SensorManager.h

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#ifndef DW_SENSORS_SENSORMANAGER_H_
#define DW_SENSORS_SENSORMANAGER_H_
 
#include <dw/rig/Rig.h>
#include <dw/sensors/Sensors.h>
#include <dw/sensors/camera/Camera.h>
#include <dw/sensors/imu/IMU.h>
#include <dw/sensors/lidar/Lidar.h>
#include <dw/sensors/gps/GPS.h>
#include <dw/sensors/canbus/CAN.h>
#include <dw/sensors/radar/Radar.h>
#include <dw/sensors/lidar/Lidar.h>
#include <dw/sensors/data/Data.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#if defined(LINUX)
#define DW_SENSORMANGER_MAX_CAMERAS 64U
#else
// The camera limit is to match the max CSI port limit on HW
#define DW_SENSORMANGER_MAX_CAMERAS 16U
#endif
#define DW_SENSORMANGER_MAX_NUM_SENSORS 64U
 
typedef struct dwSensorManagerObject* dwSensorManagerHandle_t; 
 
typedef struct _dwUltrasonicEnvelope dwUltrasonicEnvelope;
 
typedef struct
{
    dwSensorType type;
 
    uint32_t sensorTypeIndex;
 
    dwTime_t timestamp_us;
 
    uint32_t sensorIndex;
 
    uint32_t sensorIndices[DW_SENSORMANGER_MAX_CAMERAS];
 
    uint32_t numCamFrames;                                        
    dwCameraFrameHandle_t camFrames[DW_SENSORMANGER_MAX_CAMERAS]; 
 
    // Data accessor for all other sensors
    dwGPSFrame gpsFrame;                         
    dwIMUFrame imuFrame;                         
    dwCANMessage canFrame;                       
    const dwRadarScan* radFrame;                 
    const dwLidarDecodedPacket* lidFrame;        
    const dwDataPacket* dataFrame;               
    const uint8_t* rawData;                      
    size_t rawDataSize;                          
    const dwUltrasonicEnvelope* ultrasonicFrame; // Ultrasonic envelope in this event.
} dwSensorEvent;
 
enum dwSensorManagerDataMode
{
    DW_SENSOR_MANAGER_DATA_MODE_NON_RAW = 0, 
    DW_SENSOR_MANAGER_DATA_MODE_RAW     = 1  
};
 
typedef struct
{
    bool accumCamFrames;
    dwTime_t camFramesTimeDiffLimit;
    dwTime_t timeout;
} dwDispatcherParams;
 
typedef struct
{
    dwDispatcherParams dispatcherParams;
 
    uint32_t enableSensors[DW_SENSORMANGER_MAX_NUM_SENSORS];
 
    uint32_t numEnableSensors;
 
    bool singleVirtualCameraGroup;
} dwSensorManagerParams;
 
typedef void (*dwSensorManagerDispatcher_t)(const dwSensorEvent*, void*, dwStatus);
 
DW_API_PUBLIC
dwStatus dwSensorManager_initialize(dwSensorManagerHandle_t* sm,
                                    size_t poolSize, dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSensorManager_initializeFromRig(dwSensorManagerHandle_t* sm,
                                           dwRigHandle_t rc,
                                           size_t poolSize, dwSALHandle_t sal);
 
DW_API_PUBLIC
dwStatus dwSensorManager_initializeFromRigWithParams(dwSensorManagerHandle_t* sm,
                                                     dwRigHandle_t const rc,
                                                     const dwSensorManagerParams* params,
                                                     size_t poolSize, dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSensorManager_release(dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_addSensor(dwSensorParams params, uint64_t clientData,
                                   dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_addCameraSensor(const char8_t* groupName, uint32_t siblingIndex,
                                         dwSensorParams params, uint64_t clientData,
                                         dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_start(dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_stop(dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_reset(dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_acquireNextEvent(const dwSensorEvent** ev, dwTime_t timeoutMicroSeconds,
                                          dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_releaseAcquiredEvent(const dwSensorEvent* ev,
                                              dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_getNumSensors(uint32_t* count, dwSensorType type, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_getSensorHandle(dwSensorHandle_t* handle, uint32_t sensorIndex, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_getSensorClientData(uint64_t* cd, uint32_t sensorIndex, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_getSensorIndex(uint32_t* sensorIndex, dwSensorType type,
                                        uint32_t sensorTypeIndex, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_getSensorTypeIndex(uint32_t* sensorTypeIndex, dwSensorType* type,
                                            uint32_t sensorIndex, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_setDispatcher(dwSensorManagerDispatcher_t dispatchPtr, void* const cookie, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_setTimeout(dwTime_t timeout, dwSensorManagerHandle_t sm);
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSORS_SENSORMANAGER_H_