dwRadarDopplerMotionNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_DWRADARDOPPLERMOTIONNODE_DWRADARDOPPLERMOTIONNODE_HPP_
#define DWFRAMEWORK_DWNODES_DWRADARDOPPLERMOTIONNODE_DWRADARDOPPLERMOTIONNODE_HPP_
 
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/ParameterProvider.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/channelpackets/DopplerMotionEstimator.hpp>
#include <dwframework/dwnodes/common/channelpackets/Radar.hpp>
 
namespace dw
{
namespace framework
{
 
struct dwRadarDopplerMotionNodeParams
{
    bool enable;
    cudaStream_t cudaStream;
};
 
class dwRadarDopplerMotionNode : public ExceptionSafeProcessNode
{
public:
    static constexpr char LOG_TAG[] = "dwRadarDopplerMotionNode";
 
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwRadarScan, "RADAR_SCAN"_sv, PortBinding::REQUIRED));
    };
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwRadarDopplerMotion, "RADAR_DOPPLER_MOTION"_sv, PortBinding::REQUIRED));
    };
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PROCESS_RADAR_GPU_ASYNC"_sv, DW_PROCESSOR_TYPE_GPU),
            describePass("PROCESS_RADAR_CPU_SYNC"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    static std::unique_ptr<dwRadarDopplerMotionNode> create(ParameterProvider& provider);
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwRadarDopplerMotionNodeParams, dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_ABSTRACT_PARAMETER(
                    size_t,
                    "index"_sv),
                DW_DESCRIBE_ABSTRACT_ARRAY_PARAMETER(
                    bool,
                    "enabled"_sv,
                    9),
                DW_DESCRIBE_ABSTRACT_ARRAY_PARAMETER(
                    int64_t,
                    "radarDopplerMotionCudaStreamIndices"_sv,
                    9)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwRadarDopplerMotionNode(const dwRadarDopplerMotionNodeParams& param, const dwContextHandle_t ctx);
};
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_DWRADARDOPPLERMOTIONNODE_DWRADARDOPPLERMOTIONNODE_HPP_