rip.hpp

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#ifndef WATERLINKEDSONAR_RIP_HPP
#define WATERLINKEDSONAR_RIP_HPP
 
#include <cstddef>
#include <cstdint>
#include <memory>
#include <string>
#include <variant>
#include <waterlinkedsonar/messages.hpp>
 
namespace waterlinked::sonar::rip {
 
enum class DecodeStatus : std::uint8_t {
  OK,
  UNKNOWN_TYPE,
  BAD_MAGIC,
  BAD_LENGTH,
  CRC_MISMATCH,
  DECOMPRESS_FAILED,
  PARSE_FAILED,
};
 
const char* to_string(DecodeStatus status);
 
struct Decoded {
  DecodeStatus status{DecodeStatus::PARSE_FAILED};
  std::variant<std::monostate, RangeImageView, BitmapImageView, ImuBatchView>
      payload;
  std::string unknown_type_url;
};
 
class Decoder {
 public:
  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);
 
 private:
  struct Impl;
  std::unique_ptr<Impl> impl_;
};
 
}  // namespace waterlinked::sonar::rip
 
#endif  // WATERLINKEDSONAR_RIP_HPP