hfl_interface.h

Go to the documentation of this file.

// Copyright 2020 Continental AG
// All rights reserved.
//
// Software License Agreement (BSD 2-Clause Simplified License)
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above
//    copyright notice, this list of conditions and the following
//    disclaimer in the documentation and/or other materials provided
//    with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
// COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.



#ifndef HFL_INTERFACE_H_
#define HFL_INTERFACE_H_
#include <hfl_configs.h>
#include <hfl_frame.h>

#ifdef _WIN32
#include <winsock2.h>
#elif __linux__
#include <arpa/inet.h>  // ntohl()
#endif

#include <string>
#include <vector>
#include <memory>

namespace hfl
{

static inline float big_to_native(float x)
{
  return ntohl(x);
}

static inline uint32_t big_to_native(uint32_t x)
{
  return ntohl(x);
}

static inline uint16_t big_to_native(uint16_t x)
{
  return ntohs(x);
}

static inline uint8_t big_to_native(uint8_t x)
{
  return x;
}

enum udp_port_types
{
  frame_data,
  object_data,
  lut_data
};

enum num_bits
{
  eight_bit = 0,
  ten_bit,
  twelve_bit,
  fourteen_bit
};

class HflInterface
{
protected:
  std::string model_;

  std::string version_;

  std::string ip_address_;

  uint16_t frame_data_port_;

  bool publish_tf_;

  std::string parent_frame_;
  double x_;
  double y_;
  double z_;
  double roll_;
  double pitch_;
  double yaw_;

  double time_offset_;

  double global_offset_;

  std::shared_ptr<hfl::Frame> frame_;

public:
  std::string getModel() const;

  std::string getVersion() const;

  virtual bool setFrameRate(double rate) = 0;

  virtual double getFrameRate(bool reg_format = false) const = 0;

  virtual bool setGlobalRangeOffset(double offset) = 0;

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

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

  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;
  
  std::shared_ptr<Frame> frame();
};

}  // namespace hfl
#endif  // HFL_INTERFACE_H_