146 lines
3.9 KiB
C++
146 lines
3.9 KiB
C++
/*********************************************************************************
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File name: CLidarPacket.h
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Author: Kimbo
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Version: V1.7.1
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Date: 2017-02-04
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Description: lidar packet
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Others: None
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History:
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1. Date:
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Author:
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Modification:
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***********************************************************************************/
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#ifndef EVEREST_LIDAR_CLIDARPACKET_H
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#define EVEREST_LIDAR_CLIDARPACKET_H
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/******************************* Current libs includes ****************************/
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#include "typedef.h"
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/******************************* System libs includes *****************************/
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#include <vector>
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#include <stddef.h>
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namespace everest
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{
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namespace hwdrivers
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{
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const u8 PacketHeader = 0xAA;
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struct TParams
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{
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TParams()
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{
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recvbuf_size = 1024;
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sendbuf_size = 10;
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// 帧头 帧长度 协议版本 命令字 参数长度 参数 校验位
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// 1 2 1 1 2 1 2
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// 当帧类型为命令帧时，参数长度以及参数可为0，因此最小帧长度为
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// 1 + 2 + 1 +1 + 2 + 1 + 2 = 6
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least_packet_len = 10;
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}
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u16 recvbuf_size;
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u16 sendbuf_size;
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u16 least_packet_len;
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};
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class CLidarPacket
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{
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public:
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/* Constructor */
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CLidarPacket();
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/* Destructor */
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~CLidarPacket() { }
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public:
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std::vector<u8> m_recvbuf;
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std::vector<u8> m_sendbuf;
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u16 m_read_length;
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u16 m_length;
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TParams m_params;
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static void swap(u8* buf)
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{
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u8 temp=*buf;
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*buf = *(buf+1);
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*(buf+1)=temp;
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}
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/* buf to u16 */
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static u16 bufToUByte2(u8 *src_ptr);
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/* buf to s16 */
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static s16 bufToByte2(u8 *src_ptr);
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/* buf to u8 */
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static u8 bufToUByte(u8 *src_ptr);
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/* Return true if buffer is empty */
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bool isEmpty() { return m_length == 0? true: false; }
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/* Return buffer size */
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u16 getSize() const { return m_length; }
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/* Push ch in buffer end */
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void pushBack(u8 ch);
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/* Reset packet */
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void reset();
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/* return true if has write capacity */
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bool hasWriteCapacity(int bytes);
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static void printHex(u8* buf,u16 size);
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//static unsigned char HighBitToLowBitForword(unsigned char byte);
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//static unsigned char LowBitToHighBitForword(unsigned char byte);
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/* Get command ID */
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u8 getCommandID(void) const
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{
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u8 temp =(m_recvbuf[4]&0x3F);
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return temp;
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}
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/* Get params data pointer */
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u8* getParamPtr(void)
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{
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u8* p = &m_recvbuf[7];
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return p;
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}
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/* Get params data length */
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u16 getParamLength(void)const
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{
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u8 value[2] = {0,0};
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value[0]=m_recvbuf[5];
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value[1]=m_recvbuf[6];
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u8 temp = value[0];
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value[0] = value[1];
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value[1] = temp;
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return bufToUByte2(&value[0]);
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}
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/* Buffer to data */
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static void bufferToData(void *dest_ptr, void *src_ptr, size_t length);
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u16 calc16BitAccCheckSum(u8 *ptr, u16 len);
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bool verify16BitAccCheckSum(void);
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private:
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u8* getBufPtr() { return &m_recvbuf[0]; }
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};
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}
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}
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#endif
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