LidarDecoder.h

Go to the documentation of this file.

//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA CORPORATION & AFFILIATES assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA CORPORATION & AFFILIATES. No third party distribution is allowed unless
// expressly authorized by NVIDIA. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA CORPORATION & AFFILIATES products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA CORPORATION & AFFILIATES.
//
// SPDX-FileCopyrightText: Copyright (c) 2017-2021 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