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 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];
} dwLidarProperties;

DW_API_PUBLIC
dwStatus dwSensorLidar_enableDecoding(dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorLidar_disableDecoding(dwSensorHandle_t sensor);

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

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

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

DW_API_PUBLIC
dwStatus dwSensorLidar_processRawData(dwLidarDecodedPacket const** data, uint8_t const* 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_