Detailed Description

Defines methods common to all sensors.

Defines base types common to all sensors.

Data Structures
struct	dwSensorParams
	Holds sets of parameters for sensor creation. More...

struct	dwSensorSeekTableEntry
	A seek structure is made of memory offset, eventcount and timestamp. More...

Macros
#define	DW_SENSOR_MAX_PROTOCOL_NAME_LENGTH 32
	Maximal length of the protocol name of a sensor. More...

#define	DW_SENSOR_MAX_PARAMETER_STRING_LENGTH 512
	Maximal length of the parameter string of a sensor. More...

#define	DW_SENSOR_ERROR_ID_OFFSET_BIT 24U
	bit-shift of dwSensorErrorID when reported via module health service More...

#define	DW_SENSOR_ERROR_ID_OFFSET (1U << DW_SENSOR_ERROR_ID_OFFSET_BIT)
	offset of dwSensorErrorID when reported via module health service More...

Typedefs
typedef struct dwSALObject *	dwSALHandle_t
	Handle representing the Sensor Abstraction Layer interface. More...

typedef struct dwSensorObject *	dwSensorHandle_t
	Handle representing a sensor. More...

typedef struct dwSensorParams	dwSensorParams
	Holds sets of parameters for sensor creation. More...

typedef enum dwSensorType	dwSensorType
	Defines the type of sensors that are available in DriveWorks. More...

typedef struct dwSensorSeekTableEntry	dwSensorSeekTableEntry
	A seek structure is made of memory offset, eventcount and timestamp. More...

typedef enum dwSensorErrorID	dwSensorErrorID
	Sensor Error ID to be used in, e.g., dwErrorSignal.errorID[31:24] when DW_SENSOR_ERROR_CODE_OFFSET_BIT equals 24. More...

Enumerations
enum	dwSensorType { DW_SENSOR_CAMERA = 0, DW_SENSOR_LIDAR, DW_SENSOR_GPS, DW_SENSOR_IMU, DW_SENSOR_CAN, DW_SENSOR_RADAR, DW_SENSOR_TIME, DW_SENSOR_DATA, DW_SENSOR_ULTRASONIC, DW_SENSOR_COUNT }
	Defines the type of sensors that are available in DriveWorks. More...

enum	dwSensorErrorID { DW_SENSOR_ERROR_CODE_INVALID = 0, DW_SENSOR_ERROR_CODE_NO_NEW_DATA = 120001, DW_SENSOR_ERROR_NO_DATA_FROM_PUBLISHER, DW_SENSOR_ERROR_NOT_ENOUGH_DATA, DW_SENSOR_ERROR_E2E_FAILURE, DW_SENSOR_ERROR_STATE_MACHINE_DISABLED, DW_SENSOR_ERROR_CODE_NON_MONOTONIC_DATA, DW_RADAR_ERROR_CODE_AZIMUTH_OUT_OF_RANGE = 121000, DW_RADAR_ERROR_CODE_NUM_RETURNS_OUT_OF_RANGE = 121001, DW_RADAR_ERROR_CODE_ZERO_RETURNS = 121002, DW_RADAR_ERROR_CODE_NON_MONOTONIC_SENSOR_TIME = 121003, DW_RADAR_ERROR_CODE_SENSOR_TIME_GREATER_THAN_HOST_TIME = 121004, DW_RADAR_ERROR_CODE_END_INDEX = 121199, DW_SENSORS_ERROR_CODE_GPS_MODE = 130001, DW_SENSORS_ERROR_CODE_GPS_ACCURACY = 130002, DW_SENSORS_ERROR_CODE_IMU_ALIGNMENT_STATUS = 140001, DW_SENSORS_ERROR_CODE_LIDAR_RAW_PACKET_DROP = 150001, DW_SENSORS_ERROR_CODE_LIDAR_RAW_PACKET_REORDER = 150002 }
	Sensor Error ID to be used in, e.g., dwErrorSignal.errorID[31:24] when DW_SENSOR_ERROR_CODE_OFFSET_BIT equals 24. More...

Functions
DW_API_PUBLIC dwStatus	dwSAL_initialize (dwSALHandle_t *const sal, dwContextHandle_t const context)
	Creates and initializes a SAL (sensor abstraction layer) module. More...

DW_API_PUBLIC dwStatus	dwSAL_reset (dwSALHandle_t const sal)
	Resets the SAL (sensor abstraction layer) module. More...

DW_API_PUBLIC dwStatus	dwSAL_release (dwSALHandle_t const sal)
	Releases the SAL (sensor abstraction layer) module. More...

DW_API_PUBLIC dwStatus	dwSAL_createSensor (dwSensorHandle_t *const sensor, dwSensorParams const params, dwSALHandle_t const sal)
	Creates a new sensor managed by the SAL module with the given parameters. More...

DW_API_PUBLIC dwStatus	dwSAL_releaseSensor (dwSensorHandle_t const sensor)
	Releases a sensor managed by the SAL module. More...

DW_API_PUBLIC dwStatus	dwSAL_start (dwSALHandle_t const sal)
	Bootstraps all sensors managed by the SAL module. More...

DW_API_PUBLIC dwStatus	dwSAL_getNumSensors (uint32_t *const num, dwSALHandle_t const sal)
	Gets number of available sensors for current platform. More...

DW_API_PUBLIC dwStatus	dwSAL_getSensorProtocol (const char **const name, uint32_t const idx, dwSALHandle_t const sal)
	Gets protocol name of a sensor for a given index, e.g., 'camera.gmsl' or 'can.file'. More...

DW_API_PUBLIC dwStatus	dwSAL_getSensorParameterString (const char **const parameters, uint32_t const idx, dwSALHandle_t const sal)
	Gets the parameter string acceptable by a sensor whose type is determined by the index. More...

DW_API_PUBLIC dwStatus	dwSAL_setVehicleState (dwSensorVehicleState *const vehicleState, dwSALHandle_t const sal)
	Pass vehicle state to all sensors. More...

DW_API_PUBLIC dwStatus	dwSAL_setEgomotionState (dwSensorEgomotionState *const egomotionState, dwSALHandle_t const sal)
	Pass egomotion state to all sensors. More...

DW_API_PUBLIC dwStatus	dwSensor_start (dwSensorHandle_t const sensor)
	Starts the sensor previously successfully created with 'dwSAL_createSensor()'. More...

DW_API_PUBLIC dwStatus	dwSensor_stop (dwSensorHandle_t const sensor)
	Stops the sensor. More...

DW_API_PUBLIC dwStatus	dwSensor_resume (dwSensorHandle_t const sensor)
	Resume and init the sensor. More...

DW_API_PUBLIC dwStatus	dwSensor_reset (dwSensorHandle_t const sensor)
	Resets the sensor. More...

DW_API_PUBLIC dwStatus	dwSensor_readRawData (const uint8_t *const data, size_t const size, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads RAW data from sensor as byte array at a given time (TimeoutUs). More...

DW_API_PUBLIC dwStatus	dwSensor_returnRawData (const uint8_t *const data, dwSensorHandle_t const sensor)
	Returns RAW data to sensor as a byte array. More...

DW_API_PUBLIC dwStatus	dwSensor_getSeekRange (size_t const eventCount, dwTime_t const startTimestampUs, dwTime_t *const endTimestampUs, dwSensorHandle_t const sensor)
	Retrieves the valid range of seek parameters, for sensors that support seeking. More...

DW_API_PUBLIC dwStatus	dwSensor_getCurrentSeekPosition (size_t *const event, dwSensorHandle_t const sensor)
	Gets the current seek position of the sensor. More...

dwStatus	dwSensor_getHeader (uint8_t const *const buffer, size_t bufferSize, dwSensorHandle_t const sensor)
	Returns a pointer to the shared buffer with the contents of the sensor header and bufferSize will contain the number of valid bytes in the buffer. More...

DW_API_PUBLIC dwStatus	dwSensor_seekToTime (dwTime_t const timestampUs, dwSensorHandle_t const sensor)
	Seeks the sensor to a specific timestamp, for sensors that support seeking. More...

DW_API_PUBLIC dwStatus	dwSensor_seekToEvent (size_t const event, dwSensorHandle_t const sensor)
	Seeks the sensor to an event, for sensors that support seeking. More...

DW_API_PUBLIC dwStatus	dwSensor_createSeekTable (dwSensorHandle_t const sensor)
	Forces recreation of the seek table, for sensors that support seeking. More...

DW_API_PUBLIC dwStatus	dwSensor_getNumSeekTableEntries (size_t *const size, dwSensorHandle_t const hsensor)
	Get the number of entries in the seek Table. More...

DW_API_PUBLIC dwStatus	dwSensor_getSeekTableEntries (dwSensorSeekTableEntry *const entries, size_t const numEntries, dwSensorHandle_t const sensor)
	Fill in the pre-allocated dwSensorSeekTableEntry array. More...

DW_API_PUBLIC dwStatus	dwSensor_saveSeekTable (const char *const fileName, dwSensorHandle_t const sensor)
	Saves the seek table for the sensor to a file, for sensors that support seek tables. More...

DW_API_PUBLIC dwStatus	dwSensor_setThreadPriority (int32_t const priority, dwSensorHandle_t const sensor)
	Sets the priority of the internal thread, for sensors that use an internal thread to communicate to the OS drivers. More...

DW_API_PUBLIC dwStatus	dwSensor_setThreadAffinity (uint32_t const affinityMask, dwSensorHandle_t const sensor)
	Sets the affinity of the internal thread, for sensors that use an internal thread to communicate to the OS drivers. More...

DW_API_PUBLIC dwStatus	dwSensor_getStats (dwSensorStats *const stats, dwSensorHandle_t const sensor)
	Gets sensor statistics (if available). More...

Macro Definition Documentation

◆ DW_SENSOR_ERROR_ID_OFFSET

#define DW_SENSOR_ERROR_ID_OFFSET (1U << DW_SENSOR_ERROR_ID_OFFSET_BIT)

offset of dwSensorErrorID when reported via module health service

Definition at line 117 of file SensorTypes.h.

◆ DW_SENSOR_ERROR_ID_OFFSET_BIT

#define DW_SENSOR_ERROR_ID_OFFSET_BIT 24U

bit-shift of dwSensorErrorID when reported via module health service

Definition at line 115 of file SensorTypes.h.

◆ DW_SENSOR_MAX_PARAMETER_STRING_LENGTH

#define DW_SENSOR_MAX_PARAMETER_STRING_LENGTH 512

Maximal length of the parameter string of a sensor.

Definition at line 47 of file SensorTypes.h.

◆ DW_SENSOR_MAX_PROTOCOL_NAME_LENGTH

#define DW_SENSOR_MAX_PROTOCOL_NAME_LENGTH 32

Maximal length of the protocol name of a sensor.

Definition at line 45 of file SensorTypes.h.

Typedef Documentation

◆ dwSALHandle_t

typedef struct dwSALObject* dwSALHandle_t

Handle representing the Sensor Abstraction Layer interface.

Definition at line 39 of file SensorTypes.h.

◆ dwSensorErrorID

typedef enum dwSensorErrorID dwSensorErrorID

Sensor Error ID to be used in, e.g., dwErrorSignal.errorID[31:24] when DW_SENSOR_ERROR_CODE_OFFSET_BIT equals 24.

◆ dwSensorHandle_t

typedef struct dwSensorObject* dwSensorHandle_t

Handle representing a sensor.

Definition at line 42 of file SensorTypes.h.

◆ dwSensorParams

typedef struct dwSensorParams dwSensorParams

Holds sets of parameters for sensor creation.

◆ dwSensorSeekTableEntry

typedef struct dwSensorSeekTableEntry dwSensorSeekTableEntry

A seek structure is made of memory offset, eventcount and timestamp.

◆ dwSensorType

typedef enum dwSensorType dwSensorType

Defines the type of sensors that are available in DriveWorks.

Enumeration Type Documentation

◆ dwSensorErrorID

enum dwSensorErrorID

Sensor Error ID to be used in, e.g., dwErrorSignal.errorID[31:24] when DW_SENSOR_ERROR_CODE_OFFSET_BIT equals 24.

Enumerator
DW_SENSOR_ERROR_CODE_INVALID	sensor ok
DW_SENSOR_ERROR_CODE_NO_NEW_DATA	no new data received Error number is defined so that health service filters the error and not report to SEH
DW_SENSOR_ERROR_NO_DATA_FROM_PUBLISHER	No data is received from publisher.
DW_SENSOR_ERROR_NOT_ENOUGH_DATA	Not enough dats from publisher since initialization.
DW_SENSOR_ERROR_E2E_FAILURE	E2E failures.
DW_SENSOR_ERROR_STATE_MACHINE_DISABLED	State machine is disabled.
DW_SENSOR_ERROR_CODE_NON_MONOTONIC_DATA	Non monotonic timestamp received from the sensor. Error number is defined so that health service filters the error and not report to SEH
DW_RADAR_ERROR_CODE_AZIMUTH_OUT_OF_RANGE	Radar specific errors: azimuth is out of range.
DW_RADAR_ERROR_CODE_NUM_RETURNS_OUT_OF_RANGE	Radar specific errors: return num is out of range.
DW_RADAR_ERROR_CODE_ZERO_RETURNS	Radar specific errors: zero return.
DW_RADAR_ERROR_CODE_NON_MONOTONIC_SENSOR_TIME	Radar specific errors: non monotonic sensor time.
DW_RADAR_ERROR_CODE_SENSOR_TIME_GREATER_THAN_HOST_TIME	Radar specific errors: sensor time treater than host time.
DW_RADAR_ERROR_CODE_END_INDEX	Radar specific errors: end index.
DW_SENSORS_ERROR_CODE_GPS_MODE	GPS sensor working mode error.
DW_SENSORS_ERROR_CODE_GPS_ACCURACY	GPS sensor accuracy warning.
DW_SENSORS_ERROR_CODE_IMU_ALIGNMENT_STATUS	IMU sensor bad alignment status.
DW_SENSORS_ERROR_CODE_LIDAR_RAW_PACKET_DROP	Lidar raw packet drop status.
DW_SENSORS_ERROR_CODE_LIDAR_RAW_PACKET_REORDER	Lidar raw packet drop status.

Definition at line 123 of file SensorTypes.h.

◆ dwSensorType

enum dwSensorType

Defines the type of sensors that are available in DriveWorks.

Enumerator
DW_SENSOR_CAMERA	CAMERA.
DW_SENSOR_LIDAR	Lidar.
DW_SENSOR_GPS	GPS.
DW_SENSOR_IMU	IMU.
DW_SENSOR_CAN	CAN.
DW_SENSOR_RADAR	RADAR.
DW_SENSOR_TIME	TIME.
DW_SENSOR_DATA	DATA.
DW_SENSOR_ULTRASONIC	Ultrasonic.
DW_SENSOR_COUNT	Sensor count which the sensor type value is less than.

Definition at line 74 of file SensorTypes.h.

Function Documentation

◆ dwSAL_createSensor()

DW_API_PUBLIC dwStatus dwSAL_createSensor	(	dwSensorHandle_t *const	sensor,
		dwSensorParams const	params,
		dwSALHandle_t const	sal
	)

Creates a new sensor managed by the SAL module with the given parameters.

Parameters

[out]	sensor	A pointer to sensor handle that became valid after creation.
[in]	params	Specifies the parameters for sensor creation.
[in]	sal	Specifies the handle to the SAL module that will manage the sensor.

Returns: DW_INVALID_ARGUMENT - if pointer to the sensor is NULL or protocol name is NULL
DW_INVALID_HANDLE - if provided SAL handle is invalid.
DW_SAL_NO_DRIVER_FOUND - if provided protocol name is unknown.
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during sensor creation. For a virtual sensor which is reading from a file it could be file I/O error.
DW_BUFFER_FULL - if internal buffer has insufficient capacity to hold parsed value from params.
DW_NOT_SUPPORTED - if user tries to create more than one time-sensors.
DW_SUCCESS - if call is successful.

Note: This returned sensor handle must be released using the 'dwSAL_releaseSensor()' method.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwSAL_getNumSensors()

DW_API_PUBLIC dwStatus dwSAL_getNumSensors	(	uint32_t *const	num,
		dwSALHandle_t const	sal
	)

Gets number of available sensors for current platform.

req{26469647}

Note: Only sensor queried for the current platform can be created by using dwSAL_createSensor().

Parameters

[out]	num	A pointer to return number of sensor in the SAL.
[in]	sal	Specifies the SAL handle created with 'dwSAL_initialize()'.

Returns: DW_INVALID_HANDLE - if provided SAL or sensor handle is invalid.
DW_INVALID_ARGUMENT - if provided pointer is invalid.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSAL_getSensorParameterString()

DW_API_PUBLIC dwStatus dwSAL_getSensorParameterString	(	const char **const	parameters,
		uint32_t const	idx,
		dwSALHandle_t const	sal
	)

Gets the parameter string acceptable by a sensor whose type is determined by the index.

A sensor generates a human readable string with parameters it accepts.

req{26469649}

Parameters

[out]	parameters	A pointer to the pointer to the null terminated string will be returned here.
[in]	idx	Specifies the index of a sensor; index must be between 0 and 'dwSAL_getNumSensors()-1'.
[in]	sal	Specifies the SAL handle created with 'dwSAL_initialize()'.

Returns: DW_INVALID_HANDLE - if provided SAL or sensor handle is invalid.
DW_INVALID_ARGUMENT - if provided pointer is invalid or index outside of range.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSAL_getSensorProtocol()

DW_API_PUBLIC dwStatus dwSAL_getSensorProtocol	(	const char **const	name,
		uint32_t const	idx,
		dwSALHandle_t const	sal
	)

Gets protocol name of a sensor for a given index, e.g., 'camera.gmsl' or 'can.file'.

req{26469648}

Parameters

[out]	name	A pointer to the pointer of the null terminated string will be returned here.
[in]	idx	Specifies the index of a sensor; index must be between 0 and 'dwSAL_getNumSensors()-1'.
[in]	sal	Specifies the SAL handle created with 'dwSAL_initialize()'.

Returns: DW_INVALID_HANDLE - if provided SAL or sensor handle is invalid.
DW_INVALID_ARGUMENT - if provided pointer is invalid or the index outside of range.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSAL_initialize()

DW_API_PUBLIC dwStatus dwSAL_initialize	(	dwSALHandle_t *const	sal,
		dwContextHandle_t const	context
	)

Creates and initializes a SAL (sensor abstraction layer) module.

Parameters

[out]	sal	A pointer to the SAL handle will be returned here.
[in]	context	Specifies the handle to the context under which the SAL module is created.

Returns: DW_INVALID_ARGUMENT - if pointer to the SAL handle is NULL.
DW_INVALID_HANDLE - if provided context handle is invalid.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwSAL_release()

DW_API_PUBLIC dwStatus dwSAL_release ( dwSALHandle_t const sal )

Releases the SAL (sensor abstraction layer) module.

This method releases all created sensors and unloads all drivers.

Note: This method renders the SAL handle unusable.

Parameters

[in] sal The SAL handle to be released.

Returns: DW_INVALID_HANDLE - if provided SAL handle is invalid.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwSAL_releaseSensor()

DW_API_PUBLIC dwStatus dwSAL_releaseSensor ( dwSensorHandle_t const sensor )

Releases a sensor managed by the SAL module.

Note: This method renders the sensor handle unusable.

Parameters

[in] sensor The handle to a sensor created previously with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE - if provided SAL or sensor handle is invalid.
DW_SAL_SENSOR_ERROR - if provided sensor is not managed by this SAL.
DW_SUCCESS - if call is successful.

Note: In cases where a specific sensor needs to be released, this method can be used. In all other cases, the automatic sensor release of the 'dwSAL_release()' method is sufficient.

API Group

Init: Yes
Runtime: No
De-Init: Yes

◆ dwSAL_reset()

DW_API_PUBLIC dwStatus dwSAL_reset ( dwSALHandle_t const sal )

Resets the SAL (sensor abstraction layer) module.

This method resets all sensors managed by this module.

Parameters

[in] sal Specifies the SAL handle to reset.

Returns: DW_INVALID_HANDLE - if provided SAL handle is invalid.
DW_ERROR - error of a sensor that could not be reset.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSAL_setEgomotionState()

DW_API_PUBLIC dwStatus dwSAL_setEgomotionState	(	dwSensorEgomotionState *const	egomotionState,
		dwSALHandle_t const	sal
	)

Pass egomotion state to all sensors.

Parameters

[in]	egomotionState	Egomotion state that needs to be passed in the structure of dwEgomotionVehicleState .
[in]	sal	Specifies the SAL handle created with 'dwSAL_initialize()'

Returns: DW_INVALID_ARGUMENT - no function with that pointer exists
DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSAL_setVehicleState()

DW_API_PUBLIC dwStatus dwSAL_setVehicleState	(	dwSensorVehicleState *const	vehicleState,
		dwSALHandle_t const	sal
	)

Pass vehicle state to all sensors.

req{26469650}

Parameters

[in]	vehicleState	Vehicle state that needs to be passed in the structure of dwSensorVehicleState .
[in]	sal	Specifies the SAL handle created with 'dwSAL_initialize()'

Returns: DW_INVALID_ARGUMENT - no function with that pointer exists
DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSAL_start()

DW_API_PUBLIC dwStatus dwSAL_start ( dwSALHandle_t const sal )

Bootstraps all sensors managed by the SAL module.

Parameters

[in] sal Specifies the SAL handle created with 'dwSAL_initialize()'.

Returns: DW_INVALID_HANDLE - if provided SAL is invalid.
DW_NOT_INITIALIZED if the sensor has no initialized component.
DW_SUCCESS if call is successful.

Note: Sensor streaming will not start until dwSensor_start. Calling this API after sensor start will be a NO-OP, as sensor start of any sensor will implicitly bootstrap all sensors.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwSensor_createSeekTable()

DW_API_PUBLIC dwStatus dwSensor_createSeekTable ( dwSensorHandle_t const sensor )

Forces recreation of the seek table, for sensors that support seeking.

Parameters

[in] sensor Handle to the sensor which seek table to write out

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality, i.e. no seeking
DW_INVALID_ARGUMENT - if given fileName is invalid
DW_NOT_AVAILABLE - if sensor data contains non-monotonic timestamps
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during table creation, for example file I/O error.
DW_SUCCESS - if call is successful.

Note: This method will perform dynamic memory allocations, hence should not be used during run-time. A sensor will be reset to the very first event after table creation.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwSensor_getCurrentSeekPosition()

DW_API_PUBLIC dwStatus dwSensor_getCurrentSeekPosition	(	size_t *const	event,
		dwSensorHandle_t const	sensor
	)

Gets the current seek position of the sensor.

The event index corresponding to the next sensor event which will be read with sensor's read methods.

req{26469663}

Parameters

[out]	event	Event number which in the range [0;eventCount) of the next event.
[in]	sensor	Handle to the sensor which seek table to write out

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality, i.e. no seeking
DW_NOT_AVAILABLE - if sensor supports seeking, but no seeking information is available
DW_END_OF_STREAM - if next read position is end of stream
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_getHeader()

dwStatus dwSensor_getHeader	(	uint8_t const **const	buffer,
		size_t *	bufferSize,
		dwSensorHandle_t const	sensor
	)

Returns a pointer to the shared buffer with the contents of the sensor header and bufferSize will contain the number of valid bytes in the buffer.

req{26469664}

Parameters

[out]	buffer	A pointer to the buffer owned by sensor which holds the header information.
[out]	bufferSize	A pointer to variable indicating number of valid bytes in the buffer
[in]	sensor	Handle to the sensor to which the header info is requested

Returns: DW_INVALID_HANDLE - if given sensor handle is invalid DW_INVALID_ARGUMENTS - if given arguments are invalid DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_getNumSeekTableEntries()

DW_API_PUBLIC dwStatus dwSensor_getNumSeekTableEntries	(	size_t *const	size,
		dwSensorHandle_t const	hsensor
	)

Get the number of entries in the seek Table.

req{26469669}

Parameters

[out]	size	A pointer to the size of the seek table
[in]	hsensor	Handle to the sensor to get size of seek table entry

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_SUCCESS - if call is successful.

Note: Use this method after calling dwSensor_createSeekTable

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_getSeekRange()

DW_API_PUBLIC dwStatus dwSensor_getSeekRange	(	size_t *const	eventCount,
		dwTime_t *const	startTimestampUs,
		dwTime_t *const	endTimestampUs,
		dwSensorHandle_t const	sensor
	)

Retrieves the valid range of seek parameters, for sensors that support seeking.

Parameters

[out]	eventCount	Number of events available to be sought to. Each event represents one data unit returned by the sensor from its read() method, e.g. one camera frame for camera, one CAN message, for a CAN sensor, etc.
[out]	startTimestampUs	Timestamp of the very first event in usec
[out]	endTimestampUs	Timestamp of the very last event in usec
[in]	sensor	Handle to the sensor which seek table to write out

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality, i.e. no seeking
DW_NOT_AVAILABLE - if sensor supports seeking, but no seeking information is available
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_getSeekTableEntries()

DW_API_PUBLIC dwStatus dwSensor_getSeekTableEntries	(	dwSensorSeekTableEntry *const	entries,
		size_t const	numEntries,
		dwSensorHandle_t const	sensor
	)

Fill in the pre-allocated dwSensorSeekTableEntry array.

Parameters

[out]	entries	Filled in array with seekTable entries
[in]	numEntries	The number of entries allocated in the entries array
[in]	sensor	Handle to the sensor which seek table to write out

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality, i.e. no seeking
DW_INVALID_ARGUMENT - if the table provided is not large enough to fit the entire table
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_getStats()

DW_API_PUBLIC dwStatus dwSensor_getStats	(	dwSensorStats *const	stats,
		dwSensorHandle_t const	sensor
	)

Gets sensor statistics (if available).

req{26469676}

Parameters

[out]	stats	A pointer to a structure containing the statistics.
[in]	sensor	Handle to the sensor

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality
DW_NOT_AVAILABLE - if attempted to get stats from a running sensor
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_readRawData()

DW_API_PUBLIC dwStatus dwSensor_readRawData	(	const uint8_t **const	data,
		size_t *const	size,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads RAW data from sensor as byte array at a given time (TimeoutUs).

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.
[in]	timeoutUs	Specifies the timeout in US to wait before unblocking.
[in]	sensor	Specifies the sensor to read from.

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality.
DW_END_OF_STREAM - if currently no new RAW data is available.
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 - if call is successful.

Note: On an I/O error a new read attempt will start before the failed location. Hence on file systems, such as network based file system, a new attempt to read data can be taken. This call must be followed by 'dwSensor_returnRawData'. A sensor might provide access to raw data (i.e., unprocessed as received from hardware) data for an extended usage. Such data can for example be passed to serializer.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_reset()

DW_API_PUBLIC dwStatus dwSensor_reset ( dwSensorHandle_t const sensor )

Resets the sensor.

The method blocks while the sensor is reset.

Parameters

[in] sensor Specifies the sensor handle of a sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_CUDA_ERROR - if the underlying sensor driver had a CUDA error.
DW_NVMEDIA_ERROR - if underlying sensor driver had an NvMedia error.
DW_INVALID_HANDLE - if given handle is not valid.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_resume()

DW_API_PUBLIC dwStatus dwSensor_resume ( dwSensorHandle_t const sensor )

Resume and init the sensor.

Note: This method is usually called before the dwSensor_start to do sensor initialization only. This function does't start the sensor, after the method called, user must call dwSensor_start() to start the sensor, then new sensor data can be acquired using corresponding sensor methods. If it is unlikely called after dwSensor_start, it will do nothing and return DW_SUCCESS.

Parameters

[in] sensor Specifies the sensor handle of a sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_SUCCESS if sensor resume was performed successfully
DW_FAILURE if sensor resume failed
DW_NOT_INITIALIZED if the sensor has no initialized component

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwSensor_returnRawData()

DW_API_PUBLIC dwStatus dwSensor_returnRawData	(	const uint8_t *const	data,
		dwSensorHandle_t const	sensor
	)

Returns RAW data to sensor as a byte array.

This call must be preceded by 'dwSensor_readRawData'.

req{26469657}

Parameters

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

Returns: DW_INVALID_HANDLE - if provided sensor handle is 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 - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_saveSeekTable()

DW_API_PUBLIC dwStatus dwSensor_saveSeekTable	(	const char *const	fileName,
		dwSensorHandle_t const	sensor
	)

Saves the seek table for the sensor to a file, for sensors that support seek tables.

A seek table is available if a virtual sensor has been requested to create/load one during creation. Refer to each individual sensor to see what parameters need to be passed to instantiate or load seek table.

It is guaranteed that any seek table written out by this method can be parsed by the corresponding virtual sensor.

Parameters

[in]	fileName	Name of the file under a reachable path to write seek table to.
[in]	sensor	Handle to the sensor which seek table to write out

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality, i.e. no seeking
DW_FILE_NOT_FOUND - if cannot open the file for writing
DW_END_OF_STREAM - if there was a problem while writing out the file, for example disk full
DW_INVALID_ARGUMENT - if given fileName is invalid
DW_NOT_AVAILABLE - if no seek table is currently available for the sensor
DW_SUCCESS - if call is successful.

Note: Most of the virtual sensors expect their seek table to be stored next to the data file, having same name as the data file with an additional extension .seek, e.g. '/path/canbus.can.seek'

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwSensor_seekToEvent()

DW_API_PUBLIC dwStatus dwSensor_seekToEvent	(	size_t const	event,
		dwSensorHandle_t const	sensor
	)

Seeks the sensor to an event, for sensors that support seeking.

Next readFrame(), readMessage(), etc. method would start to read from this event.

Parameters

[in]	event	Number of the event to seek to. Must be in the range [0; eventCount)
[in]	sensor	Handle to the sensor which seek table to write out

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality, i.e. no seeking
DW_NOT_AVAILABLE - if sensor supports seeking, but no seeking information is available
DW_INVALID_ARGUMENT - if given event number is above available number of events
DW_SUCCESS - if call is successful.

See also: dwSensor_getSeekRange()

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_seekToTime()

DW_API_PUBLIC dwStatus dwSensor_seekToTime	(	dwTime_t const	timestampUs,
		dwSensorHandle_t const	sensor
	)

Seeks the sensor to a specific timestamp, for sensors that support seeking.

Next readFrame(), readMessage(), etc. method would start to read from an event which timestamp is greater or equal to the seek timestamp.

Parameters

[in]	timestampUs	Timestamp in usec to seek sensor to. Must be in the range [startTimestamp_us; endTimestamp_us]
[in]	sensor	Handle to the sensor which seek table to write out

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality, i.e. no seeking
DW_NOT_AVAILABLE - if sensor supports seeking, but no seeking information is available
DW_INVALID_ARGUMENT - if given timestamp is outside the supported range
DW_SUCCESS - if call is successful.

See also: dwSensor_getSeekRange()

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_setThreadAffinity()

DW_API_PUBLIC dwStatus dwSensor_setThreadAffinity	(	uint32_t const	affinityMask,
		dwSensorHandle_t const	sensor
	)

Sets the affinity of the internal thread, for sensors that use an internal thread to communicate to the OS drivers.

Parameters

[in]	affinityMask	Bit mask setting 1 to CPU which shall execute sensor thread
[in]	sensor	Handle to the sensor to set thread priority

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality, i.e. sensor does not has an internal thread or priority of the internal thread cannot be changed
DW_INVALID_ARGUMENT - if given affinity mask is outside of the valid range, i.e. points to invalid CPU
DW_NOT_AVAILABLE - if sensor is not running yet, i.e. sensor must be started before change can happen
DW_CALL_NOT_ALLOWED - if setting thread affinity is not allowed now, for example due to wrong privileges
DW_INTERNAL_ERROR - an internal error indicating unrecoverable error, in general this should not happen
DW_SUCCESS - if call is successful.

Note: If multiple sensors have been created from same physical sensor, the thread affinity will be applied to the thread communicating with the phyiscal device, hence affecting all these sensors.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_setThreadPriority()

DW_API_PUBLIC dwStatus dwSensor_setThreadPriority	(	int32_t const	priority,
		dwSensorHandle_t const	sensor
	)

Sets the priority of the internal thread, for sensors that use an internal thread to communicate to the OS drivers.

This method sets the priority of the internal thread, if the sensor implementation supports it.

req{26469674}

Parameters

[in]	priority	Priority of the thread to set. In general the priority is in range [1;99]
[in]	sensor	Handle to the sensor to set thread priority

Returns: DW_INVALID_HANDLE - if provided sensor handle is invalid.
DW_NOT_SUPPORTED - if sensor does not implement this functionality, i.e. sensor does not has an internal thread or priority of the internal thread cannot be changed
DW_INVALID_ARGUMENT - if given priority number is outside of the valid range
DW_NOT_AVAILABLE - if sensor is not running yet, i.e. sensor must be started before change can happen
DW_CALL_NOT_ALLOWED - if setting thread priority is not allowed now, for example due to wrong privileges
DW_INTERNAL_ERROR - an internal error indicating unrecoverable error, in general this should not happen
DW_SUCCESS - if call is successful.

Note: If multiple sensors have been created from same physical sensor, the thread priority will be applied to the thread communicating with the phyiscal device, hence affecting all these sensors.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensor_start()

DW_API_PUBLIC dwStatus dwSensor_start ( dwSensorHandle_t const sensor )

Starts the sensor previously successfully created with 'dwSAL_createSensor()'.

After a sensor is successfully started, new sensor data can be acquired using corresponding sensor methods.

Note: This method might spawn a thread, depending on the sensor implementation. It is, however, guaranteed that the data returned by the sensor is valid in the calling thread. For example, a CUDA camera image is created in the same CUDA context as the callee. This method can be called independently without call dwSensor_resume() before. Sensor init is not done as part of resume for all sensors. Only cameras support dwSensor_resume() --> dwSensor_start() operations

Parameters

[in] sensor Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_CUDA_ERROR - if the underlying sensor driver had a CUDA error.
DW_NVMEDIA_ERROR - if underlying sensor driver had an NvMedia error.
DW_INVALID_HANDLE - if given handle is not valid.
DW_END_OF_STREAM - if end of stream reached.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: No
De-Init: No

◆ dwSensor_stop()

DW_API_PUBLIC dwStatus dwSensor_stop ( dwSensorHandle_t const sensor )

Stops the sensor.

The method blocks while the sensor is stopped.

Parameters

[in] sensor Specifies the sensor handle of a sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_CUDA_ERROR - if the underlying sensor driver had a CUDA error.
DW_NVMEDIA_ERROR - if underlying sensor driver had an NvMedia error.
DW_INVALID_HANDLE - if given handle is not valid.
DW_SUCCESS - if call is successful.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes


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

Macros

Typedefs

Enumerations

Functions

Macro Definition Documentation

◆ DW_SENSOR_ERROR_ID_OFFSET

◆ DW_SENSOR_ERROR_ID_OFFSET_BIT

◆ DW_SENSOR_MAX_PARAMETER_STRING_LENGTH

◆ DW_SENSOR_MAX_PROTOCOL_NAME_LENGTH

Typedef Documentation

◆ dwSALHandle_t

◆ dwSensorErrorID

◆ dwSensorHandle_t

◆ dwSensorParams

◆ dwSensorSeekTableEntry

◆ dwSensorType

Enumeration Type Documentation

◆ dwSensorErrorID

◆ dwSensorType

Function Documentation

◆ dwSAL_createSensor()

◆ dwSAL_getNumSensors()

◆ dwSAL_getSensorParameterString()

◆ dwSAL_getSensorProtocol()

◆ dwSAL_initialize()

◆ dwSAL_release()

◆ dwSAL_releaseSensor()

◆ dwSAL_reset()

◆ dwSAL_setEgomotionState()

◆ dwSAL_setVehicleState()

◆ dwSAL_start()

◆ dwSensor_createSeekTable()

◆ dwSensor_getCurrentSeekPosition()

◆ dwSensor_getHeader()

◆ dwSensor_getNumSeekTableEntries()

◆ dwSensor_getSeekRange()

◆ dwSensor_getSeekTableEntries()

◆ dwSensor_getStats()

◆ dwSensor_readRawData()

◆ dwSensor_reset()

◆ dwSensor_resume()

◆ dwSensor_returnRawData()

◆ dwSensor_saveSeekTable()

◆ dwSensor_seekToEvent()

◆ dwSensor_seekToTime()

◆ dwSensor_setThreadAffinity()

◆ dwSensor_setThreadPriority()

◆ dwSensor_start()

◆ dwSensor_stop()