SensorManager.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2017-2024 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_SENSORMANAGER_H_
#define DW_SENSORS_SENSORMANAGER_H_
 
#include <dw/rig/Rig.h>
#include <dw/sensors/common/Sensors.h>
#include <dw/sensors/camera/Camera.h>
#include <dw/sensors/imu/IMU.h>
#include <dw/sensors/gps/GPS.h>
#include <dw/sensors/radar/Radar.h>
#include <dw/sensors/data/Data.h>
 
#ifndef DW_IS_SAFETY
#include <dw/sensors/canbus/CANTypes.h>
#endif
 
#if !defined(DW_L2_BUILD) && !defined(DW_IS_SAFETY)
#include <dw/sensors/lidar/Lidar.h>
#endif
 
#include "SensorManagerConstants.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwSensorManagerObject* dwSensorManagerHandle_t; 
 
typedef struct dwUltrasonicEnvelope dwUltrasonicEnvelope;
typedef struct dwUltrasonicFrame dwUltrasonicFrame;
 
#if defined(DW_L2_BUILD) || defined(DW_IS_SAFETY)
typedef struct dwLidarDecodedPacket dwLidarDecodedPacket_t;
#else
typedef dwLidarDecodedPacket dwLidarDecodedPacket_t;
#endif
 
typedef struct
{
    dwSensorType type;
 
    uint32_t sensorTypeIndex;
 
    dwTime_t timestamp_us;
 
    uint32_t sensorIndex;
 
    uint32_t sensorIndices[DW_SENSORMANGER_MAX_CAMERAS];
 
    uint32_t numCamFrames;                                        
    dwCameraFrameHandle_t camFrames[DW_SENSORMANGER_MAX_CAMERAS]; 
 
    // Data accessor for all other sensors
    dwGPSFrame gpsFrame; 
    dwIMUFrame imuFrame; 
#ifndef DW_IS_SAFETY
    dwCANMessage canFrame; 
#endif
    const dwRadarScan* radFrame;              
    const dwLidarDecodedPacket_t* lidFrame;   
    const dwDataPacket* dataFrame;            
    const uint8_t* rawData;                   
    size_t rawDataSize;                       
    const dwUltrasonicFrame* ultrasonicFrame; 
} dwSensorEvent;
 
enum dwSensorManagerDataMode
{
    DW_SENSOR_MANAGER_DATA_MODE_NON_RAW = 0, 
    DW_SENSOR_MANAGER_DATA_MODE_RAW     = 1  
};
 
typedef struct
{
    bool accumCamFrames;
    dwTime_t camFramesTimeDiffLimit;
    dwTime_t timeout;
} dwDispatcherParams;
 
typedef struct
{
    dwDispatcherParams dispatcherParams;
 
    uint32_t enableSensors[DW_SENSORMANGER_MAX_NUM_SENSORS];
 
    uint32_t numEnableSensors;
 
    bool singleVirtualCameraGroup;
} dwSensorManagerParams;
 
typedef void (*dwSensorManagerDispatcher_t)(const dwSensorEvent*, void*, dwStatus); 
 
DW_API_PUBLIC
dwStatus dwSensorManager_initialize(dwSensorManagerHandle_t* sm,
                                    size_t poolSize, dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSensorManager_initializeFromRig(dwSensorManagerHandle_t* sm,
                                           dwConstRigHandle_t rc,
                                           size_t poolSize, dwSALHandle_t sal);
 
DW_API_PUBLIC
dwStatus dwSensorManager_initializeFromRigWithParams(dwSensorManagerHandle_t* sm,
                                                     dwConstRigHandle_t rc,
                                                     const dwSensorManagerParams* params,
                                                     size_t poolSize, dwSALHandle_t const sal);
 
DW_API_PUBLIC
dwStatus dwSensorManager_release(dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_addSensor(dwSensorParams params, uint64_t clientData,
                                   dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_addCameraSensor(const char8_t* groupName, uint32_t siblingIndex,
                                         dwSensorParams params, uint64_t clientData,
                                         dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_start(dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_stop(dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_reset(dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_acquireNextEvent(const dwSensorEvent** ev, dwTime_t timeoutMicroSeconds,
                                          dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_releaseAcquiredEvent(const dwSensorEvent* ev,
                                              dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_getNumSensors(uint32_t* count, dwSensorType type, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_getSensorHandle(dwSensorHandle_t* handle, uint32_t sensorIndex, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_getSensorClientData(uint64_t* cd, uint32_t sensorIndex, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_getSensorIndex(uint32_t* sensorIndex, dwSensorType type,
                                        uint32_t sensorTypeIndex, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_getSensorTypeIndex(uint32_t* sensorTypeIndex, dwSensorType* type,
                                            uint32_t sensorIndex, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_setDispatcher(dwSensorManagerDispatcher_t dispatchPtr, void* const cookie, dwSensorManagerHandle_t sm);
 
DW_API_PUBLIC
dwStatus dwSensorManager_setTimeout(dwTime_t timeout, dwSensorManagerHandle_t sm);
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSORS_SENSORMANAGER_H_