshakeRequest::HandshakeRequest(
+	const std::string& hostIP,
+	uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort
+	)
+{
+	// Initialize header
+	header.sof = 0xAA;
+	header.version = 1;
+	header.length = sizeof(HandshakeRequest);
+	header.cmd_type = 0x00;  // CMD (request)
+	header.seq_num = 1;      // Sequence number
+	header.crc_16 = 0;       // Will be calculated later
+
+	// Initialize command
+	command.cmd_set = 0x00;  // General Command Set
+	command.cmd_id = 0x01;   // Handshake Command
+
+	// Parse host IP address
+	std::istringstream iss(hostIP);
+	std::string token;
+	int i = 0;
+	while (std::getline(iss, token, '.') && i < 4)
+	{
+		user_ip[i] = static_cast<uint8_t>(std::stoi(token));
+		i++;
+	}
+
+	// Set ports
+	this->data_port = dataPort;
+	this->cmd_port = cmdPort;
+	this->imu_port = imuPort;
+
+	// Initialize footer
+	footer.crc_32 = 0;  // Will be calculated later
+	// Note: CRC16 will be calculated before sending (in swapToProtocolEndianness)
+}
+
+uint32_t HandshakeRequest::calculateCrc32() const
+{
+	// Calculate CRC32 for the entire message excluding the footer.crc_32 field
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(HandshakeRequest) - sizeof(footer.crc_32);
+
+	return comms::calculateCrc32(messageData, messageSize);
+}
+
+
+void HandshakeRequest::swapContentsToProtocolEndianness()
+{
+	// Protocol uses little-endian, so on little-endian machines, no swap needed
+	if (endian::isLittleEndian()) { return; }
+
+	// On big-endian machines, swap to little-endian for wire transmission
+	// Only swap content fields, not CRC fields
+	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
+}
+
+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()
+{
+	if (endian::isLittleEndian()) { return; }
+	// Only swap content fields, not CRC fields
+	header.swapToHostEndianness();
+	command.swapToHostEndianness();
+	// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
+}
+
+
+bool HandshakeResponse::sanityCheck() const
+{
+	return header.sanityCheck() &&
+		command.sanityCheck() &&
+		(command.cmd_set == 0x00) && (command.cmd_id == 0x01) &&
+		footer.sanityCheck();
+}
+
+bool HandshakeResponse::validateCrc32() const
+{
+	// Calculate CRC32 for the entire message excluding the footer.crc_32 field
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(HandshakeResponse) - sizeof(footer.crc_32);
+	uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
+
+	// Debug output
+	std::cout << "HandshakeResponse CRC32 Debug: calculated=0x" << std::hex << calculatedCrc
+		<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
+
+	// Compare with the CRC in the footer
+	return calculatedCrc == footer.crc_32;
+}
+
+// Standalone CRC16 calculation utility
+uint16_t calculateCrc16(const uint8_t* data, size_t length)
+{
+	/**		EXPLANATION:
+	 * Livox SDK CRC16 implementation (exact copy from FastCRC library)
+	 * This matches the exact implementation used by Livox devices
+	 */
+	static const uint16_t crc_table_mcrf4xx[1024] = {
+		0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
+		0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
+		0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
+		0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
+		0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
+		0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
+		0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
+		0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
+		0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
+		0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
+		0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
+		0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
+		0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
+		0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
+		0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
+		0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
+		0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
+		0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
+		0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
+		0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
+		0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
+		0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
+		0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
+		0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
+		0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
+		0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
+		0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
+		0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
+		0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
+		0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
+		0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
+		0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78,
+		0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
+		0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
+		0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
+		0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
+		0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
+		0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
+		0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
+		0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
+		0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
+		0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
+		0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
+		0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
+		0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
+		0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
+		0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
+		0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
+		0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
+		0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
+		0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
+		0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
+		0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
+		0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
+		0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
+		0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
+		0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
+		0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
+		0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
+		0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
+		0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
+		0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
+		0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
+		0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78,
+		0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
+		0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
+		0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
+		0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
+		0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
+		0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
+		0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
+		0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
+		0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
+		0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
+		0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
+		0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
+		0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
+		0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
+		0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
+		0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
+		0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
+		0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
+		0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
+		0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
+		0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
+		0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
+		0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
+		0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
+		0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
+		0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
+		0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
+		0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
+		0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
+		0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
+		0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
+		0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78,
+		0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
+		0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
+		0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
+		0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
+		0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
+		0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
+		0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
+		0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
+		0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
+		0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
+		0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
+		0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
+		0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
+		0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
+		0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
+		0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
+		0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
+		0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
+		0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
+		0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
+		0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
+		0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
+		0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
+		0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
+		0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
+		0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
+		0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
+		0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
+		0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
+		0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
+		0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
+		0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78
+	};
+
+	// Livox SDK seed
+	uint16_t crc = LIVOX_CRC16_SEED;
+
+	// Simple implementation for now - can be optimized later
+	for (size_t i = 0; i < length; ++i) {
+		crc = (crc >> 8) ^ crc_table_mcrf4xx[(crc & 0xff) ^ data[i]];
+	}
+
+	return crc;
+}
+
+// Standalone CRC32 calculation utility
+uint32_t calculateCrc32(const uint8_t* data, size_t length)
+{
+	/**		EXPLANATION:
+	 * Livox SDK CRC32 implementation (exact copy from FastCRC library)
+	 * This matches the exact implementation used by Livox devices
+	 */
+	static const uint32_t crc_table_crc32[256] = {
+		0x00000000, 0x77073096, 0xee0e612c, 0x990951ba,
+		0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3,
+		0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988,
+		0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91,
+		0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de,
+		0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7,
+		0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec,
+		0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5,
+		0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172,
+		0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b,
+		0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940,
+		0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59,
+		0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116,
+		0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f,
+		0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924,
+		0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d,
+		0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a,
+		0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433,
+		0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818,
+		0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01,
+		0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e,
+		0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457,
+		0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c,
+		0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65,
+		0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2,
+		0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb,
+		0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0,
+		0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9,
+		0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086,
+		0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f,
+		0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4,
+		0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad,
+		0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a,
+		0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683,
+		0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8,
+		0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1,
+		0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe,
+		0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7,
+		0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc,
+		0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5,
+		0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252,
+		0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b,
+		0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60,
+		0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79,
+		0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236,
+		0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f,
+		0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04,
+		0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d,
+		0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a,
+		0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713,
+		0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38,
+		0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21,
+		0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e,
+		0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777,
+		0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c,
+		0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45,
+		0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2,
+		0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db,
+		0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0,
+		0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9,
+		0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6,
+		0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf,
+		0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94,
+		0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d
+	};
+
+	// Livox SDK seed XORed with 0xffffffff
+	uint32_t crc = LIVOX_CRC32_SEED ^ 0xffffffff;
+
+	for (size_t i = 0; i < length; ++i) {
+		crc = (crc >> 8) ^ crc_table_crc32[(crc & 0xff) ^ data[i]];
+	}
+
+	return crc ^ 0xffffffff;
+}
+
+// IP address parsing utility
+std::optional<IPOctets> parseIPv4Address(const std::string& ipAddress)
+{
+	IPOctets result;
+
+	std::istringstream iss(ipAddress);
+	if (std::getline(iss, result.octet1, '.') &&
+		std::getline(iss, result.octet2, '.') &&
+		std::getline(iss, result.octet3, '.') &&
+		std::getline(iss, result.octet4, '.'))
+	{
+		return result;
+	}
+
+	return std::nullopt;
+}
+
+// HeartbeatMessage methods
+HeartbeatMessage::HeartbeatMessage()
+{
+	// Initialize header
+	header.sof = 0xAA;
+	header.version = 0x01;
+	header.length = sizeof(Header) + sizeof(Command) + sizeof(Footer);
+	header.cmd_type = 0x00; // kCommandTypeCmd
+	header.seq_num = 0x0001; // Simple sequence number
+	header.crc_16 = 0; // Will be calculated
+
+	// Initialize command
+	command.cmd_set = 0x00; // kCommandSetGeneral
+	command.cmd_id = 0x03;  // kCommandIDGeneralHeartbeat
+
+	// Initialize footer
+	footer.crc_32 = 0; // Will be calculated
+	// Note: CRC16 will be calculated before sending (in swapToProtocolEndianness)
+}
+
+uint32_t HeartbeatMessage::calculateCrc32() const
+{
+	// Calculate CRC32 for the entire message excluding the footer.crc_32 field
+	const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
+	size_t messageSize = sizeof(HeartbeatMessage) - sizeof(footer.crc_32);
+
+	return comms::calculateCrc32(messageData, messageSize);
+}
+
+
+void HeartbeatMessage::swapContentsToProtocolEndianness()
+{
+	// Protocol is little-endian, so if host is already little-endian, no swap needed
+	if (endian::isLittleEndian()) {
+		return;
+	}
+
+	// Host is big-endian, need to swap to little-endian
+	// Only swap content fields, not CRC fields
+	header.swapToProtocolEndianness();
+	command.swapToProtocolEndianness();
+	// 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();
+
+	// Debug output
+	std::cout << "HeartbeatMessage CRC32 Debug: calculated=0x" << std::hex << calculatedCrc
+		<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
+
+	// Compare with the CRC in the footer
+	return calculatedCrc == footer.crc_32;
+}
+
+} // namespace comms
+} // namespace livoxProto1

commonLibs/livoxProto1/protocol.h

@@ -0,0 +1,232 @@
+#ifndef LIVOXPROTO1_PROTOCOL_H
+#define LIVOXPROTO1_PROTOCOL_H
+
+#include <vector>
+#include <string>
+#include <memory>
+#include <sstream>
+#include <atomic>
+#include <cstdint>
+#include <boost/asio/ip/address_v4.hpp>
+#include <user/senseApiDesc.h>
+
+namespace livoxProto1 {
+namespace comms {
+
+// Livox SDK CRC constants
+constexpr uint16_t LIVOX_CRC16_SEED = 0x4c49;
+constexpr uint32_t LIVOX_CRC32_SEED = 0x564f580a;
+
+// Endianness detection
+namespace endian {
+	inline bool isLittleEndian() {
+		union {
+			uint32_t i;
+			char c[4];
+		} test = {0x01020304};
+		return test.c[0] == 4;
+	}
+}
+
+// IPv4 address validation
+inline bool isValidIPv4(const std::string& ipAddress) {
+	boost::system::error_code ec;
+	boost::asio::ip::address_v4::from_string(ipAddress, ec);
+	return !ec;
+}
+
+// CRC calculation utilities
+uint16_t calculateCrc16(
+	const uint8_t* data, size_t length);
+uint32_t calculateCrc32(
+	const uint8_t* data, size_t length);
+
+// IP address parsing utility
+struct IPOctets {
+	std::string octet1, octet2, octet3, octet4;
+};
+
+std::optional<IPOctets> parseIPv4Address(const std::string& ipAddress);
+
+// Device identifier comparison
+inline bool deviceIdentifiersEqual(
+	const std::string& id1, const std::string& id2
+	)
+{
+	// Use pointers to avoid unnecessary string copies
+	const std::string* serial1_ptr;
+	const std::string* serial2_ptr;
+
+	// Local copies only needed for 15-character broadcast codes
+	std::string serial1_copy, serial2_copy;
+
+	// Determine if id1 is serial (14 chars) or broadcast code (15 chars)
+	if (id1.length() == 14) {
+		serial1_ptr = &id1; // No copy needed, use original string
+	} else if (id1.length() == 15) {
+		serial1_copy = id1.substr(0, 14); // Copy only when necessary
+		serial1_ptr = &serial1_copy;
+	} else {
+		return false; // Invalid length
+	}
+
+	// Determine if id2 is serial (14 chars) or broadcast code (15 chars)
+	if (id2.length() == 14) {
+		serial2_ptr = &id2; // No copy needed, use original string
+	} else if (id2.length() == 15) {
+		serial2_copy = id2.substr(0, 14); // Copy only when necessary
+		serial2_ptr = &serial2_copy;
+	} else {
+		return false; // Invalid length
+	}
+
+	// Compare the serial numbers using pointers
+	return *serial1_ptr == *serial2_ptr;
+}
+
+/**		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();
+	void swapToProtocolEndianness();
+	void swapCrc16ToHostEndianness();
+	void swapCrc16ToProtocolEndianness();
+	bool sanityCheck() const;
+	uint16_t calculateCrc16() const;
+	bool validateCrc16() const;
+	void setCrc16FromRawBytes();
+} __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();
+	void swapToProtocolEndianness();
+	void swapCrc32ToHostEndianness();
+	void swapCrc32ToProtocolEndianness();
+	bool validateCrc32() const;
+	bool sanityCheck() const;
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Command identification structure used in all Livox protocol messages.
+ * Contains the command set and command ID fields.
+ */
+struct Command
+{
+	uint8_t cmd_set;		// 0: Command Set (0x00 = General, etc.)
+	uint8_t cmd_id;		// 1: Command ID (0x00 = Broadcast, 0x01 = Handshake, etc.)
+
+	void swapToHostEndianness();
+	void swapToProtocolEndianness();
+	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
+	Command command;       // 9-10: Command identification
+	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 swapContentsToHostEndianness();
+	bool sanityCheck() const;
+	bool validateCrc32() const;
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Complete handshake request frame for connecting to Livox devices.
+ * This is the complete wire format including header, command fields, data, and footer.
+ */
+struct HandshakeRequest
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	uint8_t user_ip[4];		// 11-14: Host IP Address (little-endian)
+	uint16_t data_port;		// 15-16: Host Point Cloud Data UDP Destination Port (little-endian)
+	uint16_t cmd_port;		// 17-18: Host Control Command UDP Destination Port (little-endian)
+	uint16_t imu_port;		// 19-20: Host IMU UDP Destination Port (little-endian)
+	Footer footer;			// 21-24: Protocol frame footer
+
+	HandshakeRequest(
+		const std::string& hostIP,
+		uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort);
+
+	// Calculate CRC32 for the entire message
+	uint32_t calculateCrc32() const;
+	void swapContentsToProtocolEndianness();
+	void swapContentsToHostEndianness();
+	bool sanityCheck() const;
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Complete handshake response frame from Livox devices.
+ * This is the complete wire format including header, command fields, data, and footer.
+ */
+struct HandshakeResponse
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	uint8_t ret_code;		// 11: Return Code (0x00 = Success, 0x01 = Fail)
+	Footer footer;			// 12-15: Protocol frame footer
+
+	void swapContentsToHostEndianness();
+	bool sanityCheck() const;
+	bool validateCrc32() const;
+} __attribute__((packed));
+
+/**		EXPLANATION:
+ * Complete heartbeat command frame for maintaining connection with Livox devices.
+ * This is the complete wire format including header, command fields, and footer.
+ */
+struct HeartbeatMessage
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	Footer footer;			// 11-14: Protocol frame footer
+
+	HeartbeatMessage();
+	uint32_t calculateCrc32() const;
+	void swapContentsToProtocolEndianness();
+	void swapContentsToHostEndianness();
+	bool sanityCheck() const;
+	bool validateCrc32() const;
+} __attribute__((packed));
+
+} // namespace comms
+} // namespace livoxProto1
+
+#endif // LIVOXPROTO1_PROTOCOL_H