dwSelfCalibrationLidarNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONLIDARNODE_DWSELFCALIBRATIONLIDARNODE_HPP_
#define DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONLIDARNODE_DWSELFCALIBRATIONLIDARNODE_HPP_
 
#include <dwcgf/channel/ChannelPacketTypes.hpp>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.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/EgomotionState.hpp>
#include <dwframework/dwnodes/common/channelpackets/PointCloud.hpp>
#include <dwframework/dwnodes/common/channelpackets/LidarPointCloud.hpp>
#include <dwframework/dwnodes/common/channelpackets/PointCloudProcessingCommonTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/VehicleIOValStructures.hpp>
 
namespace dw
{
namespace framework
{
 
struct dwSelfCalibrationNodeLidarParams
{
    uint32_t sensorRigIndex; // Sensor rig index (e.g. sensor [0-127]), auto-populated by RR2 Loader
    dwLidarProperties lidarProps;
    bool lidarHandEyeUsesEgomotion;
};
 
struct dwSelfCalibrationLidarNodeParam
{
    dwConstRigHandle_t rigHandle;
    size_t sensorIndex; // Sensor type index (e.g. Lidar [0-4]), provided as parameter
    bool enableCalibration;
    uint32_t channelFifoSize;
    dwSelfCalibrationNodeLidarParams lidarParams;
    cudaStream_t cudaStream;
};
 
class dwSelfCalibrationLidarNode : public ExceptionSafeProcessNode
{
public:
    static constexpr char LOG_TAG[]{"dwSelfCalibrationLidarNode"};
 
    // 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(dwEgomotionStateHandle_t, "EGOMOTION_STATE_ODO_IMU"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwVehicleIONonSafetyState, "VEHICLE_IO_NON_SAFETY_STATE"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwVehicleIOActuationFeedback, "VEHICLE_IO_ACTUATION_FEEDBACK"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwLidarPointCloud, "LIDAR_POINT_CLOUD_RAW"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwLidarPose, "LIDAR_POSE"_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, "LIDAR_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_NONLIDAR"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"PROCESS_LIDAR_GPU_ASYNC"}, DW_PROCESSOR_TYPE_GPU),
            describePass(StringView{"PROCESS_LIDAR_CPU_SYNC"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"TEARDOWN"}, DW_PROCESSOR_TYPE_CPU));
    }
 
    static std::unique_ptr<dwSelfCalibrationLidarNode> 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<dwSelfCalibrationLidarNodeParam>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwConstRigHandle_t,
                    &dwSelfCalibrationLidarNodeParam::rigHandle),
                DW_DESCRIBE_PARAMETER(
                    size_t,
                    "sensorIndex"_sv,
                    &dwSelfCalibrationLidarNodeParam::sensorIndex),
                DW_DESCRIBE_ABSTRACT_PARAMETER(
                    size_t,
                    "lidarSensorStreamIndex"_sv),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "enableCalibration"_sv,
                    &dwSelfCalibrationLidarNodeParam::enableCalibration),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "channelFifoSize"_sv,
                    &dwSelfCalibrationLidarNodeParam::channelFifoSize),
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "lidarSensorStreamIndex"_sv,
                    &dwSelfCalibrationLidarNodeParam::cudaStream)),
            describeConstructorArgument<dwContextHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwSelfCalibrationLidarNode(dwSelfCalibrationLidarNodeParam const& param, dwContextHandle_t const ctx);
};
 
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONLIDARNODE_DWSELFCALIBRATIONLIDARNODE_HPP_