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/*
* Slamtec LIDAR SDK
*
* sl_lidar_protocol.h
*
* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
*/
/*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. 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.
*
*/
#pragma once
#if defined(_MSC_VER)
#pragma warning(push)
#pragma warning(disable:4200)
#endif
#include "sl_types.h"
#define SL_LIDAR_CMD_SYNC_BYTE 0xA5
#define SL_LIDAR_CMDFLAG_HAS_PAYLOAD 0x80
#define SL_LIDAR_ANS_SYNC_BYTE1 0xA5
#define SL_LIDAR_ANS_SYNC_BYTE2 0x5A
#define SL_LIDAR_ANS_PKTFLAG_LOOP 0x1
#define SL_LIDAR_ANS_HEADER_SIZE_MASK 0x3FFFFFFF
#define SL_LIDAR_ANS_HEADER_SUBTYPE_SHIFT (30)
#if defined(_WIN32)
#pragma pack(1)
#endif
typedef struct sl_lidar_cmd_packet_t
{
sl_u8 syncByte; //must be SL_LIDAR_CMD_SYNC_BYTE
sl_u8 cmd_flag;
sl_u8 size;
sl_u8 data[0];
} __attribute__((packed)) sl_lidar_cmd_packet_t;
typedef struct sl_lidar_ans_header_t
{
sl_u8 syncByte1; // must be SL_LIDAR_ANS_SYNC_BYTE1
sl_u8 syncByte2; // must be SL_LIDAR_ANS_SYNC_BYTE2
sl_u32 size_q30_subtype; // see _u32 size:30; _u32 subType:2;
sl_u8 type;
} __attribute__((packed)) sl_lidar_ans_header_t;
#if defined(_WIN32)
#pragma pack()
#endif
#if defined(_MSC_VER)
#pragma warning(pop)
#endif
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