Detailed Description

NVIDIA DriveWorks: Sensor Plugin Interface to interact with live sensors

Description: This file defines the interfaces to be implemented for live sensor plugins.

Data Structures
struct	dwSensorPluginFunctions
	Function Table exposing sensor plugin functions. More...

Macros
#define	SENSOR_PLUGIN_COMMON_FUNCTIONS

Typedefs
typedef void *	dwSensorPluginSensorHandle_t
	Plugin handle. Used in plugin public interfaces. More...

typedef dwStatus(*	dwSensorPlugin_initializeHandle) (dwSensorPluginSensorHandle_t handle, char const params, dwContextHandle_t ctx)
	Initialize a new handle to the sensor managed by the plugin module. More...

typedef dwStatus(*	dwSensorPlugin_release) (dwSensorPluginSensorHandle_t handle)
	Releases a sensor managed by the plugin module. More...

typedef dwStatus(*	dwSensorPlugin_start) (dwSensorPluginSensorHandle_t handle)
	Starts the sensor previously successfully created with 'dwSensorPlugin_createSensor' interface. More...

typedef dwStatus(*	dwSensorPlugin_stop) (dwSensorPluginSensorHandle_t handle)
	Stops the sensor. More...

typedef dwStatus(*	dwSensorPlugin_reset) (dwSensorPluginSensorHandle_t handle)
	Resets the sensor. More...

typedef dwStatus(*	dwSensorPlugin_readRawData) (uint8_t const *data, size_t size, dwTime_t *timestamp, dwTime_t timeout_us, dwSensorPluginSensorHandle_t handle)
	Reads RAW data for one single message from the sensor as byte array. More...

typedef dwStatus(*	dwSensorPlugin_returnRawData) (uint8_t const *data, dwSensorPluginSensorHandle_t handle)
	Returns RAW data to sensor as a byte array. More...

typedef struct dwSensorPluginFunctions	dwSensorPluginFunctions
	Function Table exposing sensor plugin functions. More...

Functions
DW_API_PUBLIC dwStatus	dwSAL_registerSensorPlugin (dwSensorType sensorType, char const codecMimeType, void const funcTable, dwSALHandle_t const sal)
	Register sensor plugin which works with live sensors. More...

Macro Definition Documentation

◆ SENSOR_PLUGIN_COMMON_FUNCTIONS

#define SENSOR_PLUGIN_COMMON_FUNCTIONS

Value:

    dwSensorPlugin_initializeHandle initializeHandle; \
    dwSensorPlugin_release release;                   \
    dwSensorPlugin_start start;                       \
    dwSensorPlugin_stop stop;                         \
    dwSensorPlugin_reset reset;                       \
    dwSensorPlugin_readRawData readRawData;           \
    dwSensorPlugin_returnRawData returnRawData

Definition at line 156 of file SensorPlugin.h.

Typedef Documentation

◆ dwSensorPlugin_initializeHandle

typedef dwStatus(* dwSensorPlugin_initializeHandle) (dwSensorPluginSensorHandle_t *handle, char const *params, dwContextHandle_t ctx)

Initialize a new handle to the sensor managed by the plugin module.

Parameters

[out]	handle	A pointer to sensor handle.
[in]	params	Specifies the parameters for the sensor.
[in]	ctx	context handle.

Returns: DW_INVALID_ARGUMENT - if pointer to the sensor handle is NULL.
DW_SUCCESS

Definition at line 46 of file SensorPlugin.h.

◆ dwSensorPlugin_readRawData

typedef dwStatus(* dwSensorPlugin_readRawData) (uint8_t const **data, size_t *size, dwTime_t *timestamp, dwTime_t timeout_us, dwSensorPluginSensorHandle_t handle)

Reads RAW data for one single message from the sensor as byte array.

This should be the raw unprocessed data received from the sensor. Generally this is the entrypoint to perform a read operation on the sensor.

For each raw "message" from the sensor, data must be packed in the following memory layout:

Payload Size (uint32_t) | Timestamp (dwTime_t) | Payload

It is the responsiblility of the plugin author to do perform the memory allocation for the memory buffer that will be given out via this API.

Please note the following considerations on the behavior of this API:

1. This API may be called several times before a call to 'dwSensorPlugin_returnRawData',
   which means your plugin implementation must support multiple "raw data" buffers in flight.
2. The buffer given out by this API will be returned by a call to '_dwSensorPlugin_returnRawData()'
3. The size reported as the output of this API shall include the header shown above

Note: To support the multiple buffers in flight behavior described again, a reference BufferPool data structure implementation is released with the plugin samples.

Parameters

[out]	data	A pointer to the pointer to data that is populated with the RAW data.
[out]	size	A pointer to the size of the data array.
[out]	timestamp	Specifies the host timestamp of raw data message.
[in]	timeout_us	Specifies the timeout in us to wait before unblocking.
[in]	handle	Specifies the sensor handle to read from.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_NOT_SUPPORTED - if sensor does not implement this functionality.
DW_CALL_NOT_ALLOWED - if sensor cannot execute the call, for example, due to decoding data.
DW_INVALID_ARGUMENT - if one of the given arguments is invalid.
DW_TIME_OUT - if the requested timed out.
DW_SAL_SENSOR_ERROR - if there was an unrecoverable i/o error.
DW_SUCCESS

Definition at line 138 of file SensorPlugin.h.

◆ dwSensorPlugin_release

typedef dwStatus(* dwSensorPlugin_release) (dwSensorPluginSensorHandle_t handle)

Releases a sensor managed by the plugin module.

Note: This method renders the sensor handle unusable.

Parameters

[in] handle The handle to a sensor created previously with the 'dwSensorPlugin_createHandle' interface.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_SUCCESS

Definition at line 60 of file SensorPlugin.h.

◆ dwSensorPlugin_reset

typedef dwStatus(* dwSensorPlugin_reset) (dwSensorPluginSensorHandle_t handle)

Resets the sensor.

The method shall block while the sensor is reset.

Note: It is guarunteed that all outstanding references to sensor data will be returned prior to this call.

Parameters

[in] handle A sensor handle previously created w/ the 'dwSensorPlugin_createHandle' interface.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during sensor reset.
DW_SUCCESS

Definition at line 98 of file SensorPlugin.h.

◆ dwSensorPlugin_returnRawData

typedef dwStatus(* dwSensorPlugin_returnRawData) (uint8_t const *data, dwSensorPluginSensorHandle_t handle)

Returns RAW data to sensor as a byte array.

The returned pointer must have been previously obtained by a call to the 'dwSensorPlugin_readRawData' interface.

Parameters

[in]	data	A pointer to data that was populated with the RAW data.
[in]	handle	Specifies the sensor the data came from.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_CALL_NOT_ALLOWED - if sensor cannot execute the call, for example, due to decoding data.
DW_NOT_SUPPORTED - if sensor does not implement this functionality.
DW_INVALID_ARGUMENT - if given data pointer is invalid.
DW_SUCCESS

Definition at line 154 of file SensorPlugin.h.

◆ dwSensorPlugin_start

typedef dwStatus(* dwSensorPlugin_start) (dwSensorPluginSensorHandle_t handle)

Starts the sensor previously successfully created with 'dwSensorPlugin_createSensor' interface.

Sensor data should ready to be received using the '_dwSensorPlugin_readRawData()' API after the execution of this call.

Parameters

[in] handle A sensor handle previously created w/ the 'dwSensorPlugin_createHandle' interface.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during sensor start.
DW_SUCCESS

Definition at line 74 of file SensorPlugin.h.

◆ dwSensorPlugin_stop

typedef dwStatus(* dwSensorPlugin_stop) (dwSensorPluginSensorHandle_t handle)

Stops the sensor.

This method shall block while the sensor is stopped.

Parameters

[in] handle A sensor handle previously created w/ the 'dwSensorPlugin_createHandle' interface.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during sensor stop.
DW_SUCCESS

Definition at line 85 of file SensorPlugin.h.

◆ dwSensorPluginFunctions

typedef struct dwSensorPluginFunctions dwSensorPluginFunctions

Function Table exposing sensor plugin functions.

◆ dwSensorPluginSensorHandle_t

typedef void* dwSensorPluginSensorHandle_t

Plugin handle. Used in plugin public interfaces.

Definition at line 33 of file SensorPlugin.h.

Function Documentation

◆ dwSAL_registerSensorPlugin()

DW_API_PUBLIC dwStatus dwSAL_registerSensorPlugin	(	dwSensorType	sensorType,
		char const *	codecMimeType,
		void const *	funcTable,
		dwSALHandle_t const	sal
	)

Register sensor plugin which works with live sensors.

Parameters

[in]	sensorType	the sensor type of registered sensor plugin
[in]	codecMimeType	the codec type of registered CodecHeader plugin
[in]	funcTable	pointer to sensor plugin function pointer table
[in]	sal	Specifies the SAL handle to register sensor plugin.

Returns: DW_INVALID_ARGUMENT if codecMimeType, funcTable or sal is nullptr.
DW_BUFFER_FULL if no available entry in registration factory DW_SUCCESS

API Group

Init: Yes
Runtime: No
De-Init: No

NVIDIA DriveOS Linux NSR SDK API Reference

7.0.3.0 Release

Detailed Description

Data Structures

Macros

Typedefs

Functions

Macro Definition Documentation

◆ SENSOR_PLUGIN_COMMON_FUNCTIONS

Typedef Documentation

◆ dwSensorPlugin_initializeHandle

◆ dwSensorPlugin_readRawData

◆ dwSensorPlugin_release

◆ dwSensorPlugin_reset

◆ dwSensorPlugin_returnRawData

◆ dwSensorPlugin_start

◆ dwSensorPlugin_stop

◆ dwSensorPluginFunctions

◆ dwSensorPluginSensorHandle_t

Function Documentation

◆ dwSAL_registerSensorPlugin()