LidarDecoder.h

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#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