from .components import *
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from .constants import *
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from ctypes import sizeof, string_at
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class MicroWaveParser:
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@classmethod
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def ParserFrame(cls, buffer: bytes) -> list:
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"""
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解析完整的一帧数据，数据包括数据头，数据体，数据尾，返回点云数组
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"""
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header = HeaderBlock(buffer[:sizeof(HeaderBlock)])
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if HEADER_MAGIC == string_at(header.Magic, 8):
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footer = FooterBlock(buffer[-sizeof(FooterBlock):])
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point_cloud = []
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for i in range(header.NumberOfDetection):
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detection = DetectionBlock(header, footer, buffer[i * 8 + sizeof(HeaderBlock): (i + 1) * 8 + sizeof(HeaderBlock)])
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point = (detection.X, detection.Y, detection.Z)
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point_cloud.append(point)
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return point_cloud
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else:
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return []
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