LidarDecoder.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2017-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 *
 * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
 * property and proprietary rights in and to this material, related
 * documentation and any modifications thereto. Any use, reproduction,
 * disclosure or distribution of this material and related documentation
 * without an express license agreement from NVIDIA CORPORATION or
 * its affiliates is strictly prohibited.
 */
 
#ifndef DW_SENSORS_PLUGINS_LIDAR_DECODER_H_
#define DW_SENSORS_PLUGINS_LIDAR_DECODER_H_
 
#include <dw/core/base/Types.h>
#include <dw/sensors/lidar/Lidar.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct
{
    dwLidarProperties properties;
 
    size_t headerSize;
 
    size_t maxPayloadSize;
} _dwLidarDecoder_constants;
 
dwStatus _dwLidarDecoder_initialize(const float32_t spinFrequency);
 
dwStatus _dwLidarDecoder_release();
 
dwStatus _dwLidarDecoder_getConstants(_dwLidarDecoder_constants* constants);
 
dwStatus _dwLidarDecoder_decodePacket(dwLidarDecodedPacket* output,
                                      const uint8_t* buffer,
                                      const size_t length);
 
dwStatus _dwLidarDecoder_synchronize(const uint8_t* buffer,
                                     const size_t length,
                                     size_t* remaining);
 
dwStatus _dwLidarDecoder_validatePacket(const uint8_t* buffer,
                                        const size_t length);
 
#ifdef __cplusplus
}
#endif
 
#endif