101 lines
2.4 KiB
C
101 lines
2.4 KiB
C
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// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
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// de Barcelona (UAB).
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//
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// This work is licensed under the terms of the MIT license.
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// For a copy, see <https://opensource.org/licenses/MIT>.
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#pragma once
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#include "carla/Buffer.h"
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#include "carla/sensor/s11n/SensorHeaderSerializer.h"
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#include "carla/ros2/ROS2.h"
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#include <cstdint>
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#include <iterator>
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namespace carla {
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namespace sensor {
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/// Wrapper around the raw data generated by a sensor plus some useful
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/// meta-information.
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class RawData {
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using HeaderSerializer = s11n::SensorHeaderSerializer;
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private:
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const auto &GetHeader() const {
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return HeaderSerializer::Deserialize(_buffer);
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}
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public:
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/// Type-id of the sensor that generated the data.
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uint64_t GetSensorTypeId() const {
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return GetHeader().sensor_type;
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}
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/// Frame count when the data was generated.
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uint64_t GetFrame() const {
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return GetHeader().frame;
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}
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/// Timestamp when the data was generated.
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double GetTimestamp() const {
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return GetHeader().timestamp;
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}
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/// Sensor's transform when the data was generated.
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const rpc::Transform &GetSensorTransform() const {
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return GetHeader().sensor_transform;
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}
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/// Begin iterator to the data generated by the sensor.
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auto begin() noexcept {
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return _buffer.begin() + HeaderSerializer::header_offset;
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}
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/// @copydoc begin()
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auto begin() const noexcept {
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return _buffer.begin() + HeaderSerializer::header_offset;
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}
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/// Past-the-end iterator to the data generated by the sensor.
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auto end() noexcept {
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return _buffer.end();
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}
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/// @copydoc end()
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auto end() const noexcept {
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return _buffer.end();
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}
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/// Retrieve a pointer to the memory containing the data generated by the
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/// sensor.
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auto data() noexcept {
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return begin();
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}
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/// @copydoc data()
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auto data() const noexcept {
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return begin();
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}
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/// Size in bytes of the data generated by the sensor.
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size_t size() const {
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DEBUG_ASSERT(std::distance(begin(), end()) >= 0);
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return static_cast<size_t>(std::distance(begin(), end()));
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}
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private:
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template <typename... Items>
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friend class CompositeSerializer;
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friend class carla::ros2::ROS2;
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RawData(Buffer &&buffer) : _buffer(std::move(buffer)) {}
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Buffer _buffer;
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};
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} // namespace sensor
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} // namespace carla
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