[A]add sdk_core.

sdk_core/include/comm/comm_port.h

@@ -0,0 +1,72 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef COMM_COMM_PORT_H_
+#define COMM_COMM_PORT_H_
+
+#include <stdint.h>
+#include "protocol.h"
+
+namespace livox {
+const uint32_t kCacheSize = 8192;
+const uint32_t kMoveCacheLimit = 1536;
+
+typedef struct {
+  uint8_t buf[kCacheSize];
+  uint32_t rd_idx;
+  uint32_t wr_idx;
+  uint32_t size;
+} PortCache;
+
+class CommPort {
+ public:
+  CommPort();
+
+  ~CommPort();
+
+  int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet);
+
+  int32_t ParseCommStream(CommPacket *o_pack);
+
+  uint8_t *FetchCacheFreeSpace(uint32_t *o_len);
+
+  int32_t UpdateCacheWrIdx(uint32_t used_size);
+
+  uint16_t GetAndUpdateSeqNum();
+
+ private:
+  uint32_t GetCacheTailSize();
+
+  uint32_t GetValidDataSize();
+
+  void UpdateCache(void);
+
+  PortCache cache_;
+  Protocol *protocol_;
+  uint32_t parse_step_;
+  uint16_t seq_num_;
+};
+
+}  // namespace livox
+#endif  // COMM_COMM_PORT_H_

sdk_core/include/comm/protocol.h

@@ -0,0 +1,82 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef COMM_PROTOCOL_H_
+#define COMM_PROTOCOL_H_
+
+#include <stdint.h>
+
+namespace livox {
+typedef struct CommPacket CommPacket;
+
+typedef int (*RequestPackCb)(CommPacket *packet);
+
+typedef enum { kRequestPack, kAckPack, kMsgPack } PacketType;
+
+typedef enum { kLidarSdk, kRsvd1, kProtocolUndef } ProtocolType;
+
+typedef enum { kNoNeed, kNeedAck, kDelayAck } NeedAckType;
+
+typedef enum { kParseSuccess, kParseFail } ParseResult;
+
+typedef struct CommPacket {
+  uint8_t packet_type;
+  uint8_t protocol;
+  uint8_t protocol_version;
+  uint8_t cmd_set;
+  uint32_t cmd_code;
+  uint32_t sender;
+  uint32_t sub_sender;
+  uint32_t receiver;
+  uint32_t sub_receiver;
+  uint32_t seq_num;
+  uint8_t *data;
+  uint16_t data_len;
+  uint32_t padding;
+  //  RequestPackCb *ack_request_cb;
+  //  uint32_t retry_times;
+  //  uint32_t timeout;
+} CommPacket;
+
+class Protocol {
+ public:
+  virtual ~Protocol(){};
+
+  virtual int32_t ParsePacket(uint8_t *i_buf, uint32_t i_len, CommPacket *o_packet) = 0;
+
+  virtual int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet) = 0;
+
+  virtual uint32_t GetPreambleLen() = 0;
+
+  virtual uint32_t GetPacketWrapperLen() = 0;
+
+  virtual uint32_t GetPacketLen(uint8_t *buf) = 0;
+
+  virtual int32_t CheckPreamble(uint8_t *buf) = 0;
+
+  virtual int32_t CheckPacket(uint8_t *buf) = 0;
+};
+
+}  // namespace livox
+#endif  // COMM_PROTOCOL_H_