Lidar.h

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#ifndef DW_SENSORS_LIDAR_LIDAR_H_
#define DW_SENSORS_LIDAR_LIDAR_H_
 
#include <dw/core/base/Types.h>
 
#include <dw/sensors/Sensors.h>
#include <stdalign.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum {
    DW_LIDAR_RETURN_TYPE_ANY = 0,                
    DW_LIDAR_RETURN_TYPE_FIRST         = 1 << 0, 
    DW_LIDAR_RETURN_TYPE_LAST          = 1 << 1, 
    DW_LIDAR_RETURN_TYPE_STRONGEST     = 1 << 2, 
    DW_LIDAR_RETURN_TYPE_ABS_STRONGEST = 1 << 3, 
    DW_LIDAR_RETURN_TYPE_1 = 1 << 4, 
    DW_LIDAR_RETURN_TYPE_2 = 1 << 5, 
    DW_LIDAR_RETURN_TYPE_3 = 1 << 6, 
    DW_LIDAR_RETURN_TYPE_4 = 1 << 7, 
    DW_LIDAR_RETURN_TYPE_5 = 1 << 8, 
    DW_LIDAR_RETURN_TYPE_6 = 1 << 9, 
} dwLidarReturnType;
 
typedef enum {
    DW_LIDAR_AUX_DATA_TYPE_SNR            = 0,
    DW_LIDAR_AUX_DATA_TYPE_SIGNALWIDTH    = 1,
    DW_LIDAR_AUX_DATA_TYPE_SIGNALHEIGHT   = 2,
    DW_LIDAR_AUX_DATA_TYPE_TIME           = 3,
    DW_LIDAR_AUX_DATA_TYPE_V_MPS          = 4,
    DW_LIDAR_AUX_DATA_TYPE_EXISTENCEPROB  = 5,
    DW_LIDAR_AUX_DATA_TYPE_CROSSTALKPROB  = 6,
    DW_LIDAR_AUX_DATA_TYPE_NOISELEVEL     = 7,
    DW_LIDAR_AUX_DATA_TYPE_ZONEID         = 8,
    DW_LIDAR_AUX_DATA_TYPE_DETECTORID     = 9,
    DW_LIDAR_AUX_DATA_TYPE_LINEID         = 10,
    DW_LIDAR_AUX_DATA_TYPE_DATAQUALITY    = 11,
    DW_LIDAR_AUX_DATA_TYPE_SCANCHECKPOINT = 12,
    DW_LIDAR_AUX_DATA_TYPE_BLOCKAGEFLAG   = 13,
    DW_LIDAR_AUX_DATA_TYPE_SENSORID       = 14,
    DW_LIDAR_AUX_DATA_TYPE_VALIDITY       = 15,
    DW_LIDAR_AUX_DATA_TYPE_INVALIDITYFLAG = 16,
    DW_LIDAR_AUX_DATA_TYPE_COUNT          = 17,
    DW_LIDAR_AUX_DATA_TYPE_FORCE32        = 0x7FFFFFFF
} dwLidarAuxDataType;
 
typedef enum {
    DW_LIDAR_INVALIDITY_NONE = 0,
 
    DW_LIDAR_INVALIDITY_DW = 1 << 0,
 
    DW_LIDAR_INVALIDITY_VEND = 1 << 1,
 
    DW_LIDAR_INVALIDITY_INVALID = DW_LIDAR_INVALIDITY_DW | DW_LIDAR_INVALIDITY_VEND
 
} dwLidarInvalidityFlag;
 
#define DW_SENSORS_LIDAR_MAX_RETURNS 10
 
typedef struct dwLidarPointXYZI
{
    alignas(16) float32_t x; 
    float32_t y;             
    float32_t z;             
    float32_t intensity;     
} dwLidarPointXYZI;
 
typedef struct dwLidarPointRTHI
{
    alignas(16) float32_t theta; 
    float32_t phi;               
    float32_t radius;            
    float32_t intensity;         
} dwLidarPointRTHI;
 
#define DW_SENSORS_LIDAR_MAX_ROWS 256 
typedef struct dwLidarProperties
{
    char8_t deviceString[256]; 
    float32_t spinFrequency; 
    uint32_t packetsPerSecond; 
    uint32_t packetsPerSpin;   
    uint32_t pointsPerSecond; 
    uint32_t pointsPerPacket; 
    uint32_t pointsPerSpin;   
    uint32_t pointStride;     
    float32_t horizontalFOVStart; 
    float32_t horizontalFOVEnd;   
    uint32_t numberOfRows; 
    float32_t verticalFOVStart; 
    float32_t verticalFOVEnd;   
    float32_t verticalAngles[DW_SENSORS_LIDAR_MAX_ROWS];
    float32_t horizontalAngles[DW_SENSORS_LIDAR_MAX_ROWS];
 
    dwLidarReturnType availableReturns;
 
    uint64_t validAuxInfos;
} dwLidarProperties;
 
typedef struct dwLidarDecodedReturn
{
    dwLidarReturnType type; 
    uint32_t maxPoints; 
    uint32_t numPoints; 
    dwLidarPointRTHI const* pointsRTHI; 
    void const* auxData[DW_LIDAR_AUX_DATA_TYPE_COUNT];
 
} dwLidarDecodedReturn;
 
typedef struct dwLidarDecodedPacket
{
    dwTime_t hostTimestamp;   
    dwTime_t sensorTimestamp; 
    dwTime_t duration;        
    uint32_t maxPoints;
 
    uint32_t nPoints;
 
    float32_t minHorizontalAngleRad; 
    float32_t maxHorizontalAngleRad; 
    float32_t minVerticalAngleRad;   
    float32_t maxVerticalAngleRad;   
    bool scanComplete; 
    dwLidarPointRTHI const* pointsRTHI;
 
    dwLidarPointXYZI const* pointsXYZI;
 
    float32_t elevationOffsetRad; 
    float32_t azimuthOffsetRad;   
    uint8_t numReturns;                                            
    dwLidarDecodedReturn returnData[DW_SENSORS_LIDAR_MAX_RETURNS]; 
} dwLidarDecodedPacket;
 
DW_API_PUBLIC
dwStatus dwSensorLidar_getAuxElementSize(uint32_t* const sizeBytes, dwLidarAuxDataType const auxType);
 
DW_API_PUBLIC
dwStatus dwSensorLidar_enableDecoding(dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorLidar_disableDecoding(dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorLidar_isDecodingEnabled(bool* const enable, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorLidar_readPacket(dwLidarDecodedPacket const** const data, dwTime_t const timeoutUs,
                                  dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorLidar_returnPacket(dwLidarDecodedPacket const* const data, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorLidar_processRawData(dwLidarDecodedPacket const** const data, uint8_t const* const rawData, size_t const size,
                                      dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorLidar_getProperties(dwLidarProperties* const lidarProperties, dwSensorHandle_t const sensor);
 
/*
* Sends a message to Lidar sensor.
*
* @param[in] cmd Command identifier associated to the given message data.
* @param[in] data A pointer to the message data.
* @param[in] size Size in bytes of the \p data.
* @param[in] sensor Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor()'.
*
* @return DW_INVALID_HANDLE, DW_INVALID_ARGUMENT, DW_NOT_SUPPORTED, DW_FAILURE, DW_SUCCESS
*
*/
DW_API_PUBLIC
dwStatus dwSensorLidar_sendMessage(uint32_t const cmd, uint8_t const* const data,
                                   size_t const size, dwSensorHandle_t const sensor);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSORS_LIDAR_LIDAR_H_