SensorManager.h

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#ifndef DW_SENSORS_SENSORMANAGER_H__
#define DW_SENSORS_SENSORMANAGER_H__

#include <dw/sensors/Sensors.h>
#include <dw/sensors/camera/Camera.h>
#include <dw/sensors/imu/IMU.h>
#include <dw/sensors/lidar/Lidar.h>
#include <dw/sensors/gps/GPS.h>
#include <dw/sensors/canbus/CAN.h>
#include <dw/sensors/radar/Radar.h>
#include <dw/sensors/lidar/Lidar.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_SENSORMANGER_MAX_CAMERAS 6U

typedef struct dwSensorManagerObject *dwSensorManagerHandle_t;

typedef struct {
    dwSensorType type;

    uint32_t sensorId;

    dwTime_t timestamp_us;

    // Client Data
    uint64_t clientData[DW_SENSORMANGER_MAX_CAMERAS];

    size_t numCamFrames;
    dwCameraFrameHandle_t camFrames[DW_SENSORMANGER_MAX_CAMERAS];

    dwGPSFrame gpsFrame;
    dwIMUFrame imuFrame;
    dwCANMessage canFrame;
    const dwRadarScan* radFrame;
    const dwLidarDecodedPacket* lidFrame;
} dwSensorEvent;

DW_API_PUBLIC
dwStatus dwSensorManager_initialize(dwSensorManagerHandle_t *sm,
                                size_t poolSize, dwSALHandle_t sal);

DW_API_PUBLIC
dwStatus dwSensorManager_release(dwSensorManagerHandle_t *sm);

DW_API_PUBLIC
dwStatus dwSensorManager_addSensor(dwSensorParams params, uint64_t clientData,
                                dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_addCameraSensor(const char *groupName, size_t siblingIndex,
                                dwSensorParams params, uint64_t clientData,
                                dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_start(dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_stop(dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_reset(dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_acquireNextEvent(const dwSensorEvent **ev,
                                dwTime_t timeout_us, dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_releaseAcquiredEvent(const dwSensorEvent *ev,
                                dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_getNumSensors(size_t *count, dwSensorType type,
                                dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_getSensorHandle(dwSensorHandle_t *handle, dwSensorType type,
                                size_t index, dwSensorManagerHandle_t sm);

#ifdef __cplusplus
}
#endif


#endif // DW_SENSORS_SENSORMANAGER_H__