hfl_interface.h

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// Copyright 2020 Continental AG
// All rights reserved.
//
// Software License Agreement (BSD 2-Clause Simplified License)
//
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// modification, are permitted provided that the following conditions
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//
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//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above
//    copyright notice, this list of conditions and the following
//    disclaimer in the documentation and/or other materials provided
//    with the distribution.
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#ifndef HFL_INTERFACE_H_
#define HFL_INTERFACE_H_
#include <hfl_configs.h>
#include <hfl_frame.h>
 
#ifdef _WIN32
#include <winsock2.h>
#elif __linux__
#include <arpa/inet.h>  // ntohl()
#endif
 
#include <string>
#include <vector>
#include <memory>
 
namespace hfl
{
 
static inline float big_to_native(float x)
{
  return ntohl(x);
}
 
static inline uint32_t big_to_native(uint32_t x)
{
  return ntohl(x);
}
 
static inline uint16_t big_to_native(uint16_t x)
{
  return ntohs(x);
}
 
static inline uint8_t big_to_native(uint8_t x)
{
  return x;
}
 
enum udp_port_types
{
  frame_data,
  object_data,
  lut_data
};
 
enum num_bits
{
  eight_bit = 0,
  ten_bit,
  twelve_bit,
  fourteen_bit
};
 
class HflInterface
{
protected:
  std::string model_;
 
  std::string version_;
 
  std::string ip_address_;
 
  uint16_t frame_data_port_;
 
  bool publish_tf_;
 
  std::string parent_frame_;
  double x_;
  double y_;
  double z_;
  double roll_;
  double pitch_;
  double yaw_;
 
  double time_offset_;
 
  double global_offset_;
 
  double ch1_offset_;
  double ch2_offset_;
  double ch3_offset_;
  double ch4_offset_;
 
  double int500_offset_;
  double int1000_offset_;
  double int1500_offset_;
  double int2000_offset_;
  double int2500_offset_;
  double int3000_offset_;
  double int3500_offset_;
  double int4096_offset_;
 
  std::shared_ptr<hfl::Frame> frame_;
 
public:
  std::string getModel() const;
 
  std::string getVersion() const;
 
  virtual bool setFrameRate(double rate) = 0;
 
  virtual double getFrameRate(bool reg_format = false) const = 0;
 
  virtual bool setGlobalRangeOffset(double offset) = 0;
 
  virtual bool setChannelRangeOffset(uint8_t ch, double offset) = 0;
 
  virtual bool setIntensityRangeOffset(uint8_t band, double offset) = 0;
 
  virtual bool parseFrame(int start_byte, const std::vector<uint8_t>& packet) = 0;
 
  virtual bool processFrameData(const std::vector<uint8_t>& data) = 0;
 
  virtual bool parseObjects(int start_byte, const std::vector<uint8_t>& packet) = 0;
 
  virtual bool processObjectData(const std::vector<uint8_t>& data) = 0;
 
  std::shared_ptr<Frame> frame();
};
 
}  // namespace hfl
#endif  // HFL_INTERFACE_H_