Detailed Description

Defines the core Context methods of the SDK.

Data Structures
struct	dwContextParameters
	A set of parameters that is passed to the SDK to create the context. More...

Typedefs
typedef struct dwContextObject const *	dwConstContextHandle_t

typedef struct dwContextObject *	dwContextHandle_t
	Context handle. More...

Functions
DW_API_PUBLIC dwStatus	dwContext_getCUDAProperties (int32_t driverVersion, int32_t apiVersion, dwContextHandle_t context)
	Returns Driver and Runtime API version of CUDA on the current machine. More...

DW_API_PUBLIC dwStatus	dwContext_getCurrentTime (dwTime_t *time, dwContextHandle_t ctx)
	Returns the current timestamp. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUAttribute (int32_t *value, cudaDeviceAttr attribute, int32_t deviceNum, dwContextHandle_t context)
	Returns the value of the selected cuda attribute for the specific cuda device. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUCount (int32_t *count, dwContextHandle_t context)
	Get the avilable GPU devices count. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUDeviceCurrent (int32_t *deviceNumber, dwContextHandle_t context)
	Returns the currently selected GPU device. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUDeviceType (dwGPUDeviceType *deviceType, int32_t deviceNum, dwContextHandle_t context)
	Returns the device type of the input GPU number. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUProperties (cudaDeviceProp *properties, int32_t deviceNum, dwContextHandle_t context)
	Returns the properties for the specific cuda device. More...

DW_API_PUBLIC dwStatus	dwContext_getNvMediaDevice (NvMediaDevice **device, dwContextHandle_t ctx)
	Gets the NvMediaDevice used within the context. More...

DW_API_PUBLIC dwStatus	dwContext_isTimePTPSynchronized (dwBool *flag, dwContextHandle_t ctx)
	Check if the used time source inside the context is synchronized over PTP. More...

DW_API_PUBLIC dwStatus	dwContext_selectGPUDevice (int32_t deviceNumber, dwContextHandle_t context)
	Selects a GPU device, if available. More...

DW_API_PUBLIC dwStatus	dwContext_selectGPUDeviceType (dwGPUDeviceType deviceType, dwContextHandle_t context)
	Selects a GPU device type either integrated or discreet, if available. More...

DW_API_PUBLIC dwStatus	dwContext_setNvMediaDevice (NvMediaDevice *device, dwContextHandle_t ctx)
	Sets NvMediaDevice to be used within the context. More...

DW_API_PUBLIC dwStatus	dwGetLastError (const char **errorMsg)
	Retrieves the last error encountered. More...

DW_API_PUBLIC dwStatus	dwInitialize (dwContextHandle_t context, dwVersion header_version, const dwContextParameters params)
	Creates and initializes an SDK context. More...

DW_API_PUBLIC dwStatus	dwRelease (dwContextHandle_t *context)
	Releases the context. More...

DW_API_PUBLIC dwStatus	dwReset (dwContextHandle_t context)
	Resets the context. More...

Data Structure Documentation

◆ dwContextParameters

struct dwContextParameters

Data Fields
const char *	dataPath	Path where all DriveWorks related data required during runtime are stored. If path is set to NULL, a current path ./ is used.
NvMediaDevice *	nvmediaDevice	NvMedia device pointer or NULL if SDK should handle NvMedia context.

Typedef Documentation

◆ dwConstContextHandle_t

typedef struct dwContextObject const* dwConstContextHandle_t

Definition at line 79 of file Context.h.

◆ dwContextHandle_t

typedef struct dwContextObject* dwContextHandle_t

Context handle.

Definition at line 78 of file Context.h.

Function Documentation

◆ dwContext_getCUDAProperties()

DW_API_PUBLIC dwStatus dwContext_getCUDAProperties	(	int32_t *	driverVersion,
		int32_t *	apiVersion,
		dwContextHandle_t	context
	)

Returns Driver and Runtime API version of CUDA on the current machine.

Parameters

[out]	driverVersion	Driver version.
[out]	apiVersion	Runtime API version.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle, driverVersion or apiVersion are NULL.
DW_CUDA_ERROR in case of an underlying cuda failure
DW_SUCCESS

◆ dwContext_getCurrentTime()

DW_API_PUBLIC dwStatus dwContext_getCurrentTime	(	dwTime_t *	time,
		dwContextHandle_t	ctx
	)

Returns the current timestamp.

Timestamps from the same context are guaranteed to be in sync. The returned time represents the absolute time as received through system time source. On POSIX based systems, the time is measured using CLOCK_MONOTONIC time source. On Windows based systems, the returned time is relative to the epoch, i.e., 31std dec, 1969.

Parameters

[out]	time	A pointer to the return time to a given location, in [us].
[in]	ctx	Specifies the context.

Returns: DW_INVALID_ARGUMENT if given context handle or time is are NULL.
DW_SUCCESS

◆ dwContext_getGPUAttribute()

DW_API_PUBLIC dwStatus dwContext_getGPUAttribute	(	int32_t *	value,
		cudaDeviceAttr	attribute,
		int32_t	deviceNum,
		dwContextHandle_t	context
	)

Returns the value of the selected cuda attribute for the specific cuda device.

Parameters

[out]	value	Integer representing the value of the requested attribute.
[in]	attribute	Specifies the attribute requested.
[in]	deviceNum	Specifies the device number.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if value pointer or context handle is NULL or context is NULL or the selected device doesn't exist.
DW_CUDA_ERROR in case of an underlying cuda failure
DW_NOT_AVAILABLE if no GPU devices are available
DW_SUCCESS

◆ dwContext_getGPUCount()

DW_API_PUBLIC dwStatus dwContext_getGPUCount	(	int32_t *	count,
		dwContextHandle_t	context
	)

Get the avilable GPU devices count.

Parameters

[out]	count	The number of GPU devices available.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle is NULL.
DW_SUCCESS

◆ dwContext_getGPUDeviceCurrent()

DW_API_PUBLIC dwStatus dwContext_getGPUDeviceCurrent	(	int32_t *	deviceNumber,
		dwContextHandle_t	context
	)

Returns the currently selected GPU device.

If no device is selected, will return -1.

Parameters

[out]	deviceNumber	The number of GPU device.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle is NULL.
DW_SUCCESS

◆ dwContext_getGPUDeviceType()

DW_API_PUBLIC dwStatus dwContext_getGPUDeviceType	(	dwGPUDeviceType *	deviceType,
		int32_t	deviceNum,
		dwContextHandle_t	context
	)

Returns the device type of the input GPU number.

Parameters

[out]	deviceType	The type of GPU device.
[in]	deviceNum	Specifies the device number.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle is NULL or number is invalid.
DW_SUCCESS

◆ dwContext_getGPUProperties()

DW_API_PUBLIC dwStatus dwContext_getGPUProperties	(	cudaDeviceProp *	properties,
		int32_t	deviceNum,
		dwContextHandle_t	context
	)

Returns the properties for the specific cuda device.

Parameters

[out]	properties	A struct containing the proerties.
[in]	deviceNum	Specifies the device number.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if value pointer or context handle is NULL or deviceNum doesn't exist.
DW_CUDA_ERROR in case of an underlying cuda failure
DW_NOT_AVAILABLE if no GPU devices are available
DW_SUCCESS

◆ dwContext_getNvMediaDevice()

DW_API_PUBLIC dwStatus dwContext_getNvMediaDevice	(	NvMediaDevice **	device,
		dwContextHandle_t	ctx
	)

Gets the NvMediaDevice used within the context.

Parameters

[out]	device	A pointer to the device to be filled.
[in]	ctx	Specifies the context from which to grab nvmedia device.

Returns: DW_NOT_AVAILABLE if NvMedia is not available.
DW_INVALID_ARGUMENT if NvMedia is available and given context handle or device are NULL
DW_SUCCESS

◆ dwContext_isTimePTPSynchronized()

DW_API_PUBLIC dwStatus dwContext_isTimePTPSynchronized	(	dwBool *	flag,
		dwContextHandle_t	ctx
	)

Check if the used time source inside the context is synchronized over PTP.

PTP synchronization is available starting from PDK 4.1.6.4 and provides a solution to synchronize mutiple DrivePX2 or AutoCruise boxes to a common clock base. All sensor readings as well as the dwContext_getCurrentTime() method will be based on the same time source.

Parameters

[out]	flag	Return DW_TRUE if PTP synchronized time is used.
[in]	ctx	Specifies the context.

Returns: DW_INVALID_ARGUMENT if given context handle or time is are NULL.
DW_NOT_SUPPORTED if the method is called on a system where PTP synchronized time is not supported, i.e. PDK < 4.1.6.4 or x86 based host.
DW_SUCCESS

Note: Synchronized time is only available if PTP daemon has been identified during context creation.; PTP time base is not guaranteed to be epoch based.; It might happen at run-time that the PTP daemon is not responding anymore and PTP synchronization will be lost. In such case DW context will continue to count based on the last synced PTP time. There is no current mechanism to determine whether the PTP framework lost its sync during runtime.

◆ dwContext_selectGPUDevice()

DW_API_PUBLIC dwStatus dwContext_selectGPUDevice	(	int32_t	deviceNumber,
		dwContextHandle_t	context
	)

Selects a GPU device, if available.

Parameters

[in]	deviceNumber	The number of GPU device.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle is NULL or the selected device doesn't exist.
DW_NOT_AVAILABLE if no GPU is available.
DW_CUDA_ERROR in case of an underlying cuda failure.
DW_SUCCESS

◆ dwContext_selectGPUDeviceType()

DW_API_PUBLIC dwStatus dwContext_selectGPUDeviceType	(	dwGPUDeviceType	deviceType,
		dwContextHandle_t	context
	)

Selects a GPU device type either integrated or discreet, if available.

Parameters

[in]	deviceType	The type of GPU device.
[in]	context	Specifies the context handle.

Returns: DW_INVALID_ARGUMENT if context handle is NULL or the selected device doesn't exist.
DW_NOT_AVAILABLE if no GPU of requested type is available.
DW_CUDA_ERROR in case of an underlying cuda failure.
DW_SUCCESS

◆ dwContext_setNvMediaDevice()

DW_API_PUBLIC dwStatus dwContext_setNvMediaDevice	(	NvMediaDevice *	device,
		dwContextHandle_t	ctx
	)

Sets NvMediaDevice to be used within the context.

Parameters

[in]	device	A pointer to the NvMediaDeive to be used.
[in]	ctx	Specifies the context to set nvmedia device.

Returns: DW_NOT_AVAILABLE if NvMedia is not available.
DW_INVALID_ARGUMENT if NvMedia is available and given context handle or device are NULL.
DW_SUCCESS

◆ dwGetLastError()

DW_API_PUBLIC dwStatus dwGetLastError ( const char ** errorMsg )

Retrieves the last error encountered.

When a DriveWorks function reports an error, this error is stored internally. It can later be retrieved by this function. After calling this function, the error is reset and future calls will return DW_SUCCESS until another error is encountered.

Error information is thread local. Each thread has its own last error and an error encountered in one thread will not be visible in another thread.

Parameters

[out] errorMsg A pointer to a pointer to a string containing a description of the last error encountered. May be NULL.

Returns: The code of the last error encountered, or DW_SUCCESS if no error is recorded.

◆ dwInitialize()

DW_API_PUBLIC dwStatus dwInitialize	(	dwContextHandle_t *	context,
		dwVersion	header_version,
		const dwContextParameters *	params
	)

Creates and initializes an SDK context.

The context is required for initialization of the SDK modules.

Note: The logger remains under the callee's ownership.

Parameters

[out]	context	A pointer to the context handler is returned here.
[in]	header_version	Specifies current driveworks API version (usually DW_VERSION).
[in]	params	A pointer with a set of parameters to create the SDK. Can be NULL for a default set of parameters.

Returns: DW_INVALID_VERSION - If provided, version does not match the version of the library.
DW_INVALID_ARGUMENT - If provided, context pointer is null.
DW_SUCCESS

◆ dwRelease()

DW_API_PUBLIC dwStatus dwRelease ( dwContextHandle_t * context )

Releases the context.

Any module created with this context must be released before the context can be released.

Note: This method renders the context handle unusable.

Parameters

[in] context A pointer to the context to be released.

Returns: DW_INVALID_ARGUMENT - If provided context is NULL.
DW_SUCCESS

◆ dwReset()

DW_API_PUBLIC dwStatus dwReset ( dwContextHandle_t context )

Resets the context.

Parameters

[in] context A handle to the context to be reset.

Returns: DW_INVALID_ARGUMENT - If provided context is NULL.
DW_SUCCESS

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Typedefs

Functions

Data Structure Documentation

◆ dwContextParameters

Typedef Documentation

◆ dwConstContextHandle_t

◆ dwContextHandle_t

Function Documentation

◆ dwContext_getCUDAProperties()

◆ dwContext_getCurrentTime()

◆ dwContext_getGPUAttribute()

◆ dwContext_getGPUCount()

◆ dwContext_getGPUDeviceCurrent()

◆ dwContext_getGPUDeviceType()

◆ dwContext_getGPUProperties()

◆ dwContext_getNvMediaDevice()

◆ dwContext_isTimePTPSynchronized()

◆ dwContext_selectGPUDevice()

◆ dwContext_selectGPUDeviceType()

◆ dwContext_setNvMediaDevice()

◆ dwGetLastError()

◆ dwInitialize()

◆ dwRelease()

◆ dwReset()