dwSelfCalibrationIMUNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONIMUNODE_DWSELFCALIBRATIONIMUNODE_HPP_
#define DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONIMUNODE_DWSELFCALIBRATIONIMUNODE_HPP_
 
#include <dwcgf/channel/ChannelPacketTypes.hpp>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/IMU.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/VehicleIOValStructures.hpp>
 
namespace dw
{
namespace framework
{
 
struct dwSelfCalibrationIMUNodeParams
{
    dwConstRigHandle_t rigHandle;                        
    uint32_t sensorIndex;                                
    uint32_t sensorRigIndex;                             
    bool enableCalibration;                              
    uint32_t histogramMaxOutlierFailureCount;            
    uint32_t channelFifoSize;                            
    char8_t const* calibrationOutputFileName;            
    dw::core::FixedString<64> calibrationSaveFileSuffix; 
    bool loadStateOnStartup;                             
    uint64_t stateWriteTimerPeriodInCycles;              
    uint64_t stateWriteTimerOffsetInCycles;              
};
 
class dwSelfCalibrationIMUNode : public ExceptionSafeProcessNode
{
public:
    // TODO(csketch): FP -- This is used when the logger is called and not just at assignment.
    // coverity[autosar_cpp14_a0_1_1_violation] FP: nvbugs/2980283
    // coverity[autosar_cpp14_m0_1_4_violation] FP: nvbugs/2980283
    static constexpr char8_t LOG_TAG[]{"dwSelfCalibrationIMUNode"};
 
    // 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(dwVehicleIOASILStateE2EWrapper, "VEHICLE_IO_ASIL_STATE"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwIMUFrame, "IMU_FRAME"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(bool, "SERVICE_CALIB_ENABLE"_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(
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "IMU_EXTRINSICS"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(bool, "SERVICE_CALIB_ACTIVE"_sv, PortBinding::OPTIONAL));
    }
 
    // 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<dwSelfCalibrationIMUNode> create(ParameterProvider& 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<dwSelfCalibrationIMUNodeParams>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwConstRigHandle_t,
                    &dwSelfCalibrationIMUNodeParams::rigHandle),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "sensorIndex"_sv,
                    &dwSelfCalibrationIMUNodeParams::sensorIndex),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "enableCalibration"_sv,
                    &dwSelfCalibrationIMUNodeParams::enableCalibration),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "histogramMaxOutlierFailureCount"_sv,
                    &dwSelfCalibrationIMUNodeParams::histogramMaxOutlierFailureCount),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "channelFifoSize"_sv,
                    &dwSelfCalibrationIMUNodeParams::channelFifoSize),
                DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(
                    char8_t const*,
                    semantic_parameter_types::CalibrationOverlayFileName,
                    &dwSelfCalibrationIMUNodeParams::calibrationOutputFileName),
                DW_DESCRIBE_PARAMETER(
                    dw::core::FixedString<64>,
                    "calibrationSaveFileSuffix"_sv,
                    &dwSelfCalibrationIMUNodeParams::calibrationSaveFileSuffix),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "loadStateOnStartup"_sv,
                    &dwSelfCalibrationIMUNodeParams::loadStateOnStartup),
                DW_DESCRIBE_PARAMETER_WITH_DEFAULT(uint64_t, "stateWriteTimerPeriodInCycles"_sv, 0, &dwSelfCalibrationIMUNodeParams::stateWriteTimerPeriodInCycles),
                DW_DESCRIBE_PARAMETER_WITH_DEFAULT(uint64_t, "stateWriteTimerOffsetInCycles"_sv, 0, &dwSelfCalibrationIMUNodeParams::stateWriteTimerOffsetInCycles)),
            describeConstructorArgument<dwContextHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwSelfCalibrationIMUNode(dwSelfCalibrationIMUNodeParams const& param, dwContextHandle_t const ctx);
};
 
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONIMUNODE_DWSELFCALIBRATIONIMUNODE_HPP_