Radar.h

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#ifndef DW_SENSORS_RADAR_RADAR_H_
#define DW_SENSORS_RADAR_RADAR_H_

#include <dw/core/Config.h>
#include <dw/core/base/Types.h>

#include <dw/sensors/Sensors.h>

#define DW_RADARSCAN_MINIMUM_PAYLOAD_SIZE 1744

typedef enum {
    DW_RADAR_RANGE_SHORT = 0,

    DW_RADAR_RANGE_MEDIUM = 1,

    DW_RADAR_RANGE_LONG = 2,

    DW_RADAR_RANGE_UNKNOWN = 3,

    DW_RADAR_RANGE_COUNT = 4,
} dwRadarRange;

typedef enum {
    DW_RADAR_RETURN_TYPE_DETECTION = 0,

    DW_RADAR_RETURN_TYPE_TRACK = 1,

    DW_RADAR_RETURN_TYPE_STATUS = 2,

    DW_RADAR_RETURN_TYPE_COUNT = 3,
} dwRadarReturnType;

typedef enum {
    DW_RADAR_DYNAMIC_STATE_MOVING = 0,

    DW_RADAR_DYNAMIC_STATE_STATIONARY = 1,

    DW_RADAR_DYNAMIC_STATE_ONCOMING = 2,

    DW_RADAR_DYNAMIC_STATE_CROSS_TRAFFIC = 3,

    DW_RADAR_DYNAMIC_STATE_STOPPED = 4,

    DW_RADAR_DYNAMIC_STATE_UNKNOWN = 5,
} dwRadarDynamicState;

typedef struct dwRadarScanType
{
    dwRadarReturnType returnType;

    dwRadarRange range;
} dwRadarScanType;

#pragma pack(push, 1)

typedef struct dwRadarDetection
{
    float32_t x;

    float32_t y;

    float32_t Vx;

    float32_t Vy;

    float32_t azimuth;

    float32_t radius;

    float32_t radialVelocity;

    float32_t rcs;

    float32_t elevationAngle;

    bool elevationValidity;

    float32_t SNR;
} dwRadarDetection;

typedef struct dwRadarTrack
{
    uint32_t id;

    uint32_t age;

    float32_t confidence;

    dwRadarDynamicState dynamicState;

    float32_t x;

    float32_t y;

    float32_t z;

    float32_t Vx;

    float32_t Vy;

    float32_t Ax;

    float32_t Ay;

    float32_t azimuth;

    float32_t azimuthRate;

    float32_t radius;

    float32_t radialVelocity;

    float32_t radialAcceleration;

    float32_t rcs;

    bool elevationValid;
} dwRadarTrack;

typedef struct dwRadarScan
{
    uint32_t scanIndex;

    dwTime_t sensorTimestamp;

    dwTime_t hostTimestamp;

    dwRadarScanType scanType;

    uint32_t numReturns;

    float32_t dopplerAmbiguity;

    void* data;
} dwRadarScan;

#pragma pack(pop)

typedef struct dwRadarStatus
{
    float32_t x;

    float32_t y;

    float32_t z;

    float32_t yaw;

    float32_t pitch;

    float32_t roll;

    /*
     * Deviation of azimuth angle for returns (radians)
     * This is the deviation of the measured azimuth from what would be
     * expected based on the geometric boresight of the sensor.
     */
    float32_t azimuthDeviation[DW_RADAR_RANGE_COUNT];

    /*
     * Deviation of elevation angle for returns (radians)
     * This is the deviation of the elevation azimuth from what would be
     * expected based on the geometric boresight of the sensor.
     */
    float32_t elevationDeviation[DW_RADAR_RANGE_COUNT];

    bool sensorAligned;

    bool sensorOK;

    bool sensorDisturbed;

    bool sensorBlock;
} dwRadarStatus;

typedef struct dwRadarVehicleState
{
    float32_t velocity;

    float32_t acceleration;

    float32_t lateralAcceleration;

    float32_t yawRate;
} dwRadarVehicleState;

typedef struct dwRadarMountPosition
{
    uint32_t sensorId;

    dwTransformation3f radarPosition;

    float32_t wheelbase;

    float32_t damping;

    bool isReversed;
} dwRadarMountPosition;

typedef struct dwRadarProperties
{
    uint8_t isDecodingOn;

    uint32_t numScanTypes;

    uint32_t supportedScanTypes[DW_RADAR_RETURN_TYPE_COUNT][DW_RADAR_RANGE_COUNT];

    uint32_t packetsPerScan;

    uint32_t maxReturnsPerScan[DW_RADAR_RETURN_TYPE_COUNT][DW_RADAR_RANGE_COUNT];

    uint32_t scansPerSecond;

    uint32_t inputPacketsPerSecond;
} dwRadarProperties;

#ifdef __cplusplus
extern "C" {
#endif

DW_API_PUBLIC
dwStatus dwSensorRadar_toggleScanType(bool const enable, dwRadarScanType const scanType, dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensorRadar_setDataDecoding(bool const enable, dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensorRadar_readData(const dwRadarScan** const data, const dwRadarScanType type,
                                const dwTime_t timeoutUs, dwSensorHandle_t const sensor);
DW_API_PUBLIC
dwStatus dwSensorRadar_returnData(const dwRadarScan* const scan, dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensorRadar_readScan(const dwRadarScan** const data,
                                const dwTime_t timeoutUs, dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensorRadar_returnScan(const dwRadarScan* const scan, dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensorRadar_processRawData(const dwRadarScan** const data,
                                      const uint8_t* const rawData, size_t const size, dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensorRadar_getProperties(dwRadarProperties* const radarProperties, dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensorRadar_setVehicleState(dwRadarVehicleState* const data, dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensorRadar_setMountPosition(dwRadarMountPosition* const data, dwSensorHandle_t const sensor);

#ifdef __cplusplus
}
#endif

#endif // DW_SENSORS_RADAR_RADAR_H_