Move/RN computeNSlotsPerDgram to Device::getNSlotsPerDgram

commonLibs/livoxProto1/device.h

@@ -4,11 +4,13 @@
 #include <boostAsioLinkageFix.h>
 #include <string>
 #include <cstdint>
+#include <cstddef>
 #include <memory>
 #include <atomic>
 #include <optional>
 #include <functional>
 #include <unordered_map>
+#include <stdexcept>
 #include <sys/socket.h>
 #include <netinet/in.h>
 #include <arpa/inet.h>
@@ -113,6 +115,34 @@ public:
 		Triple			= 0x03
 	};
 
+	/**
+	 * Get the number of points per datagram based on return mode
+	 * @param returnMode The return mode (0=SingleFirst, 1=SingleStrongest, 2=Dual, 3=Triple)
+	 * @return Number of points per datagram
+	 */
+	static inline size_t getNPointsPerDgram(int returnMode)
+	{
+		/*
+		 * Map modes to points per datagram based on Livox docs
+		 * 1: first, 2: strongest -> 96 samples => 96 points
+		 * 3: dual -> 48 samples * 2 points = 96
+		 * 4: triple -> 30 samples * 3 points = 90
+		 */
+		switch (returnMode)
+		{
+		case static_cast<int>(ReturnMode::SingleFirst):
+		case static_cast<int>(ReturnMode::SingleStrongest):
+		case static_cast<int>(ReturnMode::Dual):
+			return 96u;
+		case static_cast<int>(ReturnMode::Triple):
+			return 90u;
+		default:
+			throw std::runtime_error(
+				std::string(__func__) + ": Unknown returnMode "
+				+ std::to_string(returnMode));
+		}
+	}
+
 	// Utility methods
 	std::optional<std::string> getSmoIp(const std::string& deviceIP);