File hesai_scan_decoder.hpp

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// Copyright 2024 TIER IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef NEBULA_WS_HESAI_SCAN_DECODER_HPP
#define NEBULA_WS_HESAI_SCAN_DECODER_HPP

#include <nebula_common/hesai/hesai_common.hpp>
#include <nebula_common/point_types.hpp>

#include <tuple>
#include <vector>

namespace nebula::drivers
{
class HesaiScanDecoder
{
public:
  HesaiScanDecoder(HesaiScanDecoder && c) = delete;
  HesaiScanDecoder & operator=(HesaiScanDecoder && c) = delete;
  HesaiScanDecoder(const HesaiScanDecoder & c) = delete;
  HesaiScanDecoder & operator=(const HesaiScanDecoder & c) = delete;

  virtual ~HesaiScanDecoder() = default;
  HesaiScanDecoder() = default;

  virtual int unpack(const std::vector<uint8_t> & packet) = 0;

  virtual bool hasScanned() = 0;

  virtual std::tuple<drivers::NebulaPointCloudPtr, double> getPointcloud() = 0;
};
}  // namespace nebula::drivers

#endif  // NEBULA_WS_HESAI_SCAN_DECODER_HPP