7 #ifndef IFM3D_DESERIALIZE_STRUCT_O3R__ODS_INFO_V1_HPP
8 #define IFM3D_DESERIALIZE_STRUCT_O3R__ODS_INFO_V1_HPP
11 #include <ifm3d/device/device.h>
12 #include <ifm3d/device/err.h>
13 #include <ifm3d/fg/organizer_utils.h>
14 #include <ifm3d/fg/buffer.h>
15 #include <ifm3d/deserialize/deserialize_utils.hpp>
21 constexpr
auto ODS_INFO_TIMESTAMP_NS_INDEX = 0x0000;
22 constexpr
auto ODS_INFO_ZONE_OCCUPIED_INDEX = 0x0008;
23 constexpr
auto ODS_INFO_ZONE_CONFIG_ID_INDEX = 0x000B;
30 using Ptr = std::shared_ptr<ODSInfoV1>;
33 IsValid(
const uint8_t* data,
size_t size)
35 if (size < ods_info_v1_size)
43 Read(
const uint8_t* data,
size_t size)
45 if (!IsValid(data, size))
49 const uint8_t* start_ptr = data;
51 mkval<std::uint64_t>(start_ptr + ODS_INFO_TIMESTAMP_NS_INDEX);
52 mkarray<uint8_t, 3>(start_ptr + ODS_INFO_ZONE_OCCUPIED_INDEX,
55 mkval<uint32_t>(start_ptr + ODS_INFO_ZONE_CONFIG_ID_INDEX);
58 uint64_t timestamp_ns;
64 std::array<uint8_t, 3> zone_occupied;
68 uint32_t zone_config_id;
72 static constexpr
size_t ods_info_v1_size = 15;
75 Deserialize(
const Buffer& tof_info_buffer)
79 ods_info_v1.Read(tof_info_buffer.
ptr<uint8_t>(0),
80 tof_info_buffer.
size());
86 #endif // IFM3D_DESERIALIZE_STRUCT_O3R__ODS_INFO_V1_HPP