Lidar.h

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#ifndef DW_SENSORS_LIDAR_LIDAR_H__
#define DW_SENSORS_LIDAR_LIDAR_H__

#include <dw/core/Config.h>
#include <dw/core/Types.h>

#include <dw/sensors/Sensors.h>

#pragma pack(push,1) // Make sure we have consistent structure packings

typedef struct
{
    float32_t x;                     
    float32_t y;                     
    float32_t z;                     
    float32_t intensity;             
}dwLidarPointXYZI;

typedef struct
{
    float32_t theta;                 
    float32_t phi;                   
    float32_t radius;                
    float32_t intensity;             
}dwLidarPointRTheta;

typedef struct dwLidarDecodedPacket {
    uint64_t    hostTimestamp;       
    uint64_t    sensorTimestamp;     
    uint64_t    duration;            
    uint32_t    maxPoints;           
    uint32_t    nPoints;             
    uint32_t    stride;              
    const void *points;              
}dwLidarDecodedPacket;

typedef struct
{
    char       deviceString[256];    
    float32_t  spinFrequency;        
    uint32_t   packetsPerSecond;     
    uint32_t   packetsPerSpin;       
    uint32_t   pointsPerSecond;      
    uint32_t   pointsPerPacket;      
    uint32_t   pointsPerSpin;        
    uint32_t   pointStride;          
}dwLidarProperties;

#pragma pack(pop)

typedef enum
{
    DW_LIDAR_DECODE_FORMAT_XYZI = 0, 
    DW_LIDAR_DECODE_FORMAT_RTHI = 1  
}dwLidarDecodeFormat;


#ifdef __cplusplus
extern "C" {
#endif

DW_API_PUBLIC
dwStatus dwSensorLidar_setDecodingFormat(dwLidarDecodeFormat format, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorLidar_getDecodingFormat(dwLidarDecodeFormat *format, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorLidar_enableDecoding(dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorLidar_disableDecoding(dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorLidar_isDecodingEnabled(dwBool *enable, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorLidar_readPacket(const dwLidarDecodedPacket **data, dwTime_t timeout_us,
                                  dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorLidar_returnPacket(const dwLidarDecodedPacket *scan, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorLidar_processRawData(const dwLidarDecodedPacket **data, const uint8_t *rawData, size_t size,
                                      dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorLidar_getProperties(dwLidarProperties *lidarProperties, dwSensorHandle_t sensor);

#ifdef __cplusplus
}
#endif

#endif // DW_SENSORS_LIDAR_LIDAR_H__