Sensors.h

Go to the documentation of this file.

// This code contains NVIDIA Confidential Information and is disclosed
// under the Mutual Non-Disclosure Agreement.
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. No third party distribution is allowed unless
// expressly authorized by NVIDIA.  Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2016-2017 NVIDIA Corporation. All rights reserved.
//
// NVIDIA Corporation and its licensors retain all intellectual property and proprietary
// rights in and to this software and related documentation and any modifications thereto.
// Any use, reproduction, disclosure or distribution of this software and related
// documentation without an express license agreement from NVIDIA Corporation is
// strictly prohibited.
//

#ifndef DW_SENSORS_SENSORS_H__
#define DW_SENSORS_SENSORS_H__

#include <dw/core/Config.h>
#include <dw/core/Exports.h>
#include <dw/core/Types.h>
#include <dw/core/Context.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum dwPlatformOS {
    DW_PLATFORM_OS_LINUX = 0,

    DW_PLATFORM_OS_V5L = 1,

    DW_PLATFORM_NUM = 2
} dwPlatformOS;

typedef struct dwSALObject *dwSALHandle_t;

typedef struct dwSensorObject *dwSensorHandle_t;

#define DW_SENSOR_MAX_PROTOCOL_NAME_LENGTH 32

typedef struct dwSensorParams {
    const char *protocol;

    const char *parameters;

    void* auxiliarydata;

} dwSensorParams;

typedef struct dwSensorStats {
    uint64_t events;

    uint64_t errors;

    uint64_t drops;
} dwSensorStats;

typedef enum dwSensorType
{
    DW_SENSOR_CAMERA = 0,
    DW_SENSOR_LIDAR,
    DW_SENSOR_GPS,
    DW_SENSOR_IMU,
    DW_SENSOR_CAN,
    DW_SENSOR_RADAR
} dwSensorType;

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

DW_API_PUBLIC
dwStatus dwSAL_reset(dwSALHandle_t sal);

DW_API_PUBLIC
dwStatus dwSAL_release(dwSALHandle_t *sal);

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

DW_API_PUBLIC
dwStatus dwSAL_releaseSensor(dwSensorHandle_t *sensor);

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

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

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

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

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

DW_API_PUBLIC
dwStatus dwSensor_start(dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensor_stop(dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensor_reset(dwSensorHandle_t sensor);

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

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


DW_API_PUBLIC
dwStatus dwSensor_getSeekRange(size_t *eventCount,
                               dwTime_t *startTimestamp_us, dwTime_t *endTimestamp_us,
                               dwSensorHandle_t sensor);

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

DW_API_PUBLIC
dwStatus dwSensor_seekToTime(dwTime_t timestamp_us, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensor_seekToEvent(size_t event, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensor_createSeekTable(dwSensorHandle_t sensor);

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


DW_API_PUBLIC
dwStatus dwSensor_setThreadPriority(int32_t priority, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensor_setThreadAffinity(int32_t affinityMask, dwSensorHandle_t sensor);

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

#ifdef __cplusplus
}
#endif


#endif // DW_SENSORS_SENSORS_H__