base_hfl110dcu.h

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#ifndef BASE_HFL110DCU_H_
#define BASE_HFL110DCU_H_
#include <hfl_interface.h>
#include <string>
#include <vector>

namespace hfl
{
const uint16_t FRAME_ROWS{ 32 };
const uint16_t FRAME_COLUMNS{ 128 };
const uint16_t PIXEL_RETURNS{ 2 };
const uint16_t PIXEL_SLICES{ 128 };
const uint8_t INTENSITY_BITS{ 13 };
const uint8_t RANGE_BITS{ 16 };
const char FRAME_ID[] = "hfl110dcu";
const char CAMERA_INTRINSICS[] = "min000000";
const uint32_t EXPECTED_ADDRESS{ 0xffffffff };

class BaseHFL110DCU : public HflInterface
{
public:
  bool setFrameRate(double rate) override
  {
    return false;
  }

  double getFrameRate(bool reg_format = false) const
  {
    return 25.0;
  };

  bool setGlobalRangeOffset(double offset);

protected:
  double range_magic_number_;

  Attribs_map mode_parameters;

  std::function<void(const std::vector<uint8_t>&)> udp_send_function_;

  enum HFL110DCU_memory_types
  {
    mem_ri = 0,
    types_size
  };

  bool getConfiguration(std::string model, std::string version);

  virtual bool parseObjects(int start_byte, const std::vector<uint8_t>& packet) = 0;

  virtual bool processObjectData(const std::vector<uint8_t>& data) = 0;

  virtual bool processTelemetryData(const std::vector<uint8_t>& data) = 0;

  virtual bool processSliceData(const std::vector<uint8_t>& data) = 0;
};
}  // namespace hfl

#endif  // BASE_HFL110DCU_H_