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pgsocks
2023-02-02 01:14:29 -06:00
commit d47c817e0d
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src/crc.c
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#include <inttypes.h>
#include <stdlib.h>
static const uint8_t CRC8_TABLE[] =
{
0 ,94 ,188,226,97 ,63 ,221,131,194,156,126,32 ,163,253,31 ,65 ,
157,195,33 ,127,252,162,64 ,30 ,95 ,1 ,227,189,62 ,96 ,130,220,
35 ,125,159,193,66 ,28 ,254,160,225,191,93 ,3 ,128,222,60 ,98 ,
190,224,2 ,92 ,223,129,99 ,61 ,124,34 ,192,158,29 ,67 ,161,255,
70 ,24 ,250,164,39 ,121,155,197,132,218,56 ,102,229,187,89 ,7 ,
219,133,103,57 ,186,228,6 ,88 ,25 ,71 ,165,251,120,38 ,196,154,
101,59 ,217,135,4 ,90 ,184,230,167,249,27 ,69 ,198,152,122,36 ,
248,166,68 ,26 ,153,199,37 ,123,58 ,100,134,216,91 ,5 ,231,185,
140,210,48 ,110,237,179,81 ,15 ,78 ,16 ,242,172,47 ,113,147,205,
17 ,79 ,173,243,112,46 ,204,146,211,141,111,49 ,178,236,14 ,80 ,
175,241,19 ,77 ,206,144,114,44 ,109,51 ,209,143,12 ,82 ,176,238,
50 ,108,142,208,83 ,13 ,239,177,240,174,76 ,18 ,145,207,45 ,115,
202,148,118,40 ,171,245,23 ,73 ,8 ,86 ,180,234,105,55 ,213,139,
87 ,9 ,235,181,54 ,104,138,212,149,203,41 ,119,244,170,72 ,22 ,
233,183,85 ,11 ,136,214,52 ,106,43 ,117,151,201,74 ,20 ,246,168,
116,42 ,200,150,21 ,75 ,169,247,182,232,10 ,84 ,215,137,107,53
};
static const uint8_t CRC16_HIGH_TABLE[] =
{
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1,
0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40
};
static const int8_t CRC16_LOW_TABLE[] =
{
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06,
0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD,
0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A,
0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4,
0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3,
0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,
0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29,
0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED,
0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60,
0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67,
0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68,
0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E,
0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71,
0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92,
0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B,
0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B,
0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42,
0x43, 0x83, 0x41, 0x81, 0x80, 0x40
};
uint8_t crc8(const void* block, size_t length)
{
uint8_t crc = 0;
const uint8_t* bytes = (uint8_t*)block;
while(length--) crc = CRC8_TABLE[crc^*bytes++];
return crc;
}
uint16_t crc16(const void* block, size_t length)
{
uint8_t crch = 0XFF, crcl = 0XFF;
const uint8_t* bytes = (uint8_t*)block;
size_t i;
while(length--)
{
i = crcl ^ *bytes++;
crcl = crch ^ CRC16_HIGH_TABLE[i];
crch = CRC16_LOW_TABLE[i];
}
return (((uint16_t)(crch<<8))|crcl);
}
src/robomaster.c
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#include <stdlib.h>
#include <string.h>
#include <arpa/inet.h>
#include "robomaster.h"
struct Session* session_new(void* buffer, size_t size) {
struct Session* session = malloc(sizeof(struct Session*));
if(!buffer)
session->buffer = malloc(sizeof(struct Header));
else
session->buffer = buffer;
session->size = 0;
session->seq = RM_SDK_FIRST_SEQ_ID;
session->max_size = size;
return session;
}
size_t session_size(Session session) {
return session->size;
}
// private
struct Message*
message_new(struct Session* session, uint8_t cmdset, uint8_t cmdid, size_t length, const void* body) {
struct Message* message = session->buffer + session->size;
length += sizeof(struct Header) + sizeof(struct Footer);
session->size += length;
message->header.preamble = 0x55;
message->header.length = htons(length & 0xff03 | 4);
message->header.crc = crc8(message, 3);
message->header.seq_id = htons(session->seq++);
message->header.ack_needed = true;
message->header.cmdset = cmdset;
message->header.cmdid = cmdid;
memcpy((void*)message->body, body, length);
struct Footer* footer = (void*)message + length - sizeof(struct Footer);
footer->crc = htons(crc16(message, length - 2));
return message;
}
// public
const Message
set_sdk_connection_req_new (
Session session,
const struct SetSdkConnectionReq* msg ) {
struct Message* message = message_new(session, 0x3F, SET_SDK_CONNECTION_CMDID, sizeof(struct SetSdkConnectionReq), msg);
struct SetSdkConnectionReq* body = (struct SetSdkConnectionReq*)message->body;
body->port = htons(body->port);
return message;
}
src/robomaster.h
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#pragma once
#include <stdlib.h>
#include <stddef.h>
#include <inttypes.h>
#include <stdbool.h>
// Move to private header
uint8_t crc8(const void *block, size_t length);
uint8_t crc16(const void *block, size_t length);
struct Header {
uint8_t preamble;
uint16_t length;
uint8_t crc;
uint8_t sender;
uint8_t receiver;
uint16_t seq_id;
union {
uint8_t attribute;
struct {
uint8_t reserved : 6;
bool ack_needed : 1;
bool is_ack : 1;
};
};
uint8_t cmdset;
uint8_t cmdid;
};
struct Message {
struct Header header;
uint8_t body[];
};
struct Footer {
uint16_t crc;
};
struct Session {
void* buffer;
size_t max_size;
size_t size;
uint16_t seq;
};
struct Message* message_new(struct Session* session, uint8_t cmdset, uint8_t cmdid, size_t length, const void* body);
// Public stuff
typedef struct Session* Session;
typedef struct Message* Message;
Session session_new(void* buffer, size_t size);
size_t session_size(Session session);
// SEQ ID will loop around
static const uint16_t RM_SDK_FIRST_SEQ_ID = 10000;
static const uint16_t RM_SDK_LAST_SEQ_ID = 20000;
static const uint8_t CONNECTION_WIFI_AP = 0;
static const uint8_t CONNECTION_WIFI_STA = 1;
static const uint8_t CONNECTION_USB_RNDIS = 2;
static const uint8_t SET_SDK_CONNECTION_CMDID = 0xD4;
struct SetSdkConnectionReq {
uint8_t control;
uint8_t host;
uint8_t connection;
uint8_t protocol;
uint32_t ip_address;
uint16_t port;
};
struct SetSdkConnectionResp {
uint8_t retcode;
uint8_t state;
uint32_t config_ip;
};
const Message set_sdk_connection_req_new(Session session, const struct SetSdkConnectionReq* msg);
static const uint8_t GET_VERSION_CMDID = 0x01;
struct GetVersionResp {
uint8_t retcode;
uint8_t aa;
uint8_t bb;
uint8_t cc;
uint8_t dd;
};
src/robomastersh.c
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#include "robomaster.h"
#include <arpa/inet.h>
#include <stdio.h>
uint8_t buffer[1024] = {0};
uint8_t recvbuff[1024] = {0};
int main(int argc, char* argv[])
{
Session session = session_new(buffer, sizeof(buffer));
struct SetSdkConnectionReq req = {0};
req.control = 0;
req.host = 0;
req.connection = CONNECTION_WIFI_AP;
req.protocol = 0;
req.ip_address = 0;
req.port = 10010;
const Message msg = set_sdk_connection_req_new(session, &req);
int sockfd = socket(AF_INET, SOCK_DGRAM, 0);
struct sockaddr_in dest_addr = {0};
socklen_t addrlen = sizeof(dest_addr);
dest_addr.sin_family = AF_INET;
dest_addr.sin_port = htons(30030);
dest_addr.sin_addr.s_addr = inet_addr("192.168.2.1");
sendto(sockfd, buffer, session_size(session), 0, (struct sockaddr*)&dest_addr, addrlen);
addrlen = sizeof(dest_addr);
recvfrom(sockfd, &recvbuff, sizeof(struct Header), 0, (struct sockaddr*)&dest_addr, &addrlen);
struct Message* resp = (struct Message*)recvbuff;
addrlen = sizeof(dest_addr);
uint16_t resplen = (recvbuff[2] & 0x3) * 0xFF + recvbuff[1];
recvfrom(sockfd, resp->body, resplen - sizeof(struct Header), 0, (struct sockaddr*)&dest_addr, &addrlen);
return 0;
}