855 lines
30 KiB
C++
855 lines
30 KiB
C++
#include <algorithm>
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#include <iostream>
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#include <iomanip>
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#include <cstring>
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#include "protocol.h"
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namespace livoxProto1 {
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namespace comms {
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// Command methods
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void Command::swapToHostEndianness()
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{
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// No multi-byte fields to swap
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}
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void Command::swapToProtocolEndianness()
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{
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// No multi-byte fields to swap
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}
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bool Command::sanityCheck() const
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{
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// Basic validation - can be extended for specific command sets
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return true;
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}
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// Header methods
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void Header::swapToHostEndianness()
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{
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if (endian::isLittleEndian()) { return; }
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length = __builtin_bswap16(length);
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seq_num = __builtin_bswap16(seq_num);
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crc_16 = __builtin_bswap16(crc_16);
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}
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void Header::swapToProtocolEndianness()
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{
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// Protocol is little-endian, so if host is already little-endian, no swap needed
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if (endian::isLittleEndian()) { return; }
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// Host is big-endian, need to swap to little-endian
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length = __builtin_bswap16(length);
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seq_num = __builtin_bswap16(seq_num);
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crc_16 = __builtin_bswap16(crc_16);
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}
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bool Header::sanityCheck() const
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{
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return (sof == 0xAA) && (version == 1);
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}
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uint16_t Header::calculateCrc16() const
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{
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// Calculate CRC16 for the header excluding the crc_16 field itself
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// This matches the Livox SDK approach: calculate over raw bytes excluding CRC16 field
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const uint8_t* headerData = reinterpret_cast<const uint8_t*>(this);
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size_t headerSize = sizeof(Header) - sizeof(crc_16); // Exclude CRC16 field
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return comms::calculateCrc16(headerData, headerSize);
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}
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bool Header::validateCrc16() const
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{
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// Calculate CRC16 for the header excluding the crc_16 field itself
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uint16_t calculatedCrc = calculateCrc16();
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// Compare with the CRC in the header
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bool isValid = (calculatedCrc == crc_16);
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// Debug output only if validation fails
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if (!isValid) {
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std::cout << "CRC16 Debug: calculated=0x" << std::hex << calculatedCrc
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<< ", received=0x" << crc_16 << std::dec << std::endl;
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}
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return isValid;
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}
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void Header::setCrc16FromRawBytes()
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{
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// Calculate CRC16 on raw bytes and set it (after endianness swap)
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crc_16 = calculateCrc16();
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}
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void Header::swapCrc16ToHostEndianness()
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{
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if (endian::isLittleEndian()) { return; }
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crc_16 = __builtin_bswap16(crc_16);
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}
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void Header::swapCrc16ToProtocolEndianness()
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{
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if (endian::isLittleEndian()) { return; }
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crc_16 = __builtin_bswap16(crc_16);
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}
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// Footer methods
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void Footer::swapToHostEndianness()
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{
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if (endian::isLittleEndian()) { return; }
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crc_32 = __builtin_bswap32(crc_32);
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}
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void Footer::swapToProtocolEndianness()
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{
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// Protocol is little-endian, so if host is already little-endian, no swap needed
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if (endian::isLittleEndian()) { return; }
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// Host is big-endian, need to swap to little-endian
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crc_32 = __builtin_bswap32(crc_32);
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}
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void Footer::swapCrc32ToHostEndianness()
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{
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if (endian::isLittleEndian()) { return; }
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crc_32 = __builtin_bswap32(crc_32);
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}
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void Footer::swapCrc32ToProtocolEndianness()
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{
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if (endian::isLittleEndian()) { return; }
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crc_32 = __builtin_bswap32(crc_32);
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}
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bool Footer::validateCrc32() const
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{
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// This method should validate the CRC32 against the message content
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// For now, we'll return true since the validation is done on raw bytes
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// before struct construction in the receiving flow
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return true;
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}
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bool Footer::sanityCheck() const
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{
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/** FIXME:
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* Add CRC validation here.
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*/
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return true;
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}
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// BroadcastMessage methods
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void BroadcastMessage::swapContentsToHostEndianness()
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{
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if (endian::isLittleEndian()) { return; }
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// Only swap content fields, not CRC fields
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header.swapToHostEndianness();
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command.swapToHostEndianness();
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reserved = __builtin_bswap16(reserved);
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// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
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}
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bool BroadcastMessage::sanityCheck() const
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{
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return header.sanityCheck() &&
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command.sanityCheck() &&
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(command.cmd_set == 0x00) &&
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(command.cmd_id == 0x00) &&
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(header.cmd_type == 0x02) &&
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footer.sanityCheck();
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}
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bool BroadcastMessage::validateCrc32() const
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{
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// Calculate CRC32 for the entire message excluding the footer.crc_32 field
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// Try calculating on the raw bytes of the entire message (excluding CRC field)
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uint32_t calculatedCrc = 0xFFFFFFFF;
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// Calculate CRC32 over the entire message except the CRC field itself
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// The message structure is: header + command + broadcast_code + dev_type + reserved + footer(without crc_32)
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const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
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size_t messageSize = sizeof(BroadcastMessage) - sizeof(footer.crc_32);
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calculatedCrc = comms::calculateCrc32(messageData, messageSize);
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// Compare with the CRC in the footer
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bool isValid = (calculatedCrc == footer.crc_32);
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// Debug output only if validation fails
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if (!isValid) {
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std::cout << "BroadcastMessage CRC32 Debug: calculated=0x" << std::hex << calculatedCrc
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<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
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}
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return isValid;
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}
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// HandshakeRequest methods
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HandshakeRequest::HandshakeRequest(
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const std::string& hostIP,
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uint16_t dataPort, uint16_t cmdPort, uint16_t imuPort
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)
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{
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// Initialize header
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header.sof = 0xAA;
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header.version = 1;
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header.length = sizeof(HandshakeRequest);
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header.cmd_type = 0x00; // CMD (request)
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header.seq_num = 1; // Sequence number
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header.crc_16 = 0; // Will be calculated later
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// Initialize command
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command.cmd_set = 0x00; // General Command Set
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command.cmd_id = 0x01; // Handshake Command
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// Parse host IP address
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std::istringstream iss(hostIP);
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std::string token;
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int i = 0;
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while (std::getline(iss, token, '.') && i < 4)
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{
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user_ip[i] = static_cast<uint8_t>(std::stoi(token));
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i++;
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}
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// Set ports
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this->data_port = dataPort;
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this->cmd_port = cmdPort;
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this->imu_port = imuPort;
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// Initialize footer
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footer.crc_32 = 0; // Will be calculated later
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// Note: CRC16 will be calculated before sending (in swapToProtocolEndianness)
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}
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uint32_t HandshakeRequest::calculateCrc32() const
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{
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// Calculate CRC32 for the entire message excluding the footer.crc_32 field
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const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
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size_t messageSize = sizeof(HandshakeRequest) - sizeof(footer.crc_32);
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return comms::calculateCrc32(messageData, messageSize);
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}
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void HandshakeRequest::swapContentsToProtocolEndianness()
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{
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// Protocol uses little-endian, so on little-endian machines, no swap needed
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if (endian::isLittleEndian()) { return; }
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// On big-endian machines, swap to little-endian for wire transmission
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// Only swap content fields, not CRC fields
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header.swapToHostEndianness();
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command.swapToHostEndianness();
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data_port = __builtin_bswap16(data_port);
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cmd_port = __builtin_bswap16(cmd_port);
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imu_port = __builtin_bswap16(imu_port);
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// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
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}
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// HandshakeResponse methods
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void HandshakeResponse::swapContentsToHostEndianness()
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{
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if (endian::isLittleEndian()) { return; }
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// Only swap content fields, not CRC fields
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header.swapToHostEndianness();
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command.swapToHostEndianness();
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// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
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}
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bool HandshakeResponse::sanityCheck() const
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{
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return header.sanityCheck() &&
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command.sanityCheck() &&
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(command.cmd_set == 0x00) && (command.cmd_id == 0x01) &&
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footer.sanityCheck();
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}
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bool HandshakeResponse::validateCrc32() const
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{
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// Calculate CRC32 for the entire message excluding the footer.crc_32 field
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const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
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size_t messageSize = sizeof(HandshakeResponse) - sizeof(footer.crc_32);
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uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
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// Compare with the CRC in the footer
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bool isValid = (calculatedCrc == footer.crc_32);
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// Debug output only if validation fails
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if (!isValid) {
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std::cout << "HandshakeResponse CRC32 Debug: calculated=0x" << std::hex << calculatedCrc
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<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
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}
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return isValid;
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}
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// Standalone CRC16 calculation utility
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uint16_t calculateCrc16(const uint8_t* data, size_t length)
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{
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/** EXPLANATION:
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* Livox SDK CRC16 implementation (exact copy from FastCRC library)
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* This matches the exact implementation used by Livox devices
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*/
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static const uint16_t crc_table_mcrf4xx[1024] = {
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0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
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0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
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0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
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0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
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0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
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0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
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0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
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0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
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0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
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0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
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0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
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0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
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0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
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0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
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0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
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0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
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0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
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0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
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0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
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0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
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0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
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0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
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0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
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0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
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0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
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0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
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0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
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0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
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0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
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0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
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0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
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0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78,
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0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
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0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
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0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
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0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
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0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
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0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
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0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e, 0x54b5, 0x453c,
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0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd, 0xc974,
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0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
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0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3,
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0x5285, 0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a,
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0xdecd, 0xcf44, 0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72,
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0x6306, 0x728f, 0x4014, 0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9,
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0xef4e, 0xfec7, 0xcc5c, 0xddd5, 0xa96a, 0xb8e3, 0x8a78, 0x9bf1,
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0x7387, 0x620e, 0x5095, 0x411c, 0x35a3, 0x242a, 0x16b1, 0x0738,
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0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862, 0x9af9, 0x8b70,
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0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e, 0xf0b7,
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0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
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0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036,
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0x18c1, 0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e,
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0xa50a, 0xb483, 0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5,
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0x2942, 0x38cb, 0x0a50, 0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd,
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0xb58b, 0xa402, 0x9699, 0x8710, 0xf3af, 0xe226, 0xd0bd, 0xc134,
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0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7, 0x6e6e, 0x5cf5, 0x4d7c,
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0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1, 0xa33a, 0xb2b3,
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0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72, 0x3efb,
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0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
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0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a,
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0xe70e, 0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1,
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0x6b46, 0x7acf, 0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9,
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0xf78f, 0xe606, 0xd49d, 0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330,
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0x7bc7, 0x6a4e, 0x58d5, 0x495c, 0x3de3, 0x2c6a, 0x1ef1, 0x0f78,
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0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf,
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0x8c48, 0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7,
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0x1081, 0x0108, 0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e,
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0x9cc9, 0x8d40, 0xbfdb, 0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876,
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0x2102, 0x308b, 0x0210, 0x1399, 0x6726, 0x76af, 0x4434, 0x55bd,
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0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e, 0xfae7, 0xc87c, 0xd9f5,
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|
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
|
|
}
|
|
|
|
// DisconnectMessage methods
|
|
DisconnectMessage::DisconnectMessage()
|
|
{
|
|
// 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 = 0x06; // kCommandIDGeneralDisconnect
|
|
|
|
// Initialize footer
|
|
footer.crc_32 = 0; // Will be calculated
|
|
// Note: CRC16 will be calculated before sending (in swapToProtocolEndianness)
|
|
}
|
|
|
|
uint32_t DisconnectMessage::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(DisconnectMessage) - sizeof(footer.crc_32);
|
|
|
|
return comms::calculateCrc32(messageData, messageSize);
|
|
}
|
|
|
|
void DisconnectMessage::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
|
|
}
|
|
|
|
// StartStopSamplingMessage methods
|
|
StartStopSamplingMessage::StartStopSamplingMessage()
|
|
{
|
|
// Initialize header
|
|
header.sof = 0xAA;
|
|
header.version = 1;
|
|
header.length = sizeof(StartStopSamplingMessage);
|
|
header.cmd_type = 0x02; // MSG type
|
|
header.seq_num = 0; // Will be set by caller if needed
|
|
header.crc_16 = 0; // Will be calculated
|
|
|
|
// Initialize command
|
|
command.cmd_set = 0x00; // General command set
|
|
command.cmd_id = 0x04; // Sampling command ID
|
|
|
|
// Initialize data - enable flag will be set manually by caller
|
|
enable = 0x00; // Default to stop, caller will override
|
|
|
|
// Initialize footer
|
|
footer.crc_32 = 0; // Will be calculated
|
|
}
|
|
|
|
uint32_t StartStopSamplingMessage::calculateCrc32() const
|
|
{
|
|
// Calculate CRC32 for the entire message excluding the footer CRC32 field
|
|
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
|
|
size_t messageSize = sizeof(StartStopSamplingMessage) - sizeof(footer.crc_32);
|
|
|
|
return comms::calculateCrc32(messageData, messageSize);
|
|
}
|
|
|
|
void StartStopSamplingMessage::swapContentsToProtocolEndianness()
|
|
{
|
|
header.swapToProtocolEndianness();
|
|
command.swapToProtocolEndianness();
|
|
}
|
|
|
|
// SamplingResponse methods
|
|
void SamplingResponse::swapContentsToHostEndianness()
|
|
{
|
|
header.swapToHostEndianness();
|
|
command.swapToHostEndianness();
|
|
footer.swapToHostEndianness();
|
|
}
|
|
|
|
bool SamplingResponse::sanityCheck() const
|
|
{
|
|
return header.sanityCheck() && command.sanityCheck() && footer.sanityCheck();
|
|
}
|
|
|
|
bool SamplingResponse::validateCrc32() const
|
|
{
|
|
// Calculate CRC32 for the entire message excluding the footer CRC32 field
|
|
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
|
|
size_t messageSize = sizeof(SamplingResponse) - sizeof(footer.crc_32);
|
|
|
|
uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
|
|
bool isValid = (calculatedCrc == footer.crc_32);
|
|
|
|
// Debug output only if validation fails
|
|
if (!isValid)
|
|
{
|
|
std::cout << "SamplingResponse CRC32 Debug: calculated=0x"
|
|
<< std::hex << calculatedCrc
|
|
<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
|
|
}
|
|
|
|
return isValid;
|
|
}
|
|
|
|
// HeartbeatACK methods
|
|
void HeartbeatACK::swapContentsToHostEndianness()
|
|
{
|
|
if (endian::isLittleEndian()) { return; }
|
|
// Only swap content fields, not CRC fields
|
|
header.swapToHostEndianness();
|
|
command.swapToHostEndianness();
|
|
ack_msg = __builtin_bswap32(ack_msg);
|
|
// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
|
|
}
|
|
|
|
bool HeartbeatACK::sanityCheck() const
|
|
{
|
|
return header.sanityCheck() &&
|
|
command.sanityCheck() &&
|
|
(command.cmd_set == 0x00) && (command.cmd_id == 0x03) &&
|
|
footer.sanityCheck();
|
|
}
|
|
|
|
bool HeartbeatACK::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(HeartbeatACK) - sizeof(footer.crc_32);
|
|
uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
|
|
|
|
// Compare with the CRC in the footer
|
|
bool isValid = (calculatedCrc == footer.crc_32);
|
|
|
|
// Debug output only if validation fails
|
|
if (!isValid) {
|
|
std::cout << "HeartbeatACK CRC32 Debug: calculated=0x" << std::hex << calculatedCrc
|
|
<< ", received=0x" << footer.crc_32 << std::dec << std::endl;
|
|
}
|
|
|
|
return isValid;
|
|
}
|
|
|
|
// SetLiDARReturnMode methods
|
|
SetLiDARReturnMode::SetLiDARReturnMode()
|
|
{
|
|
// Initialize header
|
|
header.sof = 0xAA;
|
|
header.version = 0x01;
|
|
header.length = sizeof(SetLiDARReturnMode);
|
|
header.crc_16 = 0; // Will be calculated later
|
|
|
|
// Initialize command
|
|
command.cmd_set = 0x01; // LiDAR Command
|
|
command.cmd_id = 0x06; // Set LiDAR Return Mode
|
|
|
|
// Initialize mode (default to Single Return First)
|
|
mode = 0x00;
|
|
|
|
// Initialize footer
|
|
footer.crc_32 = 0; // Will be calculated later
|
|
}
|
|
|
|
uint32_t SetLiDARReturnMode::calculateCrc32() const
|
|
{
|
|
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
|
|
size_t messageSize = sizeof(SetLiDARReturnMode) - sizeof(footer.crc_32);
|
|
return comms::calculateCrc32(messageData, messageSize);
|
|
}
|
|
|
|
void SetLiDARReturnMode::swapContentsToProtocolEndianness()
|
|
{
|
|
if (endian::isLittleEndian()) { return; }
|
|
header.swapToProtocolEndianness();
|
|
command.swapToProtocolEndianness();
|
|
// mode is uint8_t, no endianness conversion needed
|
|
footer.swapToProtocolEndianness();
|
|
}
|
|
|
|
// SetLiDARReturnModeResponse methods
|
|
void SetLiDARReturnModeResponse::swapContentsToHostEndianness()
|
|
{
|
|
if (endian::isLittleEndian()) { return; }
|
|
header.swapToHostEndianness();
|
|
command.swapToHostEndianness();
|
|
// ret_code is uint8_t, no endianness conversion needed
|
|
// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
|
|
}
|
|
|
|
bool SetLiDARReturnModeResponse::sanityCheck() const
|
|
{
|
|
return header.sanityCheck() &&
|
|
command.sanityCheck() &&
|
|
(command.cmd_set == 0x01) && (command.cmd_id == 0x06) &&
|
|
(ret_code <= 0x01) && // Valid return codes: 0x00-0x01
|
|
footer.sanityCheck();
|
|
}
|
|
|
|
bool SetLiDARReturnModeResponse::validateCrc32() const
|
|
{
|
|
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
|
|
size_t messageSize = sizeof(SetLiDARReturnModeResponse) - sizeof(footer.crc_32);
|
|
uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
|
|
return (calculatedCrc == footer.crc_32);
|
|
}
|
|
|
|
// GetLiDARReturnMode methods
|
|
GetLiDARReturnMode::GetLiDARReturnMode()
|
|
{
|
|
// Initialize header
|
|
header.sof = 0xAA;
|
|
header.version = 0x01;
|
|
header.length = sizeof(GetLiDARReturnMode);
|
|
header.crc_16 = 0; // Will be calculated later
|
|
|
|
// Initialize command
|
|
command.cmd_set = 0x01; // LiDAR Command
|
|
command.cmd_id = 0x07; // Get LiDAR Return Mode
|
|
|
|
// Initialize footer
|
|
footer.crc_32 = 0; // Will be calculated later
|
|
}
|
|
|
|
uint32_t GetLiDARReturnMode::calculateCrc32() const
|
|
{
|
|
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
|
|
size_t messageSize = sizeof(GetLiDARReturnMode) - sizeof(footer.crc_32);
|
|
return comms::calculateCrc32(messageData, messageSize);
|
|
}
|
|
|
|
void GetLiDARReturnMode::swapContentsToProtocolEndianness()
|
|
{
|
|
if (endian::isLittleEndian()) { return; }
|
|
header.swapToProtocolEndianness();
|
|
command.swapToProtocolEndianness();
|
|
footer.swapToProtocolEndianness();
|
|
}
|
|
|
|
// GetLiDARReturnModeResponse methods
|
|
void GetLiDARReturnModeResponse::swapContentsToHostEndianness()
|
|
{
|
|
if (endian::isLittleEndian()) { return; }
|
|
header.swapToHostEndianness();
|
|
command.swapToHostEndianness();
|
|
// ret_code and mode are uint8_t, no endianness conversion needed
|
|
// Note: footer.swapToHostEndianness() swaps CRC, so we skip it here
|
|
}
|
|
|
|
bool GetLiDARReturnModeResponse::sanityCheck() const
|
|
{
|
|
return header.sanityCheck() &&
|
|
command.sanityCheck() &&
|
|
(command.cmd_set == 0x01) && (command.cmd_id == 0x07) &&
|
|
(ret_code <= 0x01) && // Valid return codes: 0x00-0x01
|
|
(mode <= 0x03) && // Valid modes: 0x00-0x03
|
|
footer.sanityCheck();
|
|
}
|
|
|
|
bool GetLiDARReturnModeResponse::validateCrc32() const
|
|
{
|
|
const uint8_t* messageData = reinterpret_cast<const uint8_t*>(this);
|
|
size_t messageSize = sizeof(GetLiDARReturnModeResponse) - sizeof(footer.crc_32);
|
|
uint32_t calculatedCrc = comms::calculateCrc32(messageData, messageSize);
|
|
return (calculatedCrc == footer.crc_32);
|
|
}
|
|
|
|
} // namespace comms
|
|
} // namespace livoxProto1
|