parse

type AngleCorrection struct {
	Channel   int     // Laser channel number (1-40) for identification
	Elevation float64 // Vertical angle correction in degrees (relative to horizontal plane, typically ±15°)
	Azimuth   float64 // Horizontal angle correction in degrees (relative to sensor front, small corrections ~±1°)
}

type ChannelData struct {
	Distance     uint16 // Raw distance measurement in 4mm units (0 = no return, max ~262m)
	Reflectivity uint8  // Laser return intensity/reflectivity value (0-255, higher = more reflective surface)
}

type DataBlock struct {
	Azimuth  uint16                          // Raw azimuth angle in 0.01-degree units (0-35999 = 0-359.99°)
	Channels [CHANNELS_PER_BLOCK]ChannelData // Measurement data for all 40 channels at this azimuth
}

type FiretimeCorrection struct {
	Channel  int     // Laser channel number (1-40) for identification
	FireTime float64 // Time offset in microseconds when this channel fires relative to block start (can be negative)
}

type PacketHeader struct {
	SOB              uint16 // Start of Block identifier (packet format marker) - UNUSED
	ChLaserNum       uint8  // Channel and laser configuration number - UNUSED
	ChBlockNum       uint8  // Channel and block configuration number - UNUSED
	FirstBlockReturn uint8  // Return mode for first block (single/dual return) - UNUSED
	DisUnit          uint8  // Distance measurement unit identifier - UNUSED
}

type PacketTail struct {
	// Reserved fields for future protocol extensions
	Reserved1 [5]uint8 // Reserved (bytes 0-4) - available for future features
	Reserved2 [2]uint8 // Reserved (bytes 6-7) - available for future features

	// Sensor thermal management
	HighTempFlag uint8 // High temperature shutdown flag: 0x01=High temp warning, 0x00=Normal operation

	// Motor control and speed monitoring - CRITICAL for frame timing
	MotorSpeed uint16 // Current motor speed in RPM (typically 600-1200, used for time-based frame detection)

	// Timing information for precise timestamp calculation
	Timestamp uint32 // Microsecond part of UTC timestamp, Range: 0 to 999,999 μs

	// Return mode configuration for dual-return LiDAR operation
	ReturnMode uint8 // Return mode: 0x37=Strongest, 0x38=Last, 0x39=Last+Strongest

	// Sensor identification and configuration
	FactoryInfo uint8 // Factory configuration identifier (typically 0x42 or 0x43)

	// Accurate UTC date and time information
	DateTime [6]uint8 // Whole second UTC timestamp: [year-2000, month, day, hour, minute, second]

	// Computed high-precision timestamp combining DateTime + Timestamp
	CombinedTimestamp time.Time // Accurate UTC timestamp (DateTime + Timestamp) for precise timing

	// Optional packet sequencing for completeness tracking
	UDPSequence uint32 // Sequence number of this data packet (when UDP sequencing enabled)
}

type Pandar40PConfig struct {
	AngleCorrections    [CHANNELS_PER_BLOCK]AngleCorrection    // Per-channel angular calibration data (elevation & azimuth offsets)
	FiretimeCorrections [CHANNELS_PER_BLOCK]FiretimeCorrection // Per-channel timing calibration data (microsecond firing delays)
}

type Pandar40PParser struct {
	// contains filtered or unexported fields
}

type TimestampMode int