d330viewer/include/core/GVSPParser.h

#ifndef GVSPPARSER_H
#define GVSPPARSER_H

#include <QObject>
#include <QByteArray>
#include <QImage>
#include <QAtomicInt>
#include <cstdint>

// GVSP packet types (GigE Vision 2.1 standard)
#define GVSP_LEADER_PACKET   0x01
#define GVSP_TRAILER_PACKET  0x02
#define GVSP_PAYLOAD_PACKET  0x03

// Payload types
#define PAYLOAD_TYPE_IMAGE       0x0001
#define PAYLOAD_TYPE_BINARY      0x0003
#define PAYLOAD_TYPE_POINTCLOUD  0x8000  // Vendor-specific for point cloud data

// Image format
#define PIXEL_FORMAT_12BIT_GRAY  0x010C0001
#define PIXEL_FORMAT_MONO16      0x01100005  // Mono16 format (legacy)
#define PIXEL_FORMAT_MONO16_LEFT 0x01100006  // Mono16 format for left IR camera
#define PIXEL_FORMAT_MONO16_RIGHT 0x01100007 // Mono16 format for right IR camera
#define PIXEL_FORMAT_MONO8_LEFT  0x01080006  // Mono8 format for left IR camera (downsampled)
#define PIXEL_FORMAT_MONO8_RIGHT 0x01080007  // Mono8 format for right IR camera (downsampled)
#define PIXEL_FORMAT_MJPEG       0x02180001  // MJPEG format for RGB camera

// Image dimensions
#define IMAGE_WIDTH  1224
#define IMAGE_HEIGHT 1024
#define IR_DISPLAY_WIDTH  612   // Downsampled IR display width
#define IR_DISPLAY_HEIGHT 512   // Downsampled IR display height
#define RGB_WIDTH    1920
#define RGB_HEIGHT   1080

#pragma pack(push, 1)

// GVSP packet header (GigE Vision 2.1 standard - 8 bytes)
struct GVSPPacketHeader {
    uint16_t status;           // Status flags
    uint16_t block_id;         // Block ID (frame number)
    uint8_t  packet_format;    // Packet type: 0x01=Leader, 0x02=Trailer, 0x03=Payload
    uint8_t  reserved;         // Reserved byte
    uint16_t packet_id;        // Packet ID within block
};

// 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;
};

// Point cloud data leader (vendor-specific, payload_type = 0x8000)
struct GVSPPointCloudDataLeader {
    uint16_t reserved;
    uint16_t payload_type;      // 0x8000
    uint32_t timestamp_high;
    uint32_t timestamp_low;
    uint32_t data_size;         // Total size of point cloud data
};

// Point cloud data trailer
struct GVSPPointCloudDataTrailer {
    uint32_t reserved;
    uint16_t payload_type;      // 0x8000
    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 leftImageReceived(const QByteArray &jpegData, uint32_t blockId);   // 左红外图像(JPEG)
    void rightImageReceived(const QByteArray &jpegData, uint32_t blockId);  // 右红外图像(JPEG)
    void rgbImageReceived(const QByteArray &jpegData, uint32_t blockId);    // RGB图像(MJPEG)
    void pointCloudDataReceived(const QByteArray &cloudData, uint32_t blockId);
    void parseError(const QString &error);

    // 兼容旧代码
    void imageReceived(const QImage &image, uint32_t blockId);
    void depthDataReceived(const QByteArray &depthData, uint32_t blockId);

private:
    // 每种数据流的独立接收状态
    struct StreamState {
        bool isReceiving;
        uint32_t blockId;
        QByteArray dataBuffer;
        size_t expectedSize;
        size_t receivedSize;
        int packetCount;

        // 图像特有信息
        uint32_t imageWidth;
        uint32_t imageHeight;
        uint32_t pixelFormat;

        StreamState() : isReceiving(false), blockId(0), expectedSize(0),
                       receivedSize(0), packetCount(0), imageWidth(0),
                       imageHeight(0), pixelFormat(0) {}
    };

    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(StreamState *state);
    void processDepthData(StreamState *state);
    void processPointCloudData(StreamState *state);

    // 为每种数据类型维护独立的状态
    StreamState m_leftIRState;      // 左红外
    StreamState m_rightIRState;     // 右红外
    StreamState m_rgbState;         // RGB
    StreamState m_depthState;       // 深度数据
    StreamState m_pointCloudState;  // 点云数据

    // Statistics
    uint32_t m_lastBlockId;
    int m_imageSequence;

    // Async processing control
    QAtomicInt m_imageProcessingCount;
};

#endif // GVSPPARSER_H