7 #ifndef IFM3D_DESERIALIZE_STRUCT_O3R_ODS_POLAR_OCCUPANCY_GRID_V1_HPP
8 #define IFM3D_DESERIALIZE_STRUCT_O3R_ODS_POLAR_OCCUPANCY_GRID_V1_HPP
12 #include <ifm3d/device/device.h>
13 #include <ifm3d/device/err.h>
14 #include <ifm3d/fg/organizer_utils.h>
15 #include <ifm3d/fg/buffer.h>
16 #include <ifm3d/deserialize/deserialize_utils.hpp>
22 constexpr
auto ODS_POLAR_OCCUPANCY_GRID_VERSION_INDEX = 0x0000;
23 constexpr
auto ODS_POLAR_OCCUPANCY_GRID_POLAR_OCC_GRID_INDEX = 0x0004;
24 constexpr
auto ARRAY_SIZE = 675;
25 constexpr
auto ODS_POLAR_OCCUPANCY_GRID_TIMESTAMP_NS_INDEX = 0x054A;
32 using Ptr = std::shared_ptr<ODSPolarOccupancyGridV1>;
35 Read(
const uint8_t* start_ptr,
size_t size)
37 if (size < ods_polar_occupancy_grid_v1_minimum_size)
42 version = mkval<std::uint32_t>(start_ptr +
43 ODS_POLAR_OCCUPANCY_GRID_VERSION_INDEX);
44 mkarray<uint16_t, ARRAY_SIZE>(
45 start_ptr + ODS_POLAR_OCCUPANCY_GRID_POLAR_OCC_GRID_INDEX,
47 timestamp_ns = mkval<std::uint64_t>(
48 start_ptr + ODS_POLAR_OCCUPANCY_GRID_TIMESTAMP_NS_INDEX);
59 std::array<uint16_t, ARRAY_SIZE> polarOccGrid;
61 uint64_t timestamp_ns;
64 static constexpr
size_t ods_polar_occupancy_grid_v1_minimum_size = 1354;
68 Deserialize(
const Buffer& ods_polar_occupancy_buffer_grid)
72 ods_polar_occupancy_grid_v1.Read(
73 ods_polar_occupancy_buffer_grid.
ptr<uint8_t>(0),
74 ods_polar_occupancy_buffer_grid.
size());
75 return ods_polar_occupancy_grid_v1;
80 #endif // IFM3D_DESERIALIZE_STRUCT_O3R_ODS_POLAR_OCCUPANCY_GRID_V1_HPP