LidarPlugin.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2019-2024 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_LIDAR_PLUGIN_H
#define DW_SENSORS_LIDAR_PLUGIN_H
 
#include <dw/sensors/legacy/plugins/SensorCommonPlugin.h>
#include <dw/sensors/sensorlive/plugins/lidar/LidarSensorPlugin.h>
#include <dw/sensors/lidar/LidarTypes.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct
{
    dwLidarProperties properties;
 
    size_t maxPayloadSize;
} _dwSensorLidarDecoder_constants;
 
typedef dwStatus (*dwSensorLidarPlugin_parseDataBuffer)(
    dwLidarDecodedPacket* output, const dwTime_t hostTimeStamp,
    dwSensorPluginSensorHandle_t sensor);
 
typedef dwStatus (*dwSensorLidarPlugin_getDecoderConstants)(_dwSensorLidarDecoder_constants* constants, dwSensorPluginSensorHandle_t sensor);
 
typedef struct
{
    dwSensorCommonPluginFunctions common;
    dwSensorLidarPlugin_parseDataBuffer parseDataBuffer;
    dwSensorLidarPlugin_getDecoderConstants getDecoderConstants;
    dwSensorLidarPlugin_sendMessage sendMessage;
} dwSensorLidarPluginFunctionTable;
 
dwStatus dwSensorLidarPlugin_getFunctionTable(dwSensorLidarPluginFunctionTable* functions);
 
#ifdef __cplusplus
}
#endif
 
#endif