hayodea
3e9eecc279
Split the BroadcastListener, DiscoveredDevice and other concerns out of the protocol header and implementation files.
88 lines
2.2 KiB
C++
88 lines
2.2 KiB
C++
#ifndef LIVOXPROTO1_PROTOCOL_H
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#define LIVOXPROTO1_PROTOCOL_H
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#include <vector>
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#include <string>
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#include <memory>
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#include <sstream>
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#include <atomic>
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#include <user/senseApiDesc.h>
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namespace livoxProto1 {
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namespace comms {
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// Endianness detection
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namespace endian {
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inline bool isLittleEndian() {
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union {
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uint32_t i;
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char c[4];
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} test = {0x01020304};
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return test.c[0] == 4;
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}
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}
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/** EXPLANATION:
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* Device types as defined in the Livox protocol specification
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*/
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enum class DeviceType : uint8_t {
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Hub = 0,
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Mid40 = 1,
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Tele15 = 2,
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Horizon = 3,
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Mid70 = 6,
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Avia = 7
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};
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/** EXPLANATION:
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* Protocol frame header structure.
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* All multi-byte fields are in little-endian format as per protocol spec.
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*/
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struct Header
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{
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uint8_t sof; // 0: Start of Frame (0xAA)
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uint8_t version; // 1: Protocol Version (1)
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uint16_t length; // 2-3: Frame Length (little-endian)
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uint8_t cmd_type; // 4: Command Type (0x02 = MSG for broadcast)
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uint16_t seq_num; // 5-6: Sequence Number (little-endian)
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uint16_t crc_16; // 7-8: Header Checksum (little-endian)
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void swapToHostEndianness();
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bool sanityCheck() const;
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} __attribute__((packed));
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/** EXPLANATION:
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* Protocol frame footer structure.
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* All multi-byte fields are in little-endian format as per protocol spec.
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*/
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struct Footer
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{
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uint32_t crc_32; // 0-3: Whole Frame Checksum (little-endian)
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void swapToHostEndianness();
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bool sanityCheck() const;
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} __attribute__((packed));
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/** EXPLANATION:
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* Complete wire format for Livox broadcast messages.
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* All multi-byte fields are in little-endian format as per protocol spec.
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*/
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struct BroadcastMessage
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{
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Header header; // 0-8: Protocol frame header
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uint8_t cmd_set; // 9: Command Set (0x00 = General)
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uint8_t cmd_id; // 10: Command ID (0x00 = Broadcast)
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uint8_t broadcast_code[16]; // 11-26: Device Broadcast Code (null-terminated string)
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uint8_t dev_type; // 27: Device Type
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uint16_t reserved; // 28-29: Reserved (little-endian)
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Footer footer; // 30-33: Protocol frame footer
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void swapToHostEndianness();
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bool sanityCheck() const;
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} __attribute__((packed));
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} // namespace comms
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} // namespace livoxProto1
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#endif // LIVOXPROTO1_PROTOCOL_H
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