Sensors.h

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#ifndef DW_SENSORS_SENSORS_H_
#define DW_SENSORS_SENSORS_H_

#include <dw/core/base/Exports.h>
#include <dw/core/base/Types.h>
#include <dw/core/context/Context.h>
#include <dw/core/health/HealthSignals.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum dwPlatformOS {
    DW_PLATFORM_OS_LINUX = 0,

    DW_PLATFORM_OS_V5L = 1,

    DW_PLATFORM_OS_V5Q = 2,

    DW_PLATFORM_NUM = 3
} dwPlatformOS;

typedef struct dwSALObject* dwSALHandle_t;

typedef struct dwSensorObject* dwSensorHandle_t;

#define DW_SENSOR_MAX_PROTOCOL_NAME_LENGTH 32
#define DW_SENSOR_MAX_PARAMETER_STRING_LENGTH 512

typedef struct dwSensorParams
{
    const char8_t* protocol;

    const char8_t* parameters;

    const void* auxiliarydata;

} dwSensorParams;

typedef struct dwSensorStats
{
    uint64_t events;

    uint64_t errors;

    uint64_t drops;

    dwTime_t timeDeltaCur;

    dwTime_t timeDeltaMin;

    dwTime_t timeDeltaMax;

    float64_t timeDeltaStandardDeviation;

    float64_t timeDeltaMean;

} dwSensorStats;

typedef 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
} dwSensorType;

typedef struct dwSensorSeekTableEntry
{
    dwTime_t timestamp;

    uint64_t event;

    uint64_t offset;

    uint64_t size;

} dwSensorSeekTableEntry;

//Holds the available seek table entries for the sensor
typedef struct dwSensorSeekTable
{
    size_t numEntries;
    uint64_t* timestamp;
    uint64_t* offset;
    uint64_t* frameNum;
    size_t* frameSize;
} dwSensorSeekTable;

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

DW_API_PUBLIC
dwStatus dwSAL_reset(dwSALHandle_t const sal);

DW_API_PUBLIC
dwStatus dwSAL_release(dwSALHandle_t const sal);

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

DW_API_PUBLIC
dwStatus dwSAL_releaseSensor(dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSAL_start(dwSALHandle_t const sal);

DW_API_PUBLIC
dwStatus dwSAL_getPlatform(dwPlatformOS* const os, dwSALHandle_t sal);

DW_API_PUBLIC
dwStatus dwSAL_getPlatformInfo(char8_t const** const osName, dwPlatformOS const os, dwSALHandle_t const sal);

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

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

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

DW_API_PUBLIC
dwStatus dwSensor_start(dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensor_stop(dwSensorHandle_t const sensor);

DW_API_PUBLIC
dwStatus dwSensor_reset(dwSensorHandle_t const sensor);

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

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

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

DW_API_PUBLIC
dwStatus dwSensor_getCurrentSeekPosition(size_t* const event, 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.
 *
 * @param[out] - buffer A pointer to the buffer owned by sensor which holds the header information.
 * @param[out] - bufferSize A pointer to variable indicating number of valid bytes in the buffer
 * @param[in]  - sensor Handle to the sensor to which the header info is requested
 *
 * @return DW_INVALID_HANDLE - if given sensor handle is invalid
 *         DW_INVALID_ARGUMENTS - if given arguments are invalid
 *         DW_SUCCESS
 */
dwStatus dwSensor_getHeader(uint8_t const** const buffer, size_t* bufferSize, dwSensorHandle_t const sensor);

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

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

DW_API_PUBLIC
dwStatus dwSensor_createSeekTable(dwSensorHandle_t const sensor);

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

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

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

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

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

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

#ifdef __cplusplus
}
#endif

#endif // DW_SENSORS_SENSORS_H_