Sensors.h

Go to the documentation of this file.

 
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA CORPORATION & AFFILIATES assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA CORPORATION & AFFILIATES. No third party distribution is allowed unless
// expressly authorized by NVIDIA. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA CORPORATION & AFFILIATES products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA CORPORATION & AFFILIATES.
//
// SPDX-FileCopyrightText: Copyright (c) 2016-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: LicenseRef-NvidiaProprietary
//
// NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
// property and proprietary rights in and to this material, related
// documentation and any modifications thereto. Any use, reproduction,
// disclosure or distribution of this material and related documentation
// without an express license agreement from NVIDIA CORPORATION or
// its affiliates is strictly prohibited.
//
 
#ifndef DW_SENSORS_SENSORS_H_
#define DW_SENSORS_SENSORS_H_
 
#include <dw/core/base/Exports.h>
#include <dw/core/base/Types.h>
#include <dw/core/context/Context.h>
#include <dw/core/health/HealthSignals.h>
#include <dw/core/signal/SignalStatus.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum dwPlatformOS {
    DW_PLATFORM_OS_LINUX = 0,
 
    DW_PLATFORM_OS_V5L = 1,
 
    DW_PLATFORM_OS_V5Q = 2,
 
    DW_PLATFORM_NUM = 3
} dwPlatformOS;
 
typedef struct dwSALObject* dwSALHandle_t;
 
typedef struct dwSensorObject* dwSensorHandle_t;
 
#define DW_SENSOR_MAX_PROTOCOL_NAME_LENGTH 32
#define DW_SENSOR_MAX_PARAMETER_STRING_LENGTH 512
 
typedef struct dwSensorParams
{
    const char8_t* protocol;
 
    const char8_t* parameters;
 
    const void* auxiliarydata;
 
} dwSensorParams;
 
typedef enum dwSensorStatTimeDifference {
    DW_SENSOR_STATE_DELTA_HOST_AND_HOST_TIME = 0,
 
    DW_SENSOR_STATE_DELTA_SENSOR_AND_SENSOR_TIME = 1,
 
    DW_SENSOR_STATE_DELTA_HOST_AND_SENSOR_TIME = 2,
 
    DW_SENSOR_STATE_DELTA_CURRENT_AND_HOST_TIME = 3,
 
    DW_SENSOR_STATE_SENSOR_STAT_COUNT = 4,
} dwSensorStatTimeDifference;
 
typedef struct dwSensorStats
{
    uint64_t events;
 
    uint64_t errors;
 
    uint64_t drops;
 
    dwTime_t timeDeltaCur;
 
    dwTime_t timeDeltaMin;
 
    dwTime_t timeDeltaMax;
 
    float64_t timeDeltaStandardDeviation;
 
    float64_t timeDeltaMean;
 
    dwTime_t currentDelta[DW_SENSOR_STATE_SENSOR_STAT_COUNT];
 
    dwTime_t minDelta[DW_SENSOR_STATE_SENSOR_STAT_COUNT];
 
    dwTime_t maxDelta[DW_SENSOR_STATE_SENSOR_STAT_COUNT];
 
    float64_t standardDeviationDelta[DW_SENSOR_STATE_SENSOR_STAT_COUNT];
 
    float64_t meanDelta[DW_SENSOR_STATE_SENSOR_STAT_COUNT];
} dwSensorStats;
 
typedef enum dwSensorType {
    DW_SENSOR_CAMERA = 0,
    DW_SENSOR_LIDAR,
    DW_SENSOR_GPS,
    DW_SENSOR_IMU,
    DW_SENSOR_CAN,
    DW_SENSOR_RADAR,
    DW_SENSOR_TIME,
    DW_SENSOR_DATA,
    DW_SENSOR_ULTRASONIC,
    DW_SENSOR_COUNT
} dwSensorType;
 
typedef struct dwSensorSeekTableEntry
{
    dwTime_t timestamp;
 
    uint64_t event;
 
    uint64_t offset;
 
    uint64_t size;
 
} dwSensorSeekTableEntry;
 
typedef struct dwSensorTsAndID
{
    uint64_t sensorId;
    dwTime_t timestamp;
    // Timestamp when the processed sensor data has been published by the sensor node in [us]
    dwTime_t publishedTimestamp;
} dwSensorTsAndID;
 
typedef enum dwSensorDrivingDirection {
    DW_SENSOR_DRIVING_DIRECTION_UNKNOWN = 0,
    DW_SENSOR_DRIVING_DIRECTION_FORWARD = 1,
    DW_SENSOR_DRIVING_DIRECTION_BACKWARD = 2
} dwSensorDrivingDirection;
 
typedef struct dwSensorVehicleState
{
    struct
    {
        dwSignalValidity speed;
        dwSignalValidity temperature;
        dwSignalValidity direction;
    } validityInfo;
 
    dwTime_t timestamp_us;
 
    float32_t speed;
 
    float32_t temperature;
 
    dwSensorDrivingDirection direction;
} dwSensorVehicleState;
 
#define DW_SENSOR_ERROR_ID_OFFSET_BIT 24U
#define DW_SENSOR_ERROR_ID_OFFSET (1U << DW_SENSOR_ERROR_ID_OFFSET_BIT)
 
typedef enum dwSensorErrorID {
    DW_SENSOR_ERROR_CODE_INVALID = 0,
    DW_SENSOR_ERROR_CODE_NO_NEW_DATA = 1
} dwSensorErrorID;
 
DW_API_PUBLIC
dwStatus dwSAL_initialize(dwSALHandle_t* const sal, dwContextHandle_t const context);
 
DW_API_PUBLIC
dwStatus dwSAL_reset(dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSAL_release(dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSAL_createSensor(dwSensorHandle_t* const sensor, dwSensorParams const params, dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSAL_releaseSensor(dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSAL_start(dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSAL_getPlatform(dwPlatformOS* const os, dwSALHandle_t sal);
 
DW_API_PUBLIC
dwStatus dwSAL_getPlatformInfo(char8_t const** const osName, dwPlatformOS const os, dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSAL_getNumSensors(uint32_t* const num, dwPlatformOS const os, dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSAL_getSensorProtocol(const char** const name, uint32_t const idx, dwPlatformOS const os, dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSAL_getSensorParameterString(const char** const parameters, uint32_t const idx,
                                        dwPlatformOS const os, dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSAL_setVehicleState(dwSensorVehicleState* const vehicleState, dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSensor_start(dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_stop(dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_reset(dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_readRawData(const uint8_t** const data, size_t* const size,
                              dwTime_t const timeoutUs,
                              dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_returnRawData(const uint8_t* const data, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_getSeekRange(size_t* const eventCount,
                               dwTime_t* const startTimestampUs, dwTime_t* const endTimestampUs,
                               dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_getCurrentSeekPosition(size_t* const event, dwSensorHandle_t const sensor);
 
/*
 * Returns a pointer to the shared buffer with the contents of the sensor header and bufferSize
 * will contain the number of valid bytes in the buffer.
 *
 * @param[out] - buffer A pointer to the buffer owned by sensor which holds the header information.
 * @param[out] - bufferSize A pointer to variable indicating number of valid bytes in the buffer
 * @param[in]  - sensor Handle to the sensor to which the header info is requested
 *
 * @return DW_INVALID_HANDLE - if given sensor handle is invalid
 *         DW_INVALID_ARGUMENTS - if given arguments are invalid
 *         DW_SUCCESS - if call is successful.
 */
dwStatus dwSensor_getHeader(uint8_t const** const buffer, size_t* bufferSize, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_seekToTime(dwTime_t const timestampUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_seekToEvent(size_t const event, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_createSeekTable(dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_getNumSeekTableEntries(size_t* const size, dwSensorHandle_t const hsensor);
 
DW_API_PUBLIC
dwStatus dwSensor_getSeekTableEntries(dwSensorSeekTableEntry* const entries, size_t const numEntries, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_saveSeekTable(const char* const fileName, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_setThreadPriority(int32_t const priority, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_setThreadAffinity(uint32_t const affinityMask, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensor_getStats(dwSensorStats* const stats, dwSensorHandle_t const sensor);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSORS_SENSORS_H_