struct_o3r_ods_info_v1.hpp

// -*- c++ -*-
/*
 * Copyright 2022-present ifm electronic, gmbh
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef IFM3D_DESERIALIZE_STRUCT_O3R__ODS_INFO_V1_HPP
#define IFM3D_DESERIALIZE_STRUCT_O3R__ODS_INFO_V1_HPP
 
#include <array>
#include <ifm3d/deserialize/deserialize_utils.hpp>
#include <ifm3d/device/device.h>
#include <ifm3d/device/err.h>
#include <ifm3d/fg/buffer.h>
#include <ifm3d/fg/organizer_utils.h>
 
namespace ifm3d
{
  namespace
  {
    constexpr auto ODS_INFO_TIMESTAMP_NS_INDEX = 0x0000;
    constexpr auto ODS_INFO_ZONE_OCCUPIED_INDEX = 0x0008;
    constexpr auto ODS_INFO_ZONE_CONFIG_ID_INDEX = 0x000B;
  };
 
  class ODSInfoV1
  {
  public:
    using Ptr = std::shared_ptr<ODSInfoV1>;
 
    bool
    IsValid(const uint8_t*, size_t size)
    {
      return size >= ODS_INFO_V1_SIZE;
    }
 
    void
    Read(const uint8_t* data, size_t size)
    {
      if (!IsValid(data, size))
        {
          throw ifm3d::Error(IFM3D_CORRUPTED_STRUCT);
        }
      const uint8_t* start_ptr = data;
      timestamp_ns =
        mkval<std::uint64_t>(start_ptr + ODS_INFO_TIMESTAMP_NS_INDEX);
      mkarray<uint8_t, 3>(start_ptr + ODS_INFO_ZONE_OCCUPIED_INDEX,
                          zone_occupied);
      zone_config_id =
        mkval<uint32_t>(start_ptr + ODS_INFO_ZONE_CONFIG_ID_INDEX);
    };
    /*@brief Timestamp of zone information [ns]*/
    uint64_t timestamp_ns;
    /*
     * @brief array with 3 elements of unit8 values
     *  0: zone is free
     *  1: zone is occupied
     */
    std::array<uint8_t, 3> zone_occupied;
    /*
     * @brief user-specified ID to identify the zone configuration
     */
    uint32_t zone_config_id;
    /*
     *@brief size ofthe ODS_INFO_V1 in bytes
     * */
    static constexpr size_t ODS_INFO_V1_SIZE = 15;
 
    static ODSInfoV1
    Deserialize(const Buffer& tof_info_buffer)
    {
      ODSInfoV1 ods_info_v1{};
 
      ods_info_v1.Read(tof_info_buffer.Ptr<uint8_t>(0),
                       tof_info_buffer.Size());
      return ods_info_v1;
    }
  };
} // end namespace ifm3d
 
#endif // IFM3D_DESERIALIZE_STRUCT_O3R__ODS_INFO_V1_HPP