SelfCalibrationRadarDiagnostics.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 SELFCALIBRATIONRADARDIAGNOSTICS_H_
#define SELFCALIBRATIONRADARDIAGNOSTICS_H_
// Generated by dwProto from self_calibration_radar_diagnostics.proto DO NOT EDIT BY HAND!
// See //3rdparty/shared/dwproto/README.md for more information
 
//WARNING!!!
// This warning does not apply to NDAS developers and NVIDIA partners.
// Please don't use any type definition in this file.
// All of data types in this file are going to be modified and will not
// follow Nvidia deprecation policy.
 
#include <dw/pbwire/BasicTypes.h>
 
#include <dw/core/base/Exports.h>
 
#include <dw/calibration/engine/common/CalibrationBaseTypes.h>
#include <dw/core/base/MatrixTypes.h>
#include <dw/rig/Rig.h>
#include <dw/sensors/radar/RadarSSI.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 dwSelfCalibrationRadarInputMonitorDiagnostics
{
 
    uint32_t vehicleIOWheelSpeedErrors;
 
    uint32_t vehicleIOWheelSpeedSignalIntegrityErrors;
 
    uint32_t radarDopplerMotionErrors;
 
    uint32_t radarDopplerMotionSignalIntegrityErrors;
 
    uint32_t radarScanErrors;
 
    uint32_t radarScanSignalIntegrityErrors;
 
    uint32_t vehicleIOSteeringErrors;
 
    uint32_t vehicleIOSteeringSignalIntegrityErrors;
 
    uint32_t vehicleIOVehicleSpeedErrors;
 
    uint32_t vehicleIOVehicleSpeedSignalIntegrityErrors;
 
    uint32_t debouncedTotalVehicleIOWheelSpeedErrors;
 
    uint32_t debouncedTotalVehicleIOWheelSpeedSignalIntegrityErrors;
 
    uint32_t debouncedTotalRadarDopplerMotionErrors;
 
    uint32_t debouncedTotalRadarDopplerMotionSignalIntegrityErrors;
 
    uint32_t debouncedTotalRadarScanErrors;
 
    uint32_t debouncedTotalRadarScanSignalIntegrityErrors;
 
    uint32_t debouncedTotalVehicleIOSteeringErrors;
 
    uint32_t debouncedTotalVehicleIOSteeringSignalIntegrityErrors;
 
    uint32_t debouncedTotalVehicleIOVehicleSpeedErrors;
 
    uint32_t debouncedTotalVehicleIOVehicleSpeedSignalIntegrityErrors;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationRadarInputMonitorDiagnostics;
 
// 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 dwSelfCalibrationRadarOutputMonitorDiagnostics
{
    uint64_t totalRoutineErrors;
 
    uint32_t routineFailureErrors;
 
    uint32_t routineTimeoutErrors;
 
    uint32_t sensorDeadjustedErrors;
 
    uint32_t wheelRadiiErrors;
 
    uint32_t routineNotAcceptedErrors;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationRadarOutputMonitorDiagnostics;
 
// 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 dwSelfCalibrationRadarEstimatorDiagnostics
{
    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
} dwSelfCalibrationRadarEstimatorDiagnostics;
 
// 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 dwSelfCalibrationRadarSSI
{
    bool availability;
 
    dwTime_t timestampUs;
 
    float32_t azimuthDeg;
 
    float32_t pitchDeg;
 
    float32_t azimuthCorrectionDeg;
 
    float32_t pitchCorrectionDeg;
 
    uint8_t progressPercent;
 
    dwRadarCalibrationFuncStat calibrationFuncStat;
 
    dwRadarCalibrationSOCStat calibrationSocStat;
 
    bool calibrationStateValidity;
 
    dwRadarCalibrationBaseStat calibrationBaseStat;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationRadarSSI;
 
// 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 dwSelfCalibrationRadarDiagnostics
{
    char8_t sensorName[DW_MAX_RIG_SENSOR_NAME_SIZE];
 
    dwTime_t sensorTimestamp;
 
    dwVector3f nominalPositionM;
 
    dwVector3f nominalRPYDeg;
 
    dwSelfCalibrationRadarInputMonitorDiagnostics inputs;
 
    dwSelfCalibrationRadarOutputMonitorDiagnostics outputs;
 
    dwCalibrationSignalStateArray signalStates;
 
    dwVector3f correctionsPosition;
 
    dwVector3f correctionsRPY;
 
    uint64_t cycleCount;
 
    dwSelfCalibrationRadarEstimatorDiagnostics yawDiagnostics;
 
    dwSelfCalibrationRadarEstimatorDiagnostics pitchDiagnostics;
 
    int32_t numberOfReturnsInLastRadarScan;
 
    float32_t confidenceSpeedInLastDopplerMotion;
 
    float32_t confidenceHeadingInLastDopplerMotion;
 
    float32_t speedInLastDopplerMotion;
 
    float32_t headingInLastDopplerMotion;
 
    dwSelfCalibrationRadarSSI ssi;
 
    uint32_t routineResetCounter;
 
    bool drivePositionStatusParked;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwSelfCalibrationRadarDiagnostics;
 
#ifdef __cplusplus
}
#endif
 
#endif // SELFCALIBRATIONRADARDIAGNOSTICS_H_