SelfCalibrationIMUDiagnostics.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2023-2025 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_CALIBRATION_ENGINE_COMMON_SELFCALIBRATIONIMUDIAGNOSTICS_H_
#define DW_CALIBRATION_ENGINE_COMMON_SELFCALIBRATIONIMUDIAGNOSTICS_H_
// Generated by dwProto from self_calibration_imu_diagnostics.proto DO NOT EDIT BY HAND!
// See //3rdparty/shared/dwproto/README.md for more information
 
#include <dw/pbwire/BasicTypes.h>
 
#include <dw/calibration/engine/common/CalibrationBaseTypes.h>
#include <dw/core/base/MatrixTypes.h>
#include <dw/rig/Rig.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwSelfCalibrationImuInputMonitorDiagnostics
{
    uint32_t imuRangeAndRateErrors;
 
    uint32_t debouncedImuRangeAndRateErrors;
 
    uint32_t imuSignalIntegrityErrors;
 
    uint32_t debouncedImuSignalIntegrityErrors;
 
    uint32_t vehicleIOSpeedRangeAndRateErrors;
 
    uint32_t debouncedVehicleIOSpeedRangeAndRateErrors;
 
    uint32_t vehicleIOSpeedSignalIntegrityErrors;
 
    uint32_t debouncedVehicleIOSpeedSignalIntegrityErrors;
 
    uint32_t egomotionSignalIntegrityErrors;
 
    uint32_t debouncedEgomotionSignalIntegrityErrors;
 
    uint32_t featureTrackSignalIntegrityErrors;
 
    uint32_t debouncedFeatureTrackSignalIntegrityErrors;
 
    uint32_t featureTrackPropertyErrors;
 
    uint32_t debouncedFeatureTrackPropertyErrors;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationImuInputMonitorDiagnostics;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwSelfCalibrationImuOutputMonitorDiagnostics
{
    uint32_t routineFailureErrors;
 
    uint32_t routineTimeoutErrors;
 
    uint32_t sensorDeadjustedErrors;
 
    uint64_t totalRoutineErrors;
 
    uint32_t routineNotAcceptedErrors;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationImuOutputMonitorDiagnostics;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwSelfCalibrationImuParameterEstimatorDiagnostics
{
    float32_t longHistMaxVotes;
 
    float32_t longHistTotalNumVotes;
 
    uint32_t longHistNumberOfOutliers;
 
    float32_t acceptanceMetric;
 
    float32_t rejectionMetric;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationImuParameterEstimatorDiagnostics;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwSelfCalibrationImuDiagnostics
{
    char8_t sensorName[DW_MAX_RIG_SENSOR_NAME_SIZE];
 
    dwTime_t sensorTimestamp;
 
    dwVector3f nominalPositionM;
 
    dwVector3f nominalRPYDeg;
 
    dwSelfCalibrationImuInputMonitorDiagnostics inputs;
 
    dwSelfCalibrationImuOutputMonitorDiagnostics outputs;
 
    dwCalibrationSignalStateArray signalStates;
 
    dwVector3f correctionsPosition;
 
    dwVector3f correctionsRPY;
 
    uint64_t cycleCount;
 
    dwSelfCalibrationImuParameterEstimatorDiagnostics upInclinationDiagnostics;
 
    dwSelfCalibrationImuParameterEstimatorDiagnostics upAzimuthDiagnostics;
 
    dwSelfCalibrationImuParameterEstimatorDiagnostics forwardInclinationDiagnostics;
 
    dwSelfCalibrationImuParameterEstimatorDiagnostics forwardAzimuthDiagnostics;
 
    uint32_t routineResetCounter;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationImuDiagnostics;
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_CALIBRATION_ENGINE_COMMON_SELFCALIBRATIONIMUDIAGNOSTICS_H_