base_hfl110dcu.h

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// Copyright 2020 Continental AG
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#ifndef BASE_HFL110DCU_H_
#define BASE_HFL110DCU_H_
#include <hfl_interface.h>
#include <string>
#include <vector>
 
namespace hfl
{
const uint16_t FRAME_ROWS{ 32 };
const uint16_t FRAME_COLUMNS{ 128 };
const uint16_t PIXEL_RETURNS{ 1 };
const uint16_t PIXEL_SLICES{ 128 };
const uint32_t WORDS_PER_PACKET{ 0x168 };
const uint8_t INTENSITY_BITS{ 5 };
const uint8_t RANGE_BITS{ 8 };
const uint8_t RANGE_PRECISION_BITS{ 6 };
const uint8_t INTENSITY_PUBLISH_BITS{ 12 };
const char FRAME_ID[] = "hfl110dcu";
const char CAMERA_INTRINSICS[] = "min000000";
const uint32_t EXPECTED_ADDRESS{ 0xffffffff };
 
class BaseHFL110DCU : public HflInterface
{
public:
  bool setFrameRate(double rate) override
  {
    return false;
  }
 
  double getFrameRate(bool reg_format = false) const
  {
    return 25.0;
  };
 
  bool setGlobalRangeOffset(double offset);
 
  bool setChannelRangeOffset(uint8_t ch, double offset);
 
  virtual bool setIntensityRangeOffset(uint8_t band, double offset);
 
protected:
  double range_magic_number_;
 
  Attribs_map mode_parameters;
 
  std::function<void(const std::vector<uint8_t>&)> udp_send_function_;
 
  enum HFL110DCU_memory_types
  {
    mem_ri = 0,
    types_size
  };
 
  bool getConfiguration(std::string model, std::string version);
 
  virtual bool parseObjects(int start_byte, const std::vector<uint8_t>& packet) = 0;
 
  virtual bool processObjectData(const std::vector<uint8_t>& data) = 0;
};
}  // namespace hfl
 
#endif  // BASE_HFL110DCU_H_