ifm3d
struct_o3r_ods_polar_occupancy_grid_v1.hpp
1 // -*- c++ -*-
2 /*
3  * Copyright 2025-present ifm electronic, gmbh
4  * SPDX-License-Identifier: Apache-2.0
5  */
6 
7 #ifndef IFM3D_DESERIALIZE_STRUCT_O3R_ODS_POLAR_OCCUPANCY_GRID_V1_HPP
8 #define IFM3D_DESERIALIZE_STRUCT_O3R_ODS_POLAR_OCCUPANCY_GRID_V1_HPP
9 
10 #include <array>
11 #include <chrono>
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>
17 
18 namespace ifm3d
19 {
20  namespace
21  {
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;
26  };
27 
30  {
31  public:
32  using Ptr = std::shared_ptr<ODSPolarOccupancyGridV1>;
33 
34  void
35  Read(const uint8_t* start_ptr, size_t size)
36  {
37  if (size < ods_polar_occupancy_grid_v1_minimum_size)
38  {
39  throw ifm3d::Error(IFM3D_CORRUPTED_STRUCT);
40  }
41 
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,
46  polarOccGrid);
47  timestamp_ns = mkval<std::uint64_t>(
48  start_ptr + ODS_POLAR_OCCUPANCY_GRID_TIMESTAMP_NS_INDEX);
49  };
50 
51  /*@brief Version number(current 1) of polar occupancy grid*/
52  uint32_t version;
53  /* @brief A compressed version of the grid using polar coordinates.
54  * The index corresponds to the angle slice i*360/675 degree to
55  * (i+1)*360/675 degree. The value is the distance to the nearest occupied
56  * cell on the ray from the vehicle origin, given in [mm]. In case there
57  * are no occupied cells on the ray, the value 65535 is set.
58  */
59  std::array<uint16_t, ARRAY_SIZE> polarOccGrid;
60  /*@brief Timestamp of polar occupany grid in [ns]*/
61  uint64_t timestamp_ns;
62 
63  private:
64  static constexpr size_t ods_polar_occupancy_grid_v1_minimum_size = 1354;
65 
66  public:
68  Deserialize(const Buffer& ods_polar_occupancy_buffer_grid)
69  {
70  ODSPolarOccupancyGridV1 ods_polar_occupancy_grid_v1;
71 
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;
76  }
77  };
78 } // end namespace ifm3d
79 
80 #endif // IFM3D_DESERIALIZE_STRUCT_O3R_ODS_POLAR_OCCUPANCY_GRID_V1_HPP
ifm3d::Buffer::size
size_t size() const
Return the size of the buffer in bytes.
ifm3d::Buffer
The class Buffer represent a STL container to store data from the ifm devices in 2 dimension and supp...
Definition: buffer.h:98
ifm3d::Buffer::ptr
T * ptr(const std::uint32_t row)
returns a pointer to the specified Buffer row.
ifm3d::Error
Definition: err.h:114
ifm3d::ODSPolarOccupancyGridV1
Definition: struct_o3r_ods_polar_occupancy_grid_v1.hpp:29