PayloadAPP/Src/ModelCamera/encodemodelcamera.cpp

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

EncodeModelCamera::EncodeModelCamera(QObject *parent)
    : QObject{parent}
{
    cameraUDP = new QUdpSocket(this);
    cameraUDP->bind(QHostAddress("127.0.0.1"),8899);

    cmdArray.insert(0,0xFA);
    cmdArray.insert(1,0xFA);
    connect(cameraUDP,SIGNAL(readyRead()),this,SLOT(ReadData()));
}

/**
 * @brief 发送三维建模相机指令
 * @param cmdDataArray 指令ID与负载数据
 */
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("127.0.0.1"),8181);
}

//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);
    }
}