Updated with native ui (imgui + qt)

2026-05-27 15:46:50 +02:00
parent 3dd0d863fa
commit cf174edde8
205 changed files with 157039 additions and 0 deletions
@@ -0,0 +1,120 @@
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+#include <cstring>
+#include <string>
+#include <vector>
+#include <stdexcept>
+
+// ─── Protocol constants (matching UDPStreamer wire format) ──────────
+
+constexpr uint32_t UDPS_MAGIC          = 0x53504455u; // 'UDPS' LE
+constexpr uint8_t  UDPS_TYPE_DATA       = 0u;
+constexpr uint8_t  UDPS_TYPE_CONFIG     = 1u;
+constexpr uint8_t  UDPS_TYPE_ACK        = 2u;
+constexpr uint8_t  UDPS_TYPE_CONNECT    = 3u;
+constexpr uint8_t  UDPS_TYPE_DISCONNECT = 4u;
+constexpr size_t   UDPS_HEADER_SIZE     = 17;
+constexpr size_t   UDPS_SIGDESC_SIZE    = 136;
+
+// Type codes (matching Go protocol.go)
+constexpr uint8_t  TC_UINT8   = 0u;
+constexpr uint8_t  TC_INT8    = 1u;
+constexpr uint8_t  TC_UINT16  = 2u;
+constexpr uint8_t  TC_INT16   = 3u;
+constexpr uint8_t  TC_UINT32  = 4u;
+constexpr uint8_t  TC_INT32   = 5u;
+constexpr uint8_t  TC_UINT64  = 6u;
+constexpr uint8_t  TC_INT64   = 7u;
+constexpr uint8_t  TC_FLOAT32 = 8u;
+constexpr uint8_t  TC_FLOAT64 = 9u;
+
+// Quantisation types
+constexpr uint8_t  QUANT_NONE   = 0u;
+constexpr uint8_t  QUANT_UINT8  = 1u;
+constexpr uint8_t  QUANT_INT8   = 2u;
+constexpr uint8_t  QUANT_UINT16 = 3u;
+constexpr uint8_t  QUANT_INT16  = 4u;
+
+// Time modes
+constexpr uint8_t  TM_PACKET       = 0u;
+constexpr uint8_t  TM_FULL_ARRAY   = 1u;
+constexpr uint8_t  TM_FIRST_SAMPLE = 2u;
+constexpr uint8_t  TM_LAST_SAMPLE  = 3u;
+
+constexpr uint32_t NO_TIME_SIGNAL = 0xFFFFFFFFu;
+
+#pragma pack(push, 1)
+struct UDPSPacketHeader {
+    uint32_t magic;
+    uint8_t  type;
+    uint32_t counter;
+    uint16_t fragment_idx;
+    uint16_t total_fragments;
+    uint32_t payload_bytes;
+};
+
+struct UDPSSignalInfo {
+    char     name[64];
+    uint8_t  type_code;
+    uint8_t  quant_type;
+    uint8_t  num_dimensions;
+    uint32_t num_rows;
+    uint32_t num_cols;
+    double   range_min;
+    double   range_max;
+    uint8_t  time_mode;
+    double   sampling_rate;
+    uint32_t time_signal_idx;
+    char     unit[32];
+};
+#pragma pack(pop)
+
+static_assert(sizeof(UDPSPacketHeader) == 17, "Header must be 17 bytes");
+static_assert(sizeof(UDPSSignalInfo) == 136, "Signal desc must be 136 bytes");
+
+// ─── Parsed signal metadata ─────────────────────────────────────────
+
+struct SignalDef {
+    std::string name;
+    uint8_t     type_code      = 0;
+    uint8_t     quant_type     = 0;
+    uint32_t    num_elements   = 0;  // rows * cols
+    uint32_t    num_rows       = 1;
+    uint32_t    num_cols       = 1;
+    double      range_min      = 0.0;
+    double      range_max      = 0.0;
+    uint8_t     time_mode      = TM_PACKET;
+    double      sampling_rate  = 0.0;
+    uint32_t    time_signal_idx = NO_TIME_SIGNAL;
+    std::string unit;
+
+    int element_byte_size() const;
+};
+
+// ─── One DATA packet worth of samples ───────────────────────────────
+
+struct DataPacket {
+    uint64_t hrt_timestamp = 0;
+    // Per-signal float values (always float64 after dequantisation)
+    std::vector<std::vector<double>> values;
+};
+
+// ─── Parser functions ───────────────────────────────────────────────
+
+/** Validate a UDP datagram header. Returns false if magic or size is wrong. */
+bool parse_header(const uint8_t* buf, size_t len, UDPSPacketHeader& hdr);
+
+/** Parse a reassembled CONFIG payload into a signal list. */
+std::vector<SignalDef> parse_config(const uint8_t* payload, size_t len);
+
+/** Parse a reassembled DATA payload into float64 values per signal. */
+DataPacket parse_data(const uint8_t* payload, size_t len,
+                      const std::vector<SignalDef>& sig_defs);
+
+/** Build a 17-byte CONNECT packet. */
+std::vector<uint8_t> build_connect();
+
+/** Build a 17-byte DISCONNECT packet. */
+std::vector<uint8_t> build_disconnect();