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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,132 @@ | ||
| use binrw::{BinRead, BinResult, BinWrite, Endian, Error}; | ||
| use std::io::{Error as IOError, ErrorKind::InvalidData, Read, Seek, SeekFrom, Write}; | ||
|
|
||
| const MASK_RANGE: u32 = 0b1111_1111_1111_1111_1110_0000_0000_0000; | ||
| const SHIFT_RANGE: usize = 13; | ||
| const MAX_RANGE: u32 = 0b111_1111_1111_1111_1111; | ||
| const ERR_RANGE_INVALID: &'static str = "Invalid range value"; | ||
|
|
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| const MASK_REFLECTIVITY: u32 = 0b0000_0000_0000_0000_0000_0000_1111_1111; | ||
|
|
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| #[inline] | ||
| fn valid_range(range: u32) -> bool { | ||
| range <= MAX_RANGE | ||
| } | ||
|
|
||
| #[derive(Debug, Eq, PartialEq, Clone, derive_new::new)] | ||
| pub struct DualReturnBlock { | ||
| pub range: u32, | ||
| pub reflectivity: u8, | ||
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| pub range2: u32, | ||
| pub reflectivity2: u8, | ||
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| pub signal: u16, | ||
| pub signal2: u16, | ||
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| pub near_ir: u16, | ||
| } | ||
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||
| impl DualReturnBlock { | ||
| fn read_rr_block<R: Read + Seek>(reader: &mut R, endian: Endian) -> BinResult<(u32, u8)> { | ||
| let raw = u32::read_options(reader, endian, ())?; | ||
| let range = (raw & MASK_RANGE) >> SHIFT_RANGE; | ||
| let reflectivity = (raw & MASK_REFLECTIVITY) as u8; | ||
| Ok((range, reflectivity)) | ||
| } | ||
|
|
||
| fn write_rr_block<W: Write + Seek>( | ||
| range: u32, | ||
| reflectivity: u8, | ||
| writer: &mut W, | ||
| endian: Endian, | ||
| ) -> BinResult<()> { | ||
| if !valid_range(range) { | ||
| let pos = writer.stream_position()?; | ||
| return Err(Error::Custom { | ||
| pos, | ||
| err: Box::new(IOError::new(InvalidData, ERR_RANGE_INVALID)), | ||
| }); | ||
| } | ||
|
|
||
| let raw = reflectivity as u32 | (range & MASK_RANGE) << SHIFT_RANGE; | ||
| raw.write_options(writer, endian, ()) | ||
| } | ||
| } | ||
|
|
||
| impl Default for DualReturnBlock { | ||
| fn default() -> Self { | ||
| Self { | ||
| range: 0, | ||
| reflectivity: 0, | ||
| range2: 0, | ||
| reflectivity2: 0, | ||
| signal: 0, | ||
| signal2: 0, | ||
| near_ir: 0, | ||
| } | ||
| } | ||
| } | ||
|
|
||
| impl BinRead for DualReturnBlock { | ||
| type Args<'a> = (); | ||
|
|
||
| fn read_options<R: Read + Seek>( | ||
| reader: &mut R, | ||
| endian: Endian, | ||
| _: Self::Args<'_>, | ||
| ) -> BinResult<Self> { | ||
| // obtain the first range-reflectivity block | ||
| let (range, reflectivity) = Self::read_rr_block(reader, endian)?; | ||
|
|
||
| // obtain the second range-reflectivity block | ||
| let (range2, reflectivity2) = Self::read_rr_block(reader, endian)?; | ||
|
|
||
| // read the first signal | ||
| let signal = u16::read_options(reader, endian, ())?; | ||
|
|
||
| // read the second signal | ||
| let signal2 = u16::read_options(reader, endian, ())?; | ||
|
|
||
| // read near-IR | ||
| let near_ir = u16::read_options(reader, endian, ())?; | ||
|
|
||
| // skip the reserved 16-bit chunk | ||
| let pos = reader.stream_position()?; | ||
| reader.seek(SeekFrom::Current(2)).map_err(|e| Error::Custom { pos, err: Box::new(e) })?; | ||
|
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| Ok(Self { range, reflectivity, range2, reflectivity2, signal, signal2, near_ir }) | ||
| } | ||
| } | ||
|
|
||
| impl BinWrite for DualReturnBlock { | ||
| type Args<'a> = (); | ||
|
|
||
| fn write_options<W: Write + Seek>( | ||
| &self, | ||
| writer: &mut W, | ||
| endian: Endian, | ||
| _: Self::Args<'_>, | ||
| ) -> BinResult<()> { | ||
| // write the first range-reflectivity block | ||
| Self::write_rr_block(self.range, self.reflectivity, writer, endian)?; | ||
|
|
||
| // write the second range-reflectivity block | ||
| Self::write_rr_block(self.range2, self.reflectivity2, writer, endian)?; | ||
|
|
||
| // write the first signal | ||
| self.signal.write_options(writer, endian, ())?; | ||
|
|
||
| // write the second signal | ||
| self.signal2.write_options(writer, endian, ())?; | ||
|
|
||
| // write near-IR | ||
| self.near_ir.write_options(writer, endian, ())?; | ||
|
|
||
| // skip the reserved 16-bit chunk | ||
| let pos = writer.stream_position()?; | ||
| writer.seek(SeekFrom::Current(2)).map_err(|e| Error::Custom { pos, err: Box::new(e) })?; | ||
|
|
||
| Ok(()) | ||
| } | ||
| } |
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