Lidar Plugin

Detailed Description

Provides an interface for supporting non-standard Lidar sensors.

Data Structures
struct	_dwLidarDecoder_constants
	Holds constants for a given lidar. More...

Functions
dwStatus	_dwLidarDecoder_decodePacket (dwLidarDecodedPacket *output, const uint8_t *buffer, const size_t length)
	Decodes a packet from the lidar, given a raw byte array and a specified decoding format. More...
dwStatus	_dwLidarDecoder_getConstants (_dwLidarDecoder_constants *constants)
	Gets constants associated with this lidar sensor. More...
dwStatus	_dwLidarDecoder_initialize (const float32_t spinFrequency)
	Initializes the lidar decoder interface. More...
dwStatus	_dwLidarDecoder_release ()
	Releases the lidar decoder interface. More...
dwStatus	_dwLidarDecoder_synchronize (const uint8_t *buffer, const size_t length, size_t *remaining)
	Determines whether a byte array of packet data has a valid lidar signature. More...
dwStatus	_dwLidarDecoder_validatePacket (const uint8_t *buffer, const size_t length)
	Determines whether a byte array of packet data is valid. More...

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Data Structure Documentation

_dwLidarDecoder_constants

struct _dwLidarDecoder_constants

Data Fields
size_t	headerSize	Packet header size, in bytes.
size_t	maxPayloadSize	Packet max payload size, in bytes.
dwLidarProperties	properties	Radar properties.

Function Documentation

_dwLidarDecoder_decodePacket()

dwStatus _dwLidarDecoder_decodePacket	(	dwLidarDecodedPacket *	output,
		const uint8_t *	buffer,
		const size_t	length
	)

Decodes a packet from the lidar, given a raw byte array and a specified decoding format.

Parameters

[out]	output	Decoded packet output is written here.
[in]	buffer	Byte array containing raw data.
[in]	length	Length of the byte array.

Returns

DW_FAILURE, DW_SUCCESS

_dwLidarDecoder_getConstants()

dwStatus _dwLidarDecoder_getConstants

(

_dwLidarDecoder_constants *

constants

)

Gets constants associated with this lidar sensor.

Parameters

[out]

constants

Constant parameters for this sensor are written here.

Returns

DW_FAILURE, DW_SUCCESS

_dwLidarDecoder_initialize()

dwStatus _dwLidarDecoder_initialize

(

const float32_t

spinFrequency

)

Initializes the lidar decoder interface.

Returns

DW_FAILURE, DW_SUCCESS

_dwLidarDecoder_release()

dwStatus _dwLidarDecoder_release

(

)

Releases the lidar decoder interface.

Returns

DW_FAILURE, DW_SUCCESS

_dwLidarDecoder_synchronize()

dwStatus _dwLidarDecoder_synchronize	(	const uint8_t *	buffer,
		const size_t	length,
		size_t *	remaining
	)

Determines whether a byte array of packet data has a valid lidar signature.

Parameters

[in]	buffer	A pointer to the byte array containing packet data.
[in]	length	Length of the buffer in bytes.
[out]	remaining	Number of bytes remaining for packet completion.

Returns

DW_SUCCESS if the lidar signature is valid, or DW_FAILURE otherwise.

_dwLidarDecoder_validatePacket()

dwStatus _dwLidarDecoder_validatePacket	(	const uint8_t *	buffer,
		const size_t	length
	)

Determines whether a byte array of packet data is valid.

The definition of "valid" here is implementation-specific.

Parameters

[in]	buffer	A pointer to the byte array containing packet data.
[in]	length	Length of the buffer in bytes.

Returns

DW_SUCCESS if the packet data is valid, or DW_FAILURE otherwise.