LidarDecoder.h

Go to the documentation of this file.

// This code contains NVIDIA Confidential Information and is disclosed
// under the Mutual Non-Disclosure Agreement.
//
// 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 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. 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 products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2017 NVIDIA Corporation. All rights reserved.
//
// NVIDIA Corporation and its licensors retain all intellectual property and proprietary
// rights in and to this software and related documentation and any modifications thereto.
// Any use, reproduction, disclosure or distribution of this software and related
// documentation without an express license agreement from NVIDIA Corporation is
// strictly prohibited.
//

#ifndef DW_SENSORS_PLUGINS_LIDAR_DECODER_H__
#define DW_SENSORS_PLUGINS_LIDAR_DECODER_H__

#include <dw/core/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,
                                      const dwLidarDecodeFormat decodeType);

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