livox_util.h

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/******************************************************************************
 * Copyright 2024 The Apollo Authors. All Rights Reserved.
 *
 * 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.
 *****************************************************************************/
#pragma once
 
#include "cyber/cyber.h"
 
namespace apollo {
namespace drivers {
namespace lidar {
 
typedef enum {
  kTimestampTypeNoSync = 0,    
  kTimestampTypeGptpOrPtp = 1, 
  kTimestampTypeGps = 2        
} TimestampType;
 
typedef union {
  struct {
    uint32_t low;
    uint32_t high;
  } stamp_word;
 
  uint8_t stamp_bytes[8];
  int64_t stamp;
} LdsStamp;
 
uint64_t GetEthPacketTimestamp(const uint8_t& timestamp_type,
                               const uint8_t* time_stamp, const uint8_t& size,
                               const uint32_t& point_size,
                               const bool use_lidar_clock = false);
 
}  // namespace lidar
}  // namespace drivers
}  // namespace apollo