Lidar.h

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#ifndef DW_SENSORS_LIDAR_LIDAR_H_
#define DW_SENSORS_LIDAR_LIDAR_H_
 
#include "LidarTypes.h"
 
#include <dw/sensors/common/Sensors.h>
#include <stdalign.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
DW_API_PUBLIC
dwStatus dwSensorLidar_getAuxElementSize(uint32_t* const sizeBytes, dwLidarAuxDataType const auxType);
 
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);
 
DW_API_PUBLIC
dwStatus dwSensorLidar_sendMessage(uint32_t const cmd, uint8_t const* const data,
                                   size_t const size, dwSensorHandle_t const sensor);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSORS_LIDAR_LIDAR_H_