Function decodeObstacles

depot/console/src/lib/protocol.ts:746–787

(data: ArrayBuffer)

 *   [56-59]  f32   velocity_y
 */
export function decodeObstacles(data: ArrayBuffer): DecodedObstacle[] | null {
  if (data.byteLength < OBSTACLES_HEADER_SIZE) {
    return null;
  }

  const view = new DataView(data);
  if (view.getUint8(0) !== MSG_OBSTACLES) {
    return null;
  }

  const count = view.getUint8(1);
  const expectedLen = OBSTACLES_HEADER_SIZE + count * OBSTACLE_RECORD_SIZE;
  if (data.byteLength < expectedLen) {
    return null;
  }

  const obstacles: DecodedObstacle[] = [];
  for (let i = 0; i < count; i++) {
    const offset = OBSTACLES_HEADER_SIZE + i * OBSTACLE_RECORD_SIZE;
    obstacles.push({
      trackId: view.getUint32(offset, true),
      obstacleClass: view.getUint8(offset + 4),
      confidence: view.getUint8(offset + 5),
      age: view.getUint16(offset + 6, true),
      centroidX: view.getFloat32(offset + 8, true),
      centroidY: view.getFloat32(offset + 12, true),
      bboxMinX: view.getFloat32(offset + 16, true),
      bboxMinY: view.getFloat32(offset + 20, true),
      bboxMaxX: view.getFloat32(offset + 24, true),
      bboxMaxY: view.getFloat32(offset + 28, true),
      cellCount: view.getUint32(offset + 32, true),
      area: view.getFloat32(offset + 36, true),
      minZ: view.getFloat32(offset + 40, true),
      maxZ: view.getFloat32(offset + 44, true),
      rotation: view.getFloat32(offset + 48, true),
      velocityX: view.getFloat32(offset + 52, true),
      velocityY: view.getFloat32(offset + 56, true),
    });
  }

  return obstacles;
}

// ============================================================================
// Navigation Path Decoding (MSG_PATH = 0x25)