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#ifndef __LIDAR_BRIDGE_H__
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#define __LIDAR_BRIDGE_H__
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifdef _WIN32
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#define EXPORT_API __declspec(dllexport)
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#else
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#define EXPORT_API __attribute__((visibility("default")))
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#endif
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#include <stdint.h>
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/* 协议类型 */
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#define PROTO_TCP 1
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#define PROTO_UDP 2
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/* 单点数据 (对应 pavo_response_pcd_t) */
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typedef struct {
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double x;
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double y;
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double z;
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uint16_t intensity;
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} LidarPoint;
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/* 帧数据 */
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typedef struct {
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LidarPoint* points; /* 点数组 */
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int count; /* 点数量 */
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uint32_t timestamp;
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} LidarFrame;
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/* ============ 生命周期 ============ */
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/** 创建雷达实例，返回不透明句柄 */
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EXPORT_API void* lidar_create(void);
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/** 销毁实例 */
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EXPORT_API void lidar_destroy(void* handle);
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/* ============ 配置 ============ */
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/** 设置通信协议: PROTO_TCP(1) 或 PROTO_UDP(2) */
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EXPORT_API void lidar_set_protocol(void* handle, int proto);
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/* ============ 连接 ============ */
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/** 连接雷达，timeout_ms=超时毫秒，成功返回1 */
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EXPORT_API int lidar_open(void* handle, const char* ip, int port, int timeout_ms);
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/** 是否已连接，已连接返回1 */
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EXPORT_API int lidar_is_open(void* handle);
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/** 断开连接 */
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EXPORT_API int lidar_close(void* handle);
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/* ============ 数据获取 ============ */
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/** 获取一帧点云数据(PCD格式)，成功返回1，timeout_ms=0为不等待 */
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EXPORT_API int lidar_get_frame(void* handle, LidarFrame* frame, int timeout_ms);
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/** 释放 lidar_get_frame 返回的帧内存 */
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EXPORT_API void lidar_free_frame(LidarFrame* frame);
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/** 启用/禁用数据传输，en=1启用 */
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EXPORT_API int lidar_enable_data(void* handle, int en);
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/** 获取上一帧后的累计帧数 */
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EXPORT_API int lidar_get_scans_available(void* handle);
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/* ============ 设备信息 ============ */
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/** 获取设备序列号，buf至少64字节 */
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EXPORT_API int lidar_get_sn(void* handle, char* buf, int buf_size);
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/** 获取设备型号 */
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EXPORT_API int lidar_get_pn(void* handle, char* buf, int buf_size);
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/** 获取SDK版本 */
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EXPORT_API int lidar_get_sdk_ver(void* handle, char* buf, int buf_size);
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/** 获取固件版本 */
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EXPORT_API int lidar_get_firmware_ver(void* handle, char* buf, int buf_size);
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/** 获取错误码 */
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EXPORT_API int lidar_get_error_code(void* handle);
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#ifdef __cplusplus
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}
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#endif
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#endif /* __LIDAR_BRIDGE_H__ */
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