Range Image Protocol codec (https://docs.waterlinked.com/sonar-3d/sonar-3d-15-api/). More...

#include <waterlinkedsonar/rip.hpp>

Public Member Functions
	Decoder ()

	~Decoder ()

	Decoder (Decoder &&) noexcept

Decoder &	operator= (Decoder &&) noexcept

	Decoder (const Decoder &)=delete

Decoder &	operator= (const Decoder &)=delete

Decoded	decode (const std::uint8_t *data, std::size_t size)
	Decodes one datagram.

Detailed Description

Range Image Protocol codec (https://docs.waterlinked.com/sonar-3d/sonar-3d-15-api/).

A packet is [4B magic "RIP2"|"RIP1"][4B LE total length][payload] [4B LE CRC-32], where the CRC covers everything before it and the RIP2 payload is a snappy-compressed serialized protobuf (RIP1 is uncompressed).

The decoder reuses internal buffers across calls, so decoding is steady-state allocation-free and the returned views point into those buffers: a view is valid until the next decode() on the same Decoder, like an iterator invalidated by container mutation. Copy any data kept longer. Not thread-safe; one caller at a time.

Constructor & Destructor Documentation

◆ Decoder() [1/3]

waterlinked::sonar::rip::Decoder::Decoder ( )

◆ ~Decoder()

waterlinked::sonar::rip::Decoder::~Decoder ( )

◆ Decoder() [2/3]

waterlinked::sonar::rip::Decoder::Decoder ( Decoder && )

noexcept

◆ Decoder() [3/3]

waterlinked::sonar::rip::Decoder::Decoder ( const Decoder & )

delete

Member Function Documentation

◆ decode()

Decoded waterlinked::sonar::rip::Decoder::decode	(	const std::uint8_t *	data,
		std::size_t	size
	)

Decodes one datagram.

Never throws; malformed input is reported through the returned status.

Parameters

data	Datagram bytes.
size	Datagram size; the packet's length field must equal it.

Returns: Status plus, on OK, a view of the decoded message. Invalidates views returned by previous calls.

◆ operator=() [1/2]

Decoder & waterlinked::sonar::rip::Decoder::operator= ( const Decoder & )