Detailed Description

Defines the core Context methods of the SDK.

Data Structures
struct	dwContextParameters
	A set of parameters that is passed to the SDK to create the context. More...

struct	dwCustomizedFileFunctions
	Data structure representing a customized FileStream that can be passed in. More...

struct	dwVisualizationParameters
	A set of parameters that is passed to the visualization. More...

Typedefs
typedef struct dwContextObject *	dwContextHandle_t
	Context handle. More...

typedef struct dwContextObject const *	dwConstContextHandle_t
	The Driveworks context handle. More...

typedef struct dwModuleObject *	dwModuleHandle_t
	The Generic Module Object Handle. More...

typedef struct dwModuleObject const *	dwConstModuleHandle_t

typedef struct dwContextParameters	dwContextParameters
	A set of parameters that is passed to the SDK to create the context. More...

typedef void *	dwCustomizedFileHandle
	FileStream function pointers handle. More...

typedef void *	dwDLAHandleArray
	cuDLA Device handle array pointer More...

typedef struct dwCustomizedFileFunctions	dwCustomizedFileFunctions
	Data structure representing a customized FileStream that can be passed in. More...

typedef struct dwVisualizationContextObject *	dwVisualizationContextHandle_t
	Context handle. More...

typedef struct dwVisualizationContextObject const *	dwVisualizationConstContextHandle_t

typedef struct dwVisualizationParameters	dwVisualizationParameters
	A set of parameters that is passed to the visualization. More...

Enumerations
enum	dwPTPStatus { DW_PTP_STATUS_NO_INIT_SYNC = 0, DW_PTP_STATUS_NO_ERROR, DW_PTP_STATUS_LOST_SYNC, DW_PTP_STATUS_INTERNAL_ERROR }
	Defines PTP synchronization status. More...

Functions
DW_API_PUBLIC dwStatus	dwContext_setCustomFileFunctions (dwContextHandle_t const context, dwCustomizedFileFunctions *const fileFunctionPtr)
	Set the customized fileStream function pointers in context. More...

DW_API_PUBLIC dwStatus	dwGetLastError (char8_t const **const errorMsg)
	Retrieves the last error encountered. More...

DW_API_PUBLIC dwStatus	dwGetLastCudaError (cudaError_t const cudaError, char8_t const *const errorMsg)
	Retrieves the last CUDA error encountered. More...

DW_API_PUBLIC dwStatus	dwInitialize (dwContextHandle_t const context, dwVersion const headerVersion, dwContextParameters const const params)
	Creates and initializes an SDK context. More...

DW_API_PUBLIC dwStatus	dwRelease (dwContextHandle_t const context)
	Releases the context. More...

DW_API_PUBLIC dwStatus	dwContext_getCurrentTime (dwTime_t *const time, dwContextHandle_t const context)
	Returns the current PTP timestamp. More...

DW_API_PUBLIC dwStatus	dwContext_getCurrentTimeMono (dwTime_t *const time, dwContextHandle_t const context)
	Returns the current monotonic timestamp. More...

DW_API_PUBLIC dwStatus	dwContext_getCurrentTimeUTC (dwTime_t *const time, dwContextHandle_t const context)
	Returns the current UTC timestamp. More...

DW_API_PUBLIC dwStatus	dwContext_getTimeSource (dwTimeSourceHandle_t *const source, dwContextHandle_t const context)
	Retrieve time source used in the context. More...

DW_API_PUBLIC dwStatus	dwContext_isTimePTPSynchronized (bool *const flag, dwContextHandle_t const context)
	Check if the used time source inside the context is synchronized over PTP. More...

DW_API_PUBLIC dwStatus	dwContext_getTimePTPSynchronizationStatus (dwPTPStatus *const status, dwContextHandle_t const context)
	Get the PTP synchronization status of time source inside the context. More...

DW_API_PUBLIC dwStatus	dwContext_sleepMonotonic (dwTime_t const sleepTimeUs)
	Sleep for a given time using a monotonic clock. More...

DW_API_PUBLIC dwStatus	dwContext_selectGPUDevice (int32_t const deviceNumber, dwContextHandle_t const context)
	Selects a GPU device, if available. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUDeviceCurrent (int32_t *const deviceNumber, dwContextHandle_t const context)
	Returns the currently selected GPU device. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUCount (int32_t *const count, dwContextHandle_t const context)
	Get the available GPU devices count. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUProperties (dwGPUDeviceProperties *const properties, int32_t const deviceNum, dwContextHandle_t const context)
	Returns the properties for the specific CUDA device. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUAttribute (int32_t *const value, cudaDeviceAttr const attribute, int32_t const deviceNum, dwContextHandle_t const context)
	Returns the value of the selected CUDA attribute for the specific CUDA device. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUArchitecture (char8_t const **const architecture, dwContextHandle_t const context)
	Returns the architecture for the currently selected CUDA device. More...

DW_API_PUBLIC dwStatus	dwContext_getCUDAProperties (int32_t const driverVersion, int32_t const apiVersion, dwContextHandle_t const context)
	Returns Driver and Runtime API version of CUDA on the current machine. More...

DW_API_PUBLIC dwStatus	dwContext_getCUDAStream (cudaStream_t *stream, uint32_t streamIndex, dwContextHandle_t const context)
	Returns a preallocated CUDA stream. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUDeviceType (dwGPUDeviceType *const deviceType, int32_t const deviceNum, dwContextHandle_t const context)
	Returns the device type of the input GPU number. More...

DW_API_PUBLIC dwStatus	dwContext_getDLAEngineCount (int32_t *const count, dwContextHandle_t const context)
	Get the available DLA engines count. More...

DW_API_PUBLIC dwStatus	dwContext_setupCUDLA (uint16_t const *handleCountArray, uint16_t const handleCountArraySize, dwContextHandle_t const context)
	Setup CUDLA, create CUDLA Engine handles per request. More...

DW_API_PUBLIC dwStatus	dwContext_getCUDLADeviceHandleArray (dwDLAHandleArray const cudlaDeviceHandleArray, uint16_t const cudlaDeviceHandleCount, uint16_t const engineId, dwContextHandle_t const context)
	Get the CUDLA Engine handles. More...

DW_API_PUBLIC dwStatus	dwContext_getDataPath (char8_t const **const dataPath, dwContextHandle_t const context)
	Gets the initial data path of the library that contains the driveworks context. More...

DW_API_PUBLIC dwStatus	dwContext_getUseVirtualTime (bool *const useVirtualTime, dwContextHandle_t const ctx)
	Check if in virtual time mode. More...

DW_API_PUBLIC dwStatus	dwContext_getNvSciSyncModule (NvSciSyncModule *mod, dwContextHandle_t const context)
	Get the NvSciSync module. More...

DW_API_PUBLIC dwStatus	dwContext_getNvSciBufModule (NvSciBufModule *mod, dwContextHandle_t const context)
	Get the nvscibuf module. More...

DW_API_PUBLIC dwStatus	dwContext_getErrorSignal (dwErrorSignal *errorSignal, dwModuleHandle_t handle)
	Get the module error signal. More...

DW_VIZ_API_PUBLIC dwStatus	dwVisualizationInitialize (dwVisualizationContextHandle_t *vizContext, dwContextHandle_t ctx)
	Creates and initializes a Visualization SDK context. More...

DW_VIZ_API_PUBLIC dwStatus	dwVisualizationInitializeWithParams (dwVisualizationContextHandle_t *vizContext, dwVisualizationParameters params, dwContextHandle_t ctx)
	Creates and initializes a Visualization SDK context. More...

DW_VIZ_API_PUBLIC dwStatus	dwVisualizationRelease (dwVisualizationContextHandle_t context)
	Releases the context. More...

DW_VIZ_API_PUBLIC dwStatus	dwVisualizationGetDWContext (dwContextHandle_t *dwctx, dwVisualizationContextHandle_t context)
	Return DW context associated with this visualization library. More...

Typedef Documentation

◆ dwConstContextHandle_t

typedef struct dwContextObject const* dwConstContextHandle_t

The Driveworks context handle.

Definition at line 76 of file Context.h.

◆ dwConstModuleHandle_t

typedef struct dwModuleObject const* dwConstModuleHandle_t

Definition at line 80 of file Context.h.

◆ dwContextHandle_t

typedef struct dwContextObject* dwContextHandle_t

Context handle.

Definition at line 74 of file Context.h.

◆ dwContextParameters

typedef struct dwContextParameters dwContextParameters

A set of parameters that is passed to the SDK to create the context.

◆ dwCustomizedFileFunctions

typedef struct dwCustomizedFileFunctions dwCustomizedFileFunctions

Data structure representing a customized FileStream that can be passed in.

◆ dwCustomizedFileHandle

typedef void* dwCustomizedFileHandle

FileStream function pointers handle.

Definition at line 132 of file Context.h.

◆ dwDLAHandleArray

typedef void* dwDLAHandleArray

cuDLA Device handle array pointer

Definition at line 135 of file Context.h.

◆ dwModuleHandle_t

typedef struct dwModuleObject* dwModuleHandle_t

The Generic Module Object Handle.

Definition at line 79 of file Context.h.

◆ dwVisualizationConstContextHandle_t

typedef struct dwVisualizationContextObject const* dwVisualizationConstContextHandle_t

Definition at line 54 of file Visualization.h.

◆ dwVisualizationContextHandle_t

typedef struct dwVisualizationContextObject* dwVisualizationContextHandle_t

Context handle.

Definition at line 53 of file Visualization.h.

◆ dwVisualizationParameters

typedef struct dwVisualizationParameters dwVisualizationParameters

A set of parameters that is passed to the visualization.

Enumeration Type Documentation

◆ dwPTPStatus

enum dwPTPStatus

Defines PTP synchronization status.

Enumerator
DW_PTP_STATUS_NO_INIT_SYNC	PTP synchronization is not started.
DW_PTP_STATUS_NO_ERROR	No error.
DW_PTP_STATUS_LOST_SYNC	PTP synchronization lost.
DW_PTP_STATUS_INTERNAL_ERROR	PTP internal error.

Definition at line 205 of file Context.h.

Function Documentation

◆ dwContext_getCUDAProperties()

DW_API_PUBLIC dwStatus dwContext_getCUDAProperties	(	int32_t *const	driverVersion,
		int32_t *const	apiVersion,
		dwContextHandle_t const	context
	)

Returns Driver and Runtime API version of CUDA on the current machine.

Parameters

[out]	driverVersion	Driver version.
[out]	apiVersion	Runtime API version.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle, driverVersion or apiVersion are NULL.
DW_CUDA_ERROR in case of an underlying CUDA failure.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getCUDAStream()

DW_API_PUBLIC dwStatus dwContext_getCUDAStream	(	cudaStream_t *	stream,
		uint32_t	streamIndex,
		dwContextHandle_t const	context
	)

Returns a preallocated CUDA stream.

Parameters

[out]	stream	CUDA stream
[in]	streamIndex	CUDA stream index
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle, driverVersion or apiVersion are NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getCUDLADeviceHandleArray()

DW_API_PUBLIC dwStatus dwContext_getCUDLADeviceHandleArray	(	dwDLAHandleArray *const	cudlaDeviceHandleArray,
		uint16_t *const	cudlaDeviceHandleCount,
		uint16_t const	engineId,
		dwContextHandle_t const	context
	)

Get the CUDLA Engine handles.

Parameters

[out]	cudlaDeviceHandleArray	list of cudlaDeviceHandles on dedicated engine.
[out]	cudlaDeviceHandleCount	count of cudla engine handles.
[in]	engineId	indicates which DLA Engine the cudla device handles run on.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if cudlaDeviceHandle is NULL.
DW_SUCCESS if module has been successfully created according to DLA EngineId owned by DriveWorks.

Note: the cuDLA module is owned by the DriveWorks context and shall not be closed by the application.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getCurrentTime()

DW_API_PUBLIC dwStatus dwContext_getCurrentTime	(	dwTime_t *const	time,
		dwContextHandle_t const	context
	)

Returns the current PTP timestamp.

Timestamps from the same context are guaranteed to be in sync. The returned time represents the absolute time as received through system time source. On POSIX based systems, the time is measured using CLOCK_MONOTONIC time source.

Note: An offset is calculated and added to CLOCK_MONOTONIC, to ensure the time has an epoch base.

Parameters

[out]	time	A pointer to the return time to a given location, in [us].
[in]	context	Specifies the context.

Returns: DW_INVALID_ARGUMENT if given context handle or time is NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getCurrentTimeMono()

DW_API_PUBLIC dwStatus dwContext_getCurrentTimeMono	(	dwTime_t *const	time,
		dwContextHandle_t const	context
	)

Returns the current monotonic timestamp.

On POSIX based systems, the time is measured using CLOCK_MONOTONIC time source.

Parameters

[out]	time	A pointer to the return time to a given location, in [us].
[in]	context	Specifies the context.

Returns: DW_INVALID_ARGUMENT if given context handle or time is NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getCurrentTimeUTC()

DW_API_PUBLIC dwStatus dwContext_getCurrentTimeUTC	(	dwTime_t *const	time,
		dwContextHandle_t const	context
	)

Returns the current UTC timestamp.

Parameters

[out]	time	A pointer to the return time to a given location, in [us].
[in]	context	Specifies the context.

Returns: DW_INVALID_ARGUMENT if given context handle or time is NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getDataPath()

DW_API_PUBLIC dwStatus dwContext_getDataPath	(	char8_t const **const	dataPath,
		dwContextHandle_t const	context
	)

Gets the initial data path of the library that contains the driveworks context.

Note: Later added data paths are not returned here.

Parameters

[out]	dataPath	Path to the Driveworks data.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle or descriptor pointer is NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getDLAEngineCount()

DW_API_PUBLIC dwStatus dwContext_getDLAEngineCount	(	int32_t *const	count,
		dwContextHandle_t const	context
	)

Get the available DLA engines count.

Parameters

[out]	count	The number of DLA engines available.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle or descriptor pointer is NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getErrorSignal()

DW_API_PUBLIC dwStatus dwContext_getErrorSignal	(	dwErrorSignal *	errorSignal,
		dwModuleHandle_t	handle
	)

Get the module error signal.

Parameters

[in,out]	errorSignal	An error signal to be filled into
[in]	handle	Object handle

Returns: DW_INVALID_ARGUMENT if one of input parameters is NULL.
DW_INVALID_HANDLE if given object handle is not an actual handle or if the object handle does not support health signals.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getGPUArchitecture()

DW_API_PUBLIC dwStatus dwContext_getGPUArchitecture	(	char8_t const **const	architecture,
		dwContextHandle_t const	context
	)

Returns the architecture for the currently selected CUDA device.

Parameters

[out]	architecture	A string containing the architecture.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if value pointer or context handle is NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getGPUAttribute()

DW_API_PUBLIC dwStatus dwContext_getGPUAttribute	(	int32_t *const	value,
		cudaDeviceAttr const	attribute,
		int32_t const	deviceNum,
		dwContextHandle_t const	context
	)

Returns the value of the selected CUDA attribute for the specific CUDA device.

Parameters

[out]	value	Integer representing the value of the requested attribute.
[in]	attribute	Specifies the attribute requested.
[in]	deviceNum	Specifies the device number.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if value pointer or context handle is NULL or context is NULL or if the input device number does not match to the number of available devices or if the selected device doesn't exist.
DW_CUDA_ERROR in case of an underlying CUDA failure.
DW_NOT_AVAILABLE if no GPU devices are available.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwContext_getGPUCount()

DW_API_PUBLIC dwStatus dwContext_getGPUCount	(	int32_t *const	count,
		dwContextHandle_t const	context
	)

Get the available GPU devices count.

Parameters

[out]	count	The number of GPU devices available.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle is NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getGPUDeviceCurrent()

DW_API_PUBLIC dwStatus dwContext_getGPUDeviceCurrent	(	int32_t *const	deviceNumber,
		dwContextHandle_t const	context
	)

Returns the currently selected GPU device.

If no device is selected, will return -1.

Parameters

[out]	deviceNumber	The number of GPU device.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle is NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getGPUDeviceType()

DW_API_PUBLIC dwStatus dwContext_getGPUDeviceType	(	dwGPUDeviceType *const	deviceType,
		int32_t const	deviceNum,
		dwContextHandle_t const	context
	)

Returns the device type of the input GPU number.

Parameters

[out]	deviceType	The type of GPU device.
[in]	deviceNum	Specifies the device number.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle is NULL or number is invalid or if the input device number does not match to the number of available devices.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getGPUProperties()

DW_API_PUBLIC dwStatus dwContext_getGPUProperties	(	dwGPUDeviceProperties *const	properties,
		int32_t const	deviceNum,
		dwContextHandle_t const	context
	)

Returns the properties for the specific CUDA device.

Parameters

[out]	properties	A struct containing the properties.
[in]	deviceNum	Specifies the device number.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if value pointer or context handle is NULL or deviceNum doesn't exist or if the input device number does not match to the number of available devices.
DW_CUDA_ERROR in case of an underlying CUDA failure.
DW_NOT_AVAILABLE if no GPU devices are available.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getNvSciBufModule()

DW_API_PUBLIC dwStatus dwContext_getNvSciBufModule	(	NvSciBufModule *	mod,
		dwContextHandle_t const	context
	)

Get the nvscibuf module.

Parameters

[out]	mod	The nvscibuf module
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if mod or context is NULL. DW_SUCCESS if module has been successfully updated with NvSciBufModule owned by DriveWorks.

Note: the nvscibuf module is owned by the DriveWorks context and shall not be closed by the application.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getNvSciSyncModule()

DW_API_PUBLIC dwStatus dwContext_getNvSciSyncModule	(	NvSciSyncModule *	mod,
		dwContextHandle_t const	context
	)

Get the NvSciSync module.

Parameters

[out]	mod	The nvscisync module
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if mod or context is NULL.
DW_SUCCESS if module has been successfully updated with NvSciSyncModule owned by DriveWorks.

Note: the NvSciSync module is owned by the DriveWorks context and shall not be closed by the application.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getTimePTPSynchronizationStatus()

DW_API_PUBLIC dwStatus dwContext_getTimePTPSynchronizationStatus	(	dwPTPStatus *const	status,
		dwContextHandle_t const	context
	)

Get the PTP synchronization status of time source inside the context.

Parameters

[out]	status	Return PTP synchronization status.
[in]	context	Specifies the context.

Returns: DW_INVALID_ARGUMENT if given context handle or time is NULL.
DW_NOT_SUPPORTED if the method is called on a system where PTP synchronized time is not supported, i.e. PDK < 4.1.6.4 or x86 based host.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getTimeSource()

DW_API_PUBLIC dwStatus dwContext_getTimeSource	(	dwTimeSourceHandle_t *const	source,
		dwContextHandle_t const	context
	)

Retrieve time source used in the context.

Parameters

[out]	source	Hadle to the time source used by the context
[in]	context	Specifies the context.

Returns: DW_INVALID_ARGUMENT if given context handle or source is null.
DW_SUCCESS if no error occurs.

Note: Ownership of the time source remains by the context.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_getUseVirtualTime()

DW_API_PUBLIC dwStatus dwContext_getUseVirtualTime	(	bool *const	useVirtualTime,
		dwContextHandle_t const	ctx
	)

Check if in virtual time mode.

Parameters

[out]	useVirtualTime	boolean for if virtual time is used.
[in]	ctx	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle or descriptor pointer is NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_isTimePTPSynchronized()

DW_API_PUBLIC dwStatus dwContext_isTimePTPSynchronized	(	bool *const	flag,
		dwContextHandle_t const	context
	)

Check if the used time source inside the context is synchronized over PTP.

PTP synchronization is available starting from PDK 4.1.6.4 and provides a solution to synchronize multiple NVIDIA DRIVE boxes to a common clock base. All sensor readings as well as the 'dwContext_getCurrentTime()' method will be based on the same time source.

Parameters

[out]	flag	Return true if PTP synchronized time is used.
[in]	context	Specifies the context.

Returns: DW_INVALID_ARGUMENT if given context handle or time is NULL.
DW_NOT_SUPPORTED if the method is called on a system where PTP synchronized time is not supported, i.e. PDK < 4.1.6.4 or x86 based host.
DW_SUCCESS if no error occurs.

Note: Synchronized time is only available if PTP daemon has been identified during context creation.; PTP time base is not guaranteed to be epoch based.; It might happen at run-time that the PTP daemon is not responding anymore and PTP synchronization will be lost. In such case DW context will continue to count based on the last synced PTP time.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_selectGPUDevice()

DW_API_PUBLIC dwStatus dwContext_selectGPUDevice	(	int32_t const	deviceNumber,
		dwContextHandle_t const	context
	)

Selects a GPU device, if available.

Note that the selected gpu is valid for the current thread

Parameters

[in]	deviceNumber	The number of GPU device.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle is NULL or the selected device doesn't exist or if the input device number does not match to the number of available devices.
DW_NOT_AVAILABLE if no GPU devices are available.
DW_CUDA_ERROR in case of an underlying CUDA failure.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_setCustomFileFunctions()

DW_API_PUBLIC dwStatus dwContext_setCustomFileFunctions	(	dwContextHandle_t const	context,
		dwCustomizedFileFunctions *const	fileFunctionPtr
	)

Set the customized fileStream function pointers in context.

Parameters

[in]	context	handle
[in]	fileFunctionPtr	dwCustomizedFileFunctions pointer to be passed into context

Returns: DW_INVALID_ARGUMENT if given context handle or fileFunctionPtr is NULL.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwContext_setupCUDLA()

DW_API_PUBLIC dwStatus dwContext_setupCUDLA	(	uint16_t const *	handleCountArray,
		uint16_t const	handleCountArraySize,
		dwContextHandle_t const	context
	)

Setup CUDLA, create CUDLA Engine handles per request.

Parameters

[in]	handleCountArray	An array to indecate how many cudla device handles to create per DLA Engine. Max 16 handles for one engine by DLA UMD restriction.
[in]	handleCountArraySize	Size of cudla device handle count array, Max 2 DLA Engines on Orin.
[in]	context	The context to be released.

Returns: DW_INVALID_ARGUMENT if handleCountToCreate is NULL.
DW_SUCCESS if module has been successfully created according to DLA EngineId owned by DriveWorks.

Note: The cuDLA module is owned by the DriveWorks context and shall not be closed by the application. Available on orin only. The useage of this API should be in following 2 cases: uint16_t handleCounts[2]{2, 5}; dwContext_setupCUDLA(handleCounts, 2, context); or uint16_t handleCounts[1]{2}; dwContext_setupCUDLA(handleCounts, 1, context);

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwContext_sleepMonotonic()

DW_API_PUBLIC dwStatus dwContext_sleepMonotonic ( dwTime_t const sleepTimeUs )

Sleep for a given time using a monotonic clock.

This function is safe from time jumps and system clock changes. This function is not dependent on a DriveWorks context and can be called at any time.

Parameters

[in] sleepTimeUs The time to sleep, in [us].

Returns: DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwGetLastCudaError()

DW_API_PUBLIC dwStatus dwGetLastCudaError	(	cudaError_t *const	cudaError,
		char8_t const **const	errorMsg
	)

Retrieves the last CUDA error encountered.

When a CUDA function, used within DriveWorks, reports an error, this error is stored internally. It can later be retrieved by this function. After calling this function, the error is reset and future calls will return 'DW_SUCCESS' until another CUDA error is encountered.

Error information is thread local. Each thread has its own last error and an error encountered in one thread will not be visible in another thread.

Parameters

[out]	cudaError	A pointer to the location where to put last CUDA error encountered.
[out]	errorMsg	A pointer to a pointer to a string containing a description of the last error encountered. Can be NULL to just reset last error.

Returns: The code of the last error encountered, or DW_SUCCESS if no error is recorded.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwGetLastError()

DW_API_PUBLIC dwStatus dwGetLastError ( char8_t const **const errorMsg )

Retrieves the last error encountered.

When a DriveWorks function reports an error, this error is stored internally. It can later be retrieved by this function. After calling this function, the error is reset and future calls will return 'DW_SUCCESS' until another error is encountered.

Error information is thread local. Each thread has its own last error and an error encountered in one thread will not be visible in another thread.

Parameters

[out] errorMsg A pointer to a pointer to a string containing a description of the last error encountered. Can be NULL to just reset last error.

Returns: The code of the last error encountered, or DW_SUCCESS if no error is recorded.

Note: In case of CUDA errors this method will return DW_CUDA_ERROR once.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwInitialize()

DW_API_PUBLIC dwStatus dwInitialize	(	dwContextHandle_t *const	context,
		dwVersion const	headerVersion,
		dwContextParameters const *const	params
	)

Creates and initializes an SDK context.

The context is required for initialization of the SDK modules.

Parameters

[out]	context	A pointer to the context handler is returned here.
[in]	headerVersion	Specifies current driveworks API version (usually DW_VERSION).
[in]	params	A pointer with a set of parameters to create the SDK. Can be NULL for a default set of parameters.

Returns: DW_INVALID_VERSION if the DW version does not match the version of the library.
DW_INVALID_ARGUMENT if the input context pointer is null.
DW_INTERNAL_ERROR if SDK could not to detect platform or if the offset between realtime and monotonic clocks is too large and cannot be represented in microseconds.
DW_CANNOT_CREATE_OBJECT if the system call clock_gettime() or EGL display initialization fails.
DW_BUFFER_FULL if not enough memory for initialization is available.
DW_OUT_OF_BOUNDS if not enough memory for initialization is available.
DW_FAILURE if initialization fails.
DW_CUDA_ERROR if CUDA initialization fails.
DW_NOT_SUPPORTED if an available GPU is not supported.
DW_NOT_AVAILABLE if Deep Learning Accelerator (DLA) initialization fails or
if Programmable Vision Accelerator (PVA) initialization fails or
if EGL display initialization fails.
DW_INVALID_HANDLE if context initialization fails.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwRelease()

DW_API_PUBLIC dwStatus dwRelease ( dwContextHandle_t const context )

Releases the context.

Any module created with this context must be released before the context can be released.

Note: This method renders the context handle unusable.

Parameters

[in] context The context to be released.

Returns: DW_INVALID_HANDLE if provided context is NULL or invalid.
DW_SUCCESS if no error occurs.

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwVisualizationGetDWContext()

DW_VIZ_API_PUBLIC dwStatus dwVisualizationGetDWContext	(	dwContextHandle_t *	dwctx,
		dwVisualizationContextHandle_t	context
	)

Return DW context associated with this visualization library.

Parameters

[out]	dwctx	Context of the DW SDK as given through `dwVisualizationInitialize()`
[in]	context	Handle to existing dwVisualization context, created with dwInitialize.

Returns: DW_INVALID_ARGUMENT - If provided, context pointer is null.
DW_SUCCESS

◆ dwVisualizationInitialize()

DW_VIZ_API_PUBLIC dwStatus dwVisualizationInitialize	(	dwVisualizationContextHandle_t *	vizContext,
		dwContextHandle_t	ctx
	)

Creates and initializes a Visualization SDK context.

The context is required for initialization of the Visualization SDK modules.

Parameters

[out]	vizContext	A pointer to the context handler is returned here.
[in]	ctx	Handle to existing DW SDK context, created with dwInitialize.

Returns: DW_INVALID_VERSION - If provided context' version does not match the version of the library.
DW_INVALID_ARGUMENT - If provided, context pointer is null.
DW_SUCCESS

Note: Visualization SDK depends on GL components, hence an automatic initialization with dwGLInitialize will happen

◆ dwVisualizationInitializeWithParams()

DW_VIZ_API_PUBLIC dwStatus dwVisualizationInitializeWithParams	(	dwVisualizationContextHandle_t *	vizContext,
		dwVisualizationParameters	params,
		dwContextHandle_t	ctx
	)

Creates and initializes a Visualization SDK context.

The context is required for initialization of the Visualization SDK modules.

Parameters

[out]	vizContext	A pointer to the context handler is returned here.
[in]	params	A set of parameters
[in]	ctx	Handle to existing DW SDK context, created with dwInitialize.

Returns: DW_INVALID_VERSION - If provided context' version does not match the version of the library.
DW_INVALID_ARGUMENT - If provided, context pointer is null.
DW_SUCCESS

Note: Visualization SDK depends on GL components, hence an automatic initialization with dwGLInitialize will happen

◆ dwVisualizationRelease()

DW_VIZ_API_PUBLIC dwStatus dwVisualizationRelease ( dwVisualizationContextHandle_t context )

Releases the context.

Any module created with this context must be released before the context can be released.

Note: This method renders the context handle unusable.

Parameters

[in] context The context to be released.

Returns: DW_INVALID_ARGUMENT - If provided context is NULL.
DW_SUCCESS


NVIDIA DriveOS Linux NSR SDK API Reference	7.0.3.0 Release

NVIDIA DriveOS Linux NSR SDK API Reference

7.0.3.0 Release

Detailed Description

Data Structures

Typedefs

Enumerations

Functions

Typedef Documentation

◆ dwConstContextHandle_t

◆ dwConstModuleHandle_t

◆ dwContextHandle_t

◆ dwContextParameters

◆ dwCustomizedFileFunctions

◆ dwCustomizedFileHandle

◆ dwDLAHandleArray

◆ dwModuleHandle_t

◆ dwVisualizationConstContextHandle_t

◆ dwVisualizationContextHandle_t

◆ dwVisualizationParameters

Enumeration Type Documentation

◆ dwPTPStatus

Function Documentation

◆ dwContext_getCUDAProperties()

◆ dwContext_getCUDAStream()

◆ dwContext_getCUDLADeviceHandleArray()

◆ dwContext_getCurrentTime()

◆ dwContext_getCurrentTimeMono()

◆ dwContext_getCurrentTimeUTC()

◆ dwContext_getDataPath()

◆ dwContext_getDLAEngineCount()

◆ dwContext_getErrorSignal()

◆ dwContext_getGPUArchitecture()

◆ dwContext_getGPUAttribute()

◆ dwContext_getGPUCount()

◆ dwContext_getGPUDeviceCurrent()

◆ dwContext_getGPUDeviceType()

◆ dwContext_getGPUProperties()

◆ dwContext_getNvSciBufModule()

◆ dwContext_getNvSciSyncModule()

◆ dwContext_getTimePTPSynchronizationStatus()

◆ dwContext_getTimeSource()

◆ dwContext_getUseVirtualTime()

◆ dwContext_isTimePTPSynchronized()

◆ dwContext_selectGPUDevice()

◆ dwContext_setCustomFileFunctions()

◆ dwContext_setupCUDLA()

◆ dwContext_sleepMonotonic()

◆ dwGetLastCudaError()

◆ dwGetLastError()

◆ dwInitialize()

◆ dwRelease()

◆ dwVisualizationGetDWContext()

◆ dwVisualizationInitialize()

◆ dwVisualizationInitializeWithParams()

◆ dwVisualizationRelease()