LidarPlugin.h

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#ifndef DW_SENSORS_LIDAR_PLUGIN_H
#define DW_SENSORS_LIDAR_PLUGIN_H
 
#include <dw/sensors/plugins/SensorCommonPlugin.h>
#include <dw/sensors/lidar/Lidar.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct
{
    dwLidarProperties properties;
 
    size_t maxPayloadSize;
} _dwSensorLidarDecoder_constants;
 
typedef dwStatus (*dwSensorLidarPlugin_parseDataBuffer)(
    dwLidarDecodedPacket* output, const dwTime_t hostTimeStamp,
    dwSensorPluginSensorHandle_t sensor);
 
typedef dwStatus (*dwSensorLidarPlugin_getDecoderConstants)(_dwSensorLidarDecoder_constants* constants, dwSensorPluginSensorHandle_t sensor);
 
typedef dwStatus (*dwSensorLidarPlugin_sendMessage)(
    uint32_t const cmd, uint8_t const* const data, size_t const size,
    dwSensorPluginSensorHandle_t sensor);
 
typedef struct
{
    dwSensorCommonPluginFunctions common;
    dwSensorLidarPlugin_parseDataBuffer parseDataBuffer;
    dwSensorLidarPlugin_getDecoderConstants getDecoderConstants;
    dwSensorLidarPlugin_sendMessage sendMessage;
} dwSensorLidarPluginFunctionTable;
 
dwStatus dwSensorLidarPlugin_getFunctionTable(dwSensorLidarPluginFunctionTable* functions);
 
#ifdef __cplusplus
}
#endif
 
#endif