Radar.h

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#ifndef DW_SENSORS_RADAR_RADAR_H_
#define DW_SENSORS_RADAR_RADAR_H_
 
#include <dw/core/base/Config.h>
#include <dw/core/base/Types.h>
#include <dw/sensors/radar/RadarScan.h>
#include <dw/sensors/Sensors.h>
 
#define DW_RADARSCAN_MINIMUM_PAYLOAD_SIZE 1744
 
typedef enum {
    DW_RADAR_RANGE_SHORT = 0,
 
    DW_RADAR_RANGE_MEDIUM = 1,
 
    DW_RADAR_RANGE_LONG = 2,
 
    DW_RADAR_RANGE_UNKNOWN = 3,
 
    DW_RADAR_RANGE_COUNT = 4,
} dwRadarRange;
 
typedef enum {
    DW_RADAR_RETURN_TYPE_DETECTION = 0,
 
    DW_RADAR_RETURN_TYPE_TRACK = 1,
 
    DW_RADAR_RETURN_TYPE_STATUS = 2,
 
    DW_RADAR_RETURN_TYPE_COUNT = 3,
} dwRadarReturnType;
 
//# sergen(generate)
typedef enum dwRadarDynamicState {
    DW_RADAR_DYNAMIC_STATE_MOVING = 0,
 
    DW_RADAR_DYNAMIC_STATE_STATIONARY = 1,
 
    DW_RADAR_DYNAMIC_STATE_ONCOMING = 2,
 
    DW_RADAR_DYNAMIC_STATE_CROSS_TRAFFIC = 3,
 
    DW_RADAR_DYNAMIC_STATE_STOPPED = 4,
 
    DW_RADAR_DYNAMIC_STATE_UNKNOWN = 5,
} dwRadarDynamicState;
 
typedef struct dwRadarScanType
{
    dwRadarReturnType returnType;
 
    dwRadarRange range;
} dwRadarScanType;
 
// The structs below are serialized in binary and the layout is assummed to be packed
#pragma pack(push, 1)
 
//# sergen(generate)
typedef struct dwRadarDetection
{
    float32_t x;
 
    float32_t y;
 
    float32_t Vx;
 
    float32_t Vy;
 
    float32_t azimuth;
 
    float32_t radius;
 
    float32_t radialVelocity;
 
    float32_t rcs;
 
    float32_t elevationAngle;
 
    bool elevationValidity;
 
    float32_t SNR;
} dwRadarDetection;
 
typedef struct dwRadarTrack
{
    uint32_t id;
 
    uint32_t age;
 
    float32_t confidence;
 
    dwRadarDynamicState dynamicState;
 
    float32_t x;
 
    float32_t y;
 
    float32_t z;
 
    float32_t Vx;
 
    float32_t Vy;
 
    float32_t Ax;
 
    float32_t Ay;
 
    float32_t azimuth;
 
    float32_t azimuthRate;
 
    float32_t radius;
 
    float32_t radialVelocity;
 
    float32_t radialAcceleration;
 
    float32_t rcs;
 
    bool elevationValid;
} dwRadarTrack;
 
typedef struct dwRadarScan
{
    uint32_t scanIndex;
 
    dwTime_t sensorTimestamp;
 
    dwTime_t hostTimestamp;
 
    dwRadarScanType scanType;
 
    uint32_t numReturns;
 
    float32_t dopplerAmbiguity;
 
    dwRadarScanValidity scanValidity;
 
    dwRadarScanMisc radarScanMisc;
 
    dwRadarScanAmbiguity radarScanAmbiguity;
 
    void* data;
 
    dwRadarDetectionMisc const* detectionMisc;
 
    dwRadarDetectionStdDev const* detectionStdDev;
 
    dwRadarDetectionQuality const* detectionQuality;
 
    dwRadarDetectionProbability const* detectionProbability;
 
    dwRadarDetectionFFTPatch const* detectionFFTPatch;
} dwRadarScan;
 
#pragma pack(pop)
 
typedef struct dwRadarStatus
{
    float32_t x;
 
    float32_t y;
 
    float32_t z;
 
    float32_t yaw;
 
    float32_t pitch;
 
    float32_t roll;
 
    /*
     * Deviation of azimuth angle for returns (radians)
     * This is the deviation of the measured azimuth from what would be
     * expected based on the geometric boresight of the sensor.
     */
    float32_t azimuthDeviation[DW_RADAR_RANGE_COUNT];
 
    /*
     * Deviation of elevation angle for returns (radians)
     * This is the deviation of the elevation azimuth from what would be
     * expected based on the geometric boresight of the sensor.
     */
    float32_t elevationDeviation[DW_RADAR_RANGE_COUNT];
 
    bool sensorAligned;
 
    bool sensorOK;
 
    bool sensorDisturbed;
 
    bool sensorBlock;
} dwRadarStatus;
 
typedef struct dwRadarVehicleState
{
    float32_t velocity;
 
    float32_t acceleration;
 
    float32_t lateralAcceleration;
 
    float32_t yawRate;
} dwRadarVehicleState;
 
typedef struct dwRadarMountPosition
{
    uint32_t sensorId;
 
    dwTransformation3f radarPosition;
 
    float32_t wheelbase;
 
    float32_t damping;
 
    bool isReversed;
} dwRadarMountPosition;
 
typedef struct dwRadarProperties
{
    uint8_t isDecodingOn;
 
    uint32_t numScanTypes;
 
    uint32_t supportedScanTypes[DW_RADAR_RETURN_TYPE_COUNT][DW_RADAR_RANGE_COUNT];
 
    uint32_t packetsPerScan;
 
    uint32_t maxReturnsPerScan[DW_RADAR_RETURN_TYPE_COUNT][DW_RADAR_RANGE_COUNT];
 
    uint32_t scansPerSecond;
 
    uint32_t inputPacketsPerSecond;
 
    bool isSimulation;
 
    dwRadarModel radarModel;
} dwRadarProperties;
 
#ifdef __cplusplus
extern "C" {
#endif
 
DW_API_PUBLIC
dwStatus dwSensorRadar_toggleScanType(bool const enable, dwRadarScanType const scanType, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_setDataDecoding(bool const enable, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_readData(const dwRadarScan** const data, const dwRadarScanType type,
                                const dwTime_t timeoutUs, dwSensorHandle_t const sensor);
DW_API_PUBLIC
dwStatus dwSensorRadar_returnData(const dwRadarScan* const scan, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_readScan(const dwRadarScan** const data,
                                const dwTime_t timeoutUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_returnScan(const dwRadarScan* const scan, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_processRawData(const dwRadarScan** const data,
                                      const uint8_t* const rawData, size_t const size, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_getProperties(dwRadarProperties* const radarProperties, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_setVehicleState(dwRadarVehicleState* const data, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_setMountPosition(dwRadarMountPosition* const data, dwSensorHandle_t const sensor);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSORS_RADAR_RADAR_H_