Sensors.h

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#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>
#include <dw/sensors/SensorStats.h>
#include <dw/sensors/SensorsVehicleStateTypes.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 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;
 
#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 = 120001,
    DW_SENSOR_ERROR_NO_DATA_FROM_PUBLISHER,
    DW_SENSOR_ERROR_NOT_ENOUGH_DATA,
    DW_SENSOR_ERROR_E2E_FAILURE,
    DW_SENSOR_ERROR_STATE_MACHINE_DISABLED,
    /* Place holder error IDs - use SEH official error IDs later */
    DW_SENSORS_ERROR_CODE_GPS_MODE = 130001,
    DW_SENSORS_ERROR_CODE_GPS_ACCURACY = 130002,
    DW_SENSORS_ERROR_CODE_IMU_ALIGNMENT_STATUS = 140001,
 
    DW_RADAR_ERROR_CODE_AZIMUTH_OUT_OF_RANGE = 121000,
    DW_RADAR_ERROR_CODE_NUM_RETURNS_OUT_OF_RANGE = 121001,
    DW_RADAR_ERROR_CODE_ZERO_RETURNS = 121002,
    DW_RADAR_ERROR_CODE_END_INDEX = 121199,
} 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 dwSAL_setEgomotionState(dwSensorEgomotionState* const egomotionState, 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);
 
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_