C++ 创龙UDP通讯demo

C++ 创龙UDP通讯demo

1. #include <iostream>
2. #include <vector>
3. #include <string>
5. static uint8_t checksum(uint8_t *buff,int size)
6. {
7.     uint8_t ldr = 0;
8.     for(int i = 0;i<size;i++)
9.     {
10.         ldr ^= buff[i];
11.     }
12.     return ldr;
13. }
15. bool decode(uint8_t *inbuff,int inbuffsize,uint8_t *outbuff,int &outbuffsize)
16. {
17.     std::string out;
18.     //zklx::GeneralX::buff_to_string((char *)inbuff,inbuffsize,out);
19.     //dzlog_debug(" %s",out.c_str());
20.     if(inbuff[0] != 0x7e || inbuff[inbuffsize -1] != 0xe7 || inbuffsize < 7)
21.     {
22.         return false;
23.     }
24.     int size = 0;
25.     int i,j = 0;
27.     for(i = 0;i<inbuffsize;)
28.     {
29.         if(inbuff[i] == 0xee)
30.         {
31.             i++;
32.         }
33.         outbuff[j++] = inbuff[i];
34.         i++;
35.         size++;
36.     }
37.     outbuffsize = size;
39.     uint8_t ldr = checksum(outbuff + 1,size - 3);
40.     if(ldr != outbuff[size - 2])
41.     {
42.         return false;
43.     }
44.     return true;
45. }
47. void encode(uint8_t *inbuff,int inbuffsize,uint8_t *outbuff,int &outbuffsize)
48. {
49.     int i = 0;
50.     int n = 0;
51.     uint8_t ldr = checksum(inbuff,inbuffsize);
53.     outbuff[n++]  = 0x7e;
54.     for(i = 0;i<inbuffsize;i++)
55.     {
56.         if((inbuff[i] == 0x7e) || (inbuff[i] == 0xe7) || (inbuff[i] == 0xee))
57.         {
58.             outbuff[n++] = 0xee;
59.             outbuff[n++] = inbuff[i];
60.         }else{
61.             outbuff[n++] = inbuff[i];
62.         }
63.     }
64.     if((ldr == 0x7e) || (ldr == 0xe7) || (ldr == 0xee))
65.     {
66.         outbuff[n++] = 0xee;
67.         outbuff[n++] = ldr;
68.     }else{
69.         outbuff[n++] = ldr;
70.     }
71.     outbuff[n++] = 0xe7;
72.     outbuffsize = n;
73. }
76. int main()
77. {
78.     //两轴转台自检指令
79.     uint8_t command[256] = {0x01, 0x11, 0x03, 0x31, 0xA1};
80.     //两轴转台
81.     uint8_t out_command[256] = {0};
82.     int out_size;
83.     encode(command, 5, out_command, out_size);
84.    
85.     for(int i = 0; i < out_size; i ++)
86.     {
87.         std::cout <<"0x"<< std::hex << (int)out_command[i] << " ";
88.     }
89.     std::cout << "" << std::endl;
91.     uint8_t command_1[256] = {0x01,0x11,0x03,0x31, 0xA4, 0x01};
92.     encode(command_1, 6, out_command, out_size);
93.    
94.     for(int i = 0; i < out_size; i ++)
95.     {
96.         std::cout <<"0x"<< std::hex << (int)out_command[i] << " ";
97.     }
98.     std::cout << "" << std::endl;
100.     uint8_t command_2[256] = {0x01,0x11,0x03,0x31, 0xA5, 0x10, 0x27, 0x00, 0x00, 0x10, 0x27, 0x00, 0x00};
101.     encode(command_2, 13, out_command, out_size);
102.    
103.     for(int i = 0; i < out_size; i ++)
104.     {
105.         std::cout <<"0x"<< std::hex << (int)out_command[i] << " ";
106.     }
107.     std::cout << "" << std::endl;
109.     uint8_t command_3[256] = {0x03,0x31,0x01,0x11, 0xD1, 0x00, 0x00, 0x00, 0x00, 0x00};
110.     encode(command_3, 10, out_command, out_size);
111.    
112.    
113.     for(int i = 0; i < out_size; i ++)
114.     {
115.         std::cout <<"0x"<< std::hex << (int)out_command[i] << " ";
116.     }
117.     std::cout << "" << std::endl;
119.     uint8_t command_4[256] = {0x03,0x31,0x01,0x11,0xD2,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
120.     encode(command_4, 14, out_command, out_size);
121.    
122.     for(int i = 0; i < out_size; i ++)
123.     {
124.         std::cout <<"0x"<< std::hex << (int)out_command[i] << " ";
125.     }
126.     std::cout << "" << std::endl;
127.     return 1;
128. }

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