RadarPlugin.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2019-2024 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_RADAR_PLUGIN_H
#define DW_SENSORS_RADAR_PLUGIN_H
 
#include <dw/sensors/legacy/plugins/SensorCommonPlugin.h>
#include <dw/sensors/radar/RadarFullTypes.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct
{
    dwRadarProperties properties;
 
    size_t maxPayloadSize;
 
    size_t maxPointsPerPacket[DW_RADAR_RETURN_TYPE_COUNT][DW_RADAR_RANGE_COUNT];
 
    size_t maxPacketsPerScan;
 
    size_t packetsPerScan[DW_RADAR_RETURN_TYPE_COUNT][DW_RADAR_RANGE_COUNT];
 
    size_t dynamicsSizeInBytes;
} _dwSensorRadarDecoder_constants;
 
typedef dwStatus (*dwSensorRadarPlugin_parseDataBuffer)(dwRadarScan* output, const dwRadarScanType scanType,
                                                        dwSensorPluginSensorHandle_t sensor);
 
typedef dwStatus (*dwSensorRadarPlugin_getDecoderConstants)(_dwSensorRadarDecoder_constants* constants, dwSensorPluginSensorHandle_t sensor);
 
typedef dwStatus (*dwSensorRadarPlugin_validatePacket)(const char* rawData, size_t size, dwRadarScanType* messageType,
                                                       dwSensorPluginSensorHandle_t sensor);
 
typedef dwStatus (*dwSensorRadarPlugin_setVehicleState)(const dwRadarVehicleState* state, dwSensorPluginSensorHandle_t sensor);
 
typedef struct
{
    dwSensorCommonPluginFunctions common;
    dwSensorRadarPlugin_parseDataBuffer parseDataBuffer;
    dwSensorRadarPlugin_getDecoderConstants getDecoderConstants;
    dwSensorRadarPlugin_validatePacket validatePacket;
    dwSensorRadarPlugin_setVehicleState setVehicleState;
} dwSensorRadarPluginFunctionTable;
 
dwStatus dwSensorRadarPlugin_getFunctionTable(dwSensorRadarPluginFunctionTable* functions);
 
#ifdef __cplusplus
}
#endif
 
#endif