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;

#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;

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; 
} dwLidarDecodedPacket;

#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];

    dwLidarReturnType availableReturns;
} dwLidarProperties;

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);

#ifdef __cplusplus
}
#endif

#endif // DW_SENSORS_LIDAR_LIDAR_H_