feat: v0.1.0更新

include/core/GVSPParser.h

@@ -0,0 +1,121 @@
+#ifndef GVSPPARSER_H
+#define GVSPPARSER_H
+
+#include <QObject>
+#include <QByteArray>
+#include <QImage>
+#include <cstdint>
+
+// GVSP packet types
+#define GVSP_LEADER_PACKET   0x01
+#define GVSP_PAYLOAD_PACKET  0x02
+#define GVSP_TRAILER_PACKET  0x03
+
+// Payload types
+#define PAYLOAD_TYPE_IMAGE   0x0001
+#define PAYLOAD_TYPE_BINARY  0x0003
+
+// Image format
+#define PIXEL_FORMAT_12BIT_GRAY  0x010C0001
+
+// Image dimensions
+#define IMAGE_WIDTH  1224
+#define IMAGE_HEIGHT 1024
+
+#pragma pack(push, 1)
+
+// GVSP packet header
+struct GVSPPacketHeader {
+    uint16_t status;
+    uint16_t block_id;
+    uint32_t packet_fmt_id;
+};
+
+// Image data leader
+struct GVSPImageDataLeader {
+    uint16_t reserved;
+    uint16_t payload_type;
+    uint32_t timestamp_high;
+    uint32_t timestamp_low;
+    uint32_t pixel_format;
+    uint32_t size_x;
+    uint32_t size_y;
+    uint32_t offset_x;
+    uint32_t offset_y;
+    uint16_t padding_x;
+    uint16_t padding_y;
+};
+
+// Image data trailer
+struct GVSPImageDataTrailer {
+    uint32_t reserved;
+    uint16_t payload_type;
+    uint32_t size_y;
+};
+
+// Binary data leader (for depth data)
+struct GVSPBinaryDataLeader {
+    uint16_t reserved;
+    uint16_t payload_type;
+    uint32_t timestamp_high;
+    uint32_t timestamp_low;
+    uint32_t file_size;
+    uint32_t name_len;
+    char file_name[256];
+};
+
+// Binary data trailer
+struct GVSPBinaryDataTrailer {
+    uint32_t reserved;
+    uint16_t payload_type;
+    uint32_t checksum;
+};
+
+#pragma pack(pop)
+
+class GVSPParser : public QObject
+{
+    Q_OBJECT
+
+public:
+    explicit GVSPParser(QObject *parent = nullptr);
+    ~GVSPParser();
+
+    void parsePacket(const QByteArray &packet);
+    void reset();
+
+signals:
+    void imageReceived(const QImage &image, uint32_t blockId);
+    void depthDataReceived(const QByteArray &depthData, uint32_t blockId);
+    void parseError(const QString &error);
+
+private:
+    void handleLeaderPacket(const uint8_t *data, size_t size);
+    void handlePayloadPacket(const uint8_t *data, size_t size);
+    void handleTrailerPacket(const uint8_t *data, size_t size);
+
+    void processImageData();
+    void processDepthData();
+
+private:
+    // Reception state
+    bool m_isReceiving;
+    int m_dataType;  // 0=unknown, 1=image, 3=depth
+    uint32_t m_currentBlockId;
+
+    // Data buffer
+    QByteArray m_dataBuffer;
+    size_t m_expectedSize;
+    size_t m_receivedSize;
+
+    // Image info
+    uint32_t m_imageWidth;
+    uint32_t m_imageHeight;
+    uint32_t m_pixelFormat;
+
+    // Statistics
+    uint32_t m_lastBlockId;
+    int m_packetCount;
+};
+
+#endif // GVSPPARSER_H