dwRigNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_DWRIGNODE_DWRIGNODE_HPP_
#define DWFRAMEWORK_DWNODES_DWRIGNODE_DWRIGNODE_HPP_
 
#include "dwRigNode_errorid.h"
 
#include <dw/rig/Rig.h>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/node/impl/ExceptionSafeNode.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/SensorCommonTypes.hpp>
 
namespace dw
{
namespace framework
{
 
using dwRigNodeParams = struct dwRigNodeParams
{
    dwRigHandle_t rigHandle;
 
    char8_t const* rigOutputFileName;
 
    char8_t const* calibrationOutputFileName;
 
    char8_t const* calibrationOverlayFileName;
 
    // sensor type index
    bool imuSensorEnabled[framework::SELF_CALIBRATION_NODE_MAX_IMUS];
    std::uint32_t imuSensorRigIndices[framework::SELF_CALIBRATION_NODE_MAX_IMUS];
    bool cameraSensorEnabled[framework::SELF_CALIBRATION_NODE_MAX_CAMERAS];
    std::uint32_t cameraSensorRigIndices[framework::SELF_CALIBRATION_NODE_MAX_CAMERAS];
    bool radarSensorEnabled[framework::SELF_CALIBRATION_NODE_MAX_RADARS];
    std::uint32_t radarSensorRigIndices[framework::SELF_CALIBRATION_NODE_MAX_RADARS];
    bool lidarSensorEnabled[framework::SELF_CALIBRATION_NODE_MAX_LIDARS];
    std::uint32_t lidarSensorRigIndices[framework::SELF_CALIBRATION_NODE_MAX_LIDARS];
 
    // sensor instance ids
    uint32_t cameraInstanceIds[framework::SELF_CALIBRATION_NODE_MAX_CAMERAS];
    uint32_t radarInstanceIds[framework::SELF_CALIBRATION_NODE_MAX_RADARS];
 
    // Always update camera intrinsics when set to true.
    // Otherwise intrinsics in rig only get update when a signal is received in CAMERA_INTRINSICS_UPDATE.
    bool forceCameraIntrinsicsUpdate[framework::SELF_CALIBRATION_NODE_MAX_CAMERAS];
 
    // periodic rig writing
    // how often to serialize in node pass cycles. 0 means turn off serialization
    uint64_t rigWriteTimerPeriodInCycles;
    // offset, in cycles, for the write counter. The intention is to allow to delay the
    // first write (and subsequently other writes) so that a few cycles occur before
    // serialization is attempted
    // must be less than rigWriteTimerPeriodInCycles for serialization to occur.
    uint64_t rigWriteTimerOffsetInCycles;
};
 
class dwRigNode : public ExceptionSafeProcessNode, public IContainsPreShutdownAction
{
public:
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describeInputPorts()
    {
        // TODO(csketch): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describePortCollection(
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "IMU_EXTRINSICS"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT_ARRAY(dwCalibratedExtrinsics, framework::SELF_CALIBRATION_NODE_MAX_CAMERAS, "CAMERA_EXTRINSICS"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT_ARRAY(dwCalibratedExtrinsics, framework::SELF_CALIBRATION_NODE_MAX_RADARS, "RADAR_EXTRINSICS"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT_ARRAY(dwCalibratedExtrinsics, framework::SELF_CALIBRATION_NODE_MAX_LIDARS, "LIDAR_EXTRINSICS"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwCalibratedWheelRadii, "WHEEL_RADII"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwCalibratedSteeringProperties, "FRONT_STEERING_OFFSET"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwCalibratedIMUIntrinsics, "IMU_INTRINSICS"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT_ARRAY(dwCameraIntrinsics, framework::SELF_CALIBRATION_NODE_MAX_CAMERAS, "CAMERA_INTRINSICS"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT_ARRAY(bool, framework::SELF_CALIBRATION_NODE_MAX_CAMERAS, "CAMERA_INTRINSICS_UPDATE"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT(bool, "STORE"_sv, PortBinding::OPTIONAL));
    };
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describeOutputPorts()
    {
        // TODO(csketch): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describePortCollection();
    };
    // T
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass(StringView{"SETUP"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"PROCESS"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"TEARDOWN"}, DW_PROCESSOR_TYPE_CPU));
    };
 
    static std::unique_ptr<dwRigNode> create(ParameterProvider const& provider);
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-1984
    static constexpr auto describeParameters()
    {
        // TODO(csketch): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describeConstructorArguments(
            describeConstructorArgument<dwRigNodeParams>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwRigHandle_t,
                    &dwRigNodeParams::rigHandle),
                DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(
                    char8_t const*,
                    semantic_parameter_types::RigOutputFileName,
                    &dwRigNodeParams::rigOutputFileName),
                DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(
                    char8_t const*,
                    semantic_parameter_types::CalibrationOutputFileName,
                    &dwRigNodeParams::calibrationOutputFileName),
                DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(
                    char8_t const*,
                    semantic_parameter_types::CalibrationOverlayFileName,
                    &dwRigNodeParams::calibrationOverlayFileName),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    bool,
                    semantic_parameter_types::ImuEnabled,
                    framework::SELF_CALIBRATION_NODE_MAX_IMUS,
                    &dwRigNodeParams::imuSensorEnabled),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::ImuRigIdx,
                    framework::SELF_CALIBRATION_NODE_MAX_IMUS,
                    &dwRigNodeParams::imuSensorRigIndices),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    bool,
                    semantic_parameter_types::CameraEnabled,
                    framework::SELF_CALIBRATION_NODE_MAX_CAMERAS,
                    &dwRigNodeParams::cameraSensorEnabled),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::CameraRigIdx,
                    framework::SELF_CALIBRATION_NODE_MAX_CAMERAS,
                    &dwRigNodeParams::cameraSensorRigIndices),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    bool,
                    semantic_parameter_types::RadarEnabled,
                    framework::SELF_CALIBRATION_NODE_MAX_RADARS,
                    &dwRigNodeParams::radarSensorEnabled),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::RadarRigIdx,
                    framework::SELF_CALIBRATION_NODE_MAX_RADARS,
                    &dwRigNodeParams::radarSensorRigIndices),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    bool,
                    semantic_parameter_types::LidarEnabled,
                    framework::SELF_CALIBRATION_NODE_MAX_LIDARS,
                    &dwRigNodeParams::lidarSensorEnabled),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::LidarRigIdx,
                    framework::SELF_CALIBRATION_NODE_MAX_LIDARS,
                    &dwRigNodeParams::lidarSensorRigIndices),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::CameraInstanceId,
                    framework::SELF_CALIBRATION_NODE_MAX_CAMERAS,
                    &dwRigNodeParams::cameraInstanceIds),
                DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(
                    uint32_t,
                    semantic_parameter_types::RadarInstanceId,
                    framework::SELF_CALIBRATION_NODE_MAX_RADARS,
                    &dwRigNodeParams::radarInstanceIds),
                DW_DESCRIBE_ARRAY_PARAMETER_WITH_DEFAULT(
                    bool,
                    "forceCameraIntrinsicsUpdate",
                    std::array<bool, framework::SELF_CALIBRATION_NODE_MAX_CAMERAS>{false, false, false, false, false, false, false, false, false, false, false, false, false},
                    &dwRigNodeParams::forceCameraIntrinsicsUpdate),
                DW_DESCRIBE_PARAMETER_WITH_DEFAULT(uint64_t, "rigWriteTimerPeriodInCycles"_sv, 0, &dwRigNodeParams::rigWriteTimerPeriodInCycles),
                DW_DESCRIBE_PARAMETER_WITH_DEFAULT(uint64_t, "rigWriteTimerOffsetInCycles"_sv, 0, &dwRigNodeParams::rigWriteTimerOffsetInCycles)),
            describeConstructorArgument<dwContextHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    };
 
    dwRigNode(dwRigNodeParams const& params, dwContextHandle_t const ctx);
    ~dwRigNode() override             = default;
    dwRigNode(const dwRigNode& other) = default;
    dwRigNode(dwRigNode&& other)      = default;
    dwRigNode& operator=(const dwRigNode&) = default;
    dwRigNode& operator=(dwRigNode&&) = default;
 
    dwStatus preShutdown() override;
};
 
} /* namespace framework */
} /* namespace dw */
#endif // DWFRAMEWORK_DWNODES_DWRIGNODE_DWRIGNODE_HPP_