Simon Long
125 lines
21 KiB
HTML
125 lines
21 KiB
HTML
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<div class="title">comm_port.h</div> </div>
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<a href="comm__port_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// The MIT License (MIT)</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Copyright (c) 2019 Livox. All rights reserved.</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">//</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// Permission is hereby granted, free of charge, to any person obtaining a copy</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// of this software and associated documentation files (the "Software"), to deal</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// in the Software without restriction, including without limitation the rights</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">// copies of the Software, and to permit persons to whom the Software is</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// furnished to do so, subject to the following conditions:</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">//</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// The above copyright notice and this permission notice shall be included in</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">// all copies or substantial portions of the Software.</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">//</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">// SOFTWARE.</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">//</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> </div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#ifndef COMM_COMM_PORT_H_</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#define COMM_COMM_PORT_H_</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> </div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#include <stdint.h></span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include "<a class="code" href="protocol_8h.html">protocol.h</a>"</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="namespacelivox.html"> 31</a></span> <span class="keyword">namespace </span><a class="code" href="namespacelivox.html">livox</a> {</div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="namespacelivox.html#aa902d8a50576dcdede27023c03f65747"> 32</a></span> <span class="keyword">const</span> uint32_t <a class="code" href="namespacelivox.html#aa902d8a50576dcdede27023c03f65747">kCacheSize</a> = 8192;</div><div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="namespacelivox.html#a4db2ee1c995aba81900420b7e4312bc1"> 33</a></span> <span class="keyword">const</span> uint32_t <a class="code" href="namespacelivox.html#a4db2ee1c995aba81900420b7e4312bc1">kMoveCacheLimit</a> = 1536;</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> </div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structlivox_1_1_port_cache.html"> 35</a></span> <span class="keyword">typedef</span> <span class="keyword">struct </span>{</div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structlivox_1_1_port_cache.html#a0162595514fe1687637993072bfad504"> 36</a></span>  uint8_t buf[<a class="code" href="namespacelivox.html#aa902d8a50576dcdede27023c03f65747">kCacheSize</a>];</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structlivox_1_1_port_cache.html#a307ffa61497df31d0d8b50eb3294ce28"> 37</a></span>  uint32_t <a class="code" href="structlivox_1_1_port_cache.html#a307ffa61497df31d0d8b50eb3294ce28">rd_idx</a>;</div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structlivox_1_1_port_cache.html#a7d3d6b10a8a6bb8ed81c8a67add26b1f"> 38</a></span>  uint32_t <a class="code" href="structlivox_1_1_port_cache.html#a7d3d6b10a8a6bb8ed81c8a67add26b1f">wr_idx</a>;</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structlivox_1_1_port_cache.html#a2c92155bd2db69e7368a1be11c384cb8"> 39</a></span>  uint32_t <a class="code" href="structlivox_1_1_port_cache.html#a2c92155bd2db69e7368a1be11c384cb8">size</a>;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> } <a class="code" href="structlivox_1_1_port_cache.html">PortCache</a>;</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classlivox_1_1_comm_port.html"> 42</a></span> <span class="keyword">class </span><a class="code" href="classlivox_1_1_comm_port.html">CommPort</a> {</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keyword">public</span>:</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <a class="code" href="classlivox_1_1_comm_port.html#a5a159a37a2b90e3e99a8a2258494c374">CommPort</a>();</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="classlivox_1_1_comm_port.html#a12578479c9799e0e1019e5698841072b">~CommPort</a>();</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  int32_t <a class="code" href="classlivox_1_1_comm_port.html#aa06a75c5c7801967271b8925bd734fd1">Pack</a>(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, <span class="keyword">const</span> <a class="code" href="structlivox_1_1_comm_packet.html">CommPacket</a> &i_packet);</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  int32_t <a class="code" href="classlivox_1_1_comm_port.html#a0747279cfee5e49d6abe399adbe81e2a">ParseCommStream</a>(<a class="code" href="structlivox_1_1_comm_packet.html">CommPacket</a> *o_pack);</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  uint8_t *<a class="code" href="classlivox_1_1_comm_port.html#abb44afd20231d53d38f477e4b5861711">FetchCacheFreeSpace</a>(uint32_t *o_len);</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  int32_t <a class="code" href="classlivox_1_1_comm_port.html#ab520a4434c8e19868cf3bab6c229ab7d">UpdateCacheWrIdx</a>(uint32_t used_size);</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  uint16_t <a class="code" href="classlivox_1_1_comm_port.html#a921c62e412bfa973effc62d2592eb2ac">GetAndUpdateSeqNum</a>();</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">private</span>:</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  uint32_t GetCacheTailSize();</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  uint32_t GetValidDataSize();</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> </div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordtype">void</span> UpdateCache(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <a class="code" href="structlivox_1_1_port_cache.html">PortCache</a> cache_;</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="classlivox_1_1_protocol.html">Protocol</a> *protocol_;</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  uint32_t parse_step_;</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  uint16_t seq_num_;</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span> };</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span> </div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span> } <span class="comment">// namespace livox</span></div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="preprocessor">#endif // COMM_COMM_PORT_H_</span></div><div class="ttc" id="classlivox_1_1_comm_port_html_a5a159a37a2b90e3e99a8a2258494c374"><div class="ttname"><a href="classlivox_1_1_comm_port.html#a5a159a37a2b90e3e99a8a2258494c374">livox::CommPort::CommPort</a></div><div class="ttdeci">CommPort()</div></div>
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<div class="ttc" id="structlivox_1_1_port_cache_html_a7d3d6b10a8a6bb8ed81c8a67add26b1f"><div class="ttname"><a href="structlivox_1_1_port_cache.html#a7d3d6b10a8a6bb8ed81c8a67add26b1f">livox::PortCache::wr_idx</a></div><div class="ttdeci">uint32_t wr_idx</div><div class="ttdef"><b>Definition:</b> <a href="comm__port_8h_source.html#l00038">comm_port.h:38</a></div></div>
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<div class="ttc" id="structlivox_1_1_port_cache_html"><div class="ttname"><a href="structlivox_1_1_port_cache.html">livox::PortCache</a></div><div class="ttdef"><b>Definition:</b> <a href="comm__port_8h_source.html#l00035">comm_port.h:35</a></div></div>
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<div class="ttc" id="structlivox_1_1_port_cache_html_a2c92155bd2db69e7368a1be11c384cb8"><div class="ttname"><a href="structlivox_1_1_port_cache.html#a2c92155bd2db69e7368a1be11c384cb8">livox::PortCache::size</a></div><div class="ttdeci">uint32_t size</div><div class="ttdef"><b>Definition:</b> <a href="comm__port_8h_source.html#l00039">comm_port.h:39</a></div></div>
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<div class="ttc" id="structlivox_1_1_comm_packet_html"><div class="ttname"><a href="structlivox_1_1_comm_packet.html">livox::CommPacket</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00043">protocol.h:43</a></div></div>
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<div class="ttc" id="classlivox_1_1_comm_port_html_a0747279cfee5e49d6abe399adbe81e2a"><div class="ttname"><a href="classlivox_1_1_comm_port.html#a0747279cfee5e49d6abe399adbe81e2a">livox::CommPort::ParseCommStream</a></div><div class="ttdeci">int32_t ParseCommStream(CommPacket *o_pack)</div></div>
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<div class="ttc" id="structlivox_1_1_port_cache_html_a307ffa61497df31d0d8b50eb3294ce28"><div class="ttname"><a href="structlivox_1_1_port_cache.html#a307ffa61497df31d0d8b50eb3294ce28">livox::PortCache::rd_idx</a></div><div class="ttdeci">uint32_t rd_idx</div><div class="ttdef"><b>Definition:</b> <a href="comm__port_8h_source.html#l00037">comm_port.h:37</a></div></div>
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<div class="ttc" id="namespacelivox_html_a4db2ee1c995aba81900420b7e4312bc1"><div class="ttname"><a href="namespacelivox.html#a4db2ee1c995aba81900420b7e4312bc1">livox::kMoveCacheLimit</a></div><div class="ttdeci">const uint32_t kMoveCacheLimit</div><div class="ttdef"><b>Definition:</b> <a href="comm__port_8h_source.html#l00033">comm_port.h:33</a></div></div>
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<div class="ttc" id="protocol_8h_html"><div class="ttname"><a href="protocol_8h.html">protocol.h</a></div></div>
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<div class="ttc" id="namespacelivox_html_aa902d8a50576dcdede27023c03f65747"><div class="ttname"><a href="namespacelivox.html#aa902d8a50576dcdede27023c03f65747">livox::kCacheSize</a></div><div class="ttdeci">const uint32_t kCacheSize</div><div class="ttdef"><b>Definition:</b> <a href="comm__port_8h_source.html#l00032">comm_port.h:32</a></div></div>
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<div class="ttc" id="classlivox_1_1_comm_port_html"><div class="ttname"><a href="classlivox_1_1_comm_port.html">livox::CommPort</a></div><div class="ttdef"><b>Definition:</b> <a href="comm__port_8h_source.html#l00042">comm_port.h:42</a></div></div>
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<div class="ttc" id="classlivox_1_1_comm_port_html_abb44afd20231d53d38f477e4b5861711"><div class="ttname"><a href="classlivox_1_1_comm_port.html#abb44afd20231d53d38f477e4b5861711">livox::CommPort::FetchCacheFreeSpace</a></div><div class="ttdeci">uint8_t * FetchCacheFreeSpace(uint32_t *o_len)</div></div>
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<div class="ttc" id="classlivox_1_1_comm_port_html_a12578479c9799e0e1019e5698841072b"><div class="ttname"><a href="classlivox_1_1_comm_port.html#a12578479c9799e0e1019e5698841072b">livox::CommPort::~CommPort</a></div><div class="ttdeci">~CommPort()</div></div>
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<div class="ttc" id="namespacelivox_html"><div class="ttname"><a href="namespacelivox.html">livox</a></div><div class="ttdef"><b>Definition:</b> <a href="comm__port_8h_source.html#l00031">comm_port.h:31</a></div></div>
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<div class="ttc" id="classlivox_1_1_comm_port_html_aa06a75c5c7801967271b8925bd734fd1"><div class="ttname"><a href="classlivox_1_1_comm_port.html#aa06a75c5c7801967271b8925bd734fd1">livox::CommPort::Pack</a></div><div class="ttdeci">int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet)</div></div>
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<div class="ttc" id="classlivox_1_1_comm_port_html_ab520a4434c8e19868cf3bab6c229ab7d"><div class="ttname"><a href="classlivox_1_1_comm_port.html#ab520a4434c8e19868cf3bab6c229ab7d">livox::CommPort::UpdateCacheWrIdx</a></div><div class="ttdeci">int32_t UpdateCacheWrIdx(uint32_t used_size)</div></div>
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<div class="ttc" id="classlivox_1_1_comm_port_html_a921c62e412bfa973effc62d2592eb2ac"><div class="ttname"><a href="classlivox_1_1_comm_port.html#a921c62e412bfa973effc62d2592eb2ac">livox::CommPort::GetAndUpdateSeqNum</a></div><div class="ttdeci">uint16_t GetAndUpdateSeqNum()</div></div>
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<div class="ttc" id="classlivox_1_1_protocol_html"><div class="ttname"><a href="classlivox_1_1_protocol.html">livox::Protocol</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00062">protocol.h:62</a></div></div>
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