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56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
#include "encodemodelcamera.h"
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#include "global.h"
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EncodeModelCamera::EncodeModelCamera(QObject *parent) : QObject{parent} {
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cameraUDP = new QUdpSocket(this);
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cameraUDP->bind(QHostAddress("127.0.0.1"), 8899);
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cmdArray.insert(0, 0xFA);
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cmdArray.insert(1, 0xFA);
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connect(cameraUDP, SIGNAL(readyRead()), this, SLOT(ReadData()));
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}
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/**
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* @brief 发送三维建模相机指令
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* @param cmdDataArray 指令ID与负载数据
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*/
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void EncodeModelCamera::SendCMD(QByteArray cmdDataArray) {
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cmdArray.clear();
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cmdArray.insert(0, 0xFA);
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cmdArray.insert(1, 0xFA);
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cmdArray.append(cmdDataArray);
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uint8_t *data = reinterpret_cast<uint8_t *>(cmdArray.data());
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uint16_t crc16 = calCRC16(data, cmdArray.size());
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QByteArray byteArray;
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QDataStream stream(&byteArray, QIODevice::WriteOnly);
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stream.setByteOrder(QDataStream::BigEndian);
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stream << crc16;
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cmdArray.append(byteArray);
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cameraUDP->writeDatagram(cmdArray, QHostAddress("127.0.0.1"), 8181);
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}
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// upd socket收到数据
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void EncodeModelCamera::ReadData() {
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QByteArray array;
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QHostAddress address;
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quint16 port;
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array.resize(cameraUDP->bytesAvailable()); // 根据可读数据来设置空间大小
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cameraUDP->readDatagram(array.data(), array.size(), &address,
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&port); // 读取数据
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// 校验
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int len = array.size();
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if (len <= 2) {
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return;
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}
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uint8_t *data = reinterpret_cast<uint8_t *>(array.data());
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uint16_t crc16 = calCRC16(data, array.size() - 2);
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uint16_t Rcrc = (array[len - 2] << 8) | array[len - 1];
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if (crc16 == Rcrc) {
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emit UDP_Receive(array);
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}
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cameraUDP->writeDatagram(cmdArray, QHostAddress("172.10.1.237"), 10001);
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}
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