PayloadAPP/Src/ModelCamera/encodemodelcamera.cpp

#include "encodemodelcamera.h"
#include "global.h"

EncodeModelCamera::EncodeModelCamera(QObject *parent) : QObject{parent} {
  cameraUDP = new QUdpSocket(this);
  // cameraUDP->bind(QHostAddress("172.10.1.104"), 8899);
  cmdArray.insert(0, 0xFA);
  cmdArray.insert(1, 0xFA);
  connect(cameraUDP, SIGNAL(readyRead()), this, SLOT(ReadData()));
}

void EncodeModelCamera::SendCMD(QByteArray cmdDataArray) {
  cmdArray.clear();
  cmdArray.insert(0, 0xFA);
  cmdArray.insert(1, 0xFA);

  cmdArray.append(cmdDataArray);
  uint8_t *data = reinterpret_cast<uint8_t *>(cmdArray.data());
  uint16_t crc16 = calCRC16(data, cmdArray.size());

  QByteArray byteArray;
  QDataStream stream(&byteArray, QIODevice::WriteOnly);
  stream.setByteOrder(QDataStream::BigEndian);
  stream << crc16;
  cmdArray.append(byteArray);

  cameraUDP->writeDatagram(cmdArray, QHostAddress(m_net.remoteIp),
                           m_net.remotePort);
}

// upd socket收到数据
void EncodeModelCamera::ReadData() {
  QByteArray array;
  QHostAddress address;
  quint16 port;
  array.resize(cameraUDP->bytesAvailable()); // 根据可读数据来设置空间大小
  cameraUDP->readDatagram(array.data(), array.size(), &address,
                          &port); // 读取数据
  // 校验
  int len = array.size();
  if (len <= 2) {
    return;
  }
  uint8_t *data = reinterpret_cast<uint8_t *>(array.data());
  uint16_t crc16 = calCRC16(data, array.size() - 2);
  uint16_t Rcrc = (array[len - 2] << 8) | array[len - 1];
  if (crc16 == Rcrc) {
    emit UDP_Receive(array);
  }
}

void EncodeModelCamera::setIPandPort(netStruct net) {
  m_net = net;
  // 断开 重连
  cameraUDP->abort();
  cameraUDP->bind(QHostAddress(m_net.localIp), m_net.localPort);
}