CalcLidarData.py

import math

class LidarData:
    def __init__(self, FSA, LSA, CS, Speed, TimeStamp, Confidence_i, Angle_i, Distance_i):
        self.FSA = FSA
        self.LSA = LSA
        self.CS = CS
        self.Speed = Speed
        self.TimeStamp = TimeStamp
        self.Confidence_i = Confidence_i
        self.Angle_i = Angle_i
        self.Distance_i = Distance_i

def CalcLidarData(payload_hex: str):
    s = payload_hex.replace(' ', '')

    Speed = int(s[2:4] + s[0:2], 16) / 100
    FSA = float(int(s[6:8] + s[4:6], 16)) / 100
    LSA = float(int(s[-8:-6] + s[-10:-8], 16)) / 100
    TimeStamp = int(s[-4:-2] + s[-6:-4], 16)
    CS = int(s[-2:], 16)

    Confidence_i, Angle_i, Distance_i = [], [], []

    if (LSA - FSA) > 0:
        angleStep = float(LSA - FSA) / 12
    else:
        angleStep = float((LSA + 360) - FSA) / 12

    counter = 0
    circle = lambda deg: deg - 360 if deg >= 360 else deg
    for i in range(0, 6 * 12, 6):
        Distance_i.append(int(s[8 + i + 2:8 + i + 4] + s[8 + i:8 + i + 2], 16) / 100)
        Confidence_i.append(int(s[8 + i + 4:8 + i + 6], 16))
        Angle_i.append(circle(angleStep * counter + FSA) * math.pi / 180.0)
        counter += 1

    return LidarData(FSA, LSA, CS, Speed, TimeStamp, Confidence_i, Angle_i, Distance_i)