Detailed Description

Defines sensor management interface layer.

Data Structures
struct	dwSensorEvent
	Structure for returning data upon any sensor event. More...

Macros
#define	DW_SENSORMANGER_MAX_CAMERAS 6U

Typedefs
typedef struct dwSensorManagerObject *	dwSensorManagerHandle_t

Functions
DW_API_PUBLIC dwStatus	dwSensorManager_acquireNextEvent (const dwSensorEvent **ev, dwTime_t timeout_us, dwSensorManagerHandle_t sm)
	Called by the application to consume the next available sensor event ready for consumption. More...

DW_API_PUBLIC dwStatus	dwSensorManager_addCameraSensor (const char *groupName, size_t siblingIndex, dwSensorParams params, uint64_t clientData, dwSensorManagerHandle_t sm)
	Adds a camera sensor to the SAL instance. More...

DW_API_PUBLIC dwStatus	dwSensorManager_addSensor (dwSensorParams params, uint64_t clientData, dwSensorManagerHandle_t sm)
	Adds a sensor to the SAL instance. More...

DW_API_PUBLIC dwStatus	dwSensorManager_getNumSensors (size_t *count, dwSensorType type, dwSensorManagerHandle_t sm)
	Gets the number of sensors instantiated for a given sensor type. More...

DW_API_PUBLIC dwStatus	dwSensorManager_getSensorHandle (dwSensorHandle_t *handle, dwSensorType type, size_t index, dwSensorManagerHandle_t sm)
	Gets the sensor handle to the specified sensor. More...

DW_API_PUBLIC dwStatus	dwSensorManager_initialize (dwSensorManagerHandle_t *sm, size_t poolSize, dwSALHandle_t sal)
	Creates and initializes a SensorManager module. More...

DW_API_PUBLIC dwStatus	dwSensorManager_release (dwSensorManagerHandle_t *sm)
	Releases the SensorManager module. More...

DW_API_PUBLIC dwStatus	dwSensorManager_releaseAcquiredEvent (const dwSensorEvent *ev, dwSensorManagerHandle_t sm)
	Releases a previously acquired event back to the pool. More...

DW_API_PUBLIC dwStatus	dwSensorManager_reset (dwSensorManagerHandle_t sm)
	Resets all sensors. More...

DW_API_PUBLIC dwStatus	dwSensorManager_start (dwSensorManagerHandle_t sm)
	Starts all sensors. More...

DW_API_PUBLIC dwStatus	dwSensorManager_stop (dwSensorManagerHandle_t sm)
	Stops all sensors. More...

Data Structure Documentation

◆ dwSensorEvent

struct dwSensorEvent

Data Fields
dwCameraFrameHandle_t	camFrames[DW_SENSORMANGER_MAX_CAMERAS]
dwCANMessage	canFrame
uint64_t	clientData[DW_SENSORMANGER_MAX_CAMERAS]
dwGPSFrame	gpsFrame	Data accessor for all other sensors.
dwIMUFrame	imuFrame
const dwLidarDecodedPacket *	lidFrame
size_t	numCamFrames	Data accessor for camera.
const dwRadarScan *	radFrame
uint32_t	sensorId	Index of the given sensor (aligns w/ sensor count)
dwTime_t	timestamp_us	Timestamp (us)
dwSensorType	type	Type of sensor providing data for this event.

Macro Definition Documentation

◆ DW_SENSORMANGER_MAX_CAMERAS

#define DW_SENSORMANGER_MAX_CAMERAS 6U

Definition at line 60 of file SensorManager.h.

Typedef Documentation

◆ dwSensorManagerHandle_t

typedef struct dwSensorManagerObject* dwSensorManagerHandle_t

Definition at line 62 of file SensorManager.h.

Function Documentation

◆ dwSensorManager_acquireNextEvent()

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

Called by the application to consume the next available sensor event ready for consumption.

The method will return the oldest available event amonst all sensors.

Parameters

[out]	ev	A pointer to a pointer of the event to be acquired
[in]	timeout_us	time threshold to bail out if no new event is available
[in]	sm	SM handle instantiated by the caller

Returns: DW_INVALID_ARGUMENT - pointer to the dwSensorEvent point is null
DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_BUFFER_FULL - all event buffers are currently being used
DW_TIME_OUT - no new event was availble within timeout period
DW_END_OF_STREAM - reached end of camera stream (video only)
DW_SUCCESS

◆ dwSensorManager_addCameraSensor()

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

Adds a camera sensor to the SAL instance.

All addCameraSensor() calls must be completed before the start() call.

Parameters

[in]	groupName	Specifies the group name for this camera
[in]	siblingIndex	Specifies the sibling id for this camera (GMSL only)
[in]	params	Specifies the parameters for sensor creation.
[in]	clientData	Client data to be passed w/ each event for this sensor
[in]	sm	SM handle instantiated by the caller

Returns: DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_SAL_NO_DRIVER_FOUND - if provided protocol name is unknown.
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during sensor creation. For a virtual sensor which is reading from a file it could be file I/O error.
DW_SUCCESS

Note: This method will perform memory allocations

◆ dwSensorManager_addSensor()

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

Adds a sensor to the SAL instance.

All addSensor() calls must be completed before the start() call.

Parameters

[in]	params	Specifies the parameters for sensor creation.
[in]	clientData	Client data to be passed w/ each event for this sensor
[in]	sm	SM handle instantiated by the caller

Returns: DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_SAL_NO_DRIVER_FOUND - if provided protocol name is unknown.
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during sensor creation. For a virtual sensor which is reading from a file it could be file I/O error.
DW_SUCCESS

Note: This method will perform memory allocations

◆ dwSensorManager_getNumSensors()

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

Gets the number of sensors instantiated for a given sensor type.

Parameters

[out]	count	A pointer to return the number of sensors
[in]	type	Type of sensor to return the count for
[in]	sm	SM handle instantiated by the caller

Returns: DW_INVALID_ARGUMENT - pointer to the count is null
DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_SUCCESS

◆ dwSensorManager_getSensorHandle()

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

Gets the sensor handle to the specified sensor.

Parameters

[in]	handle	Pointer to location where handle shall be returned
[in]	type	Type of sensor being requested
[in]	index	Index of the sensor
[in]	sm	SM handle instantiated by the caller

Returns: DW_INVALID_ARGUMENT - pointer to the count is null
DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_SUCCESS

◆ dwSensorManager_initialize()

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

Creates and initializes a SensorManager module.

Parameters

[out]	sm	A pointer to the sm handle will be returned here.
[in]	poolSize	Size of the event pool to be allocated
[in]	sal	SAL handle instantiated by the caller

Returns: DW_INVALID_ARGUMENT - if pointer to the SM handle is NULL.
DW_INVALID_HANDLE - if provided contex/SAL handle is invalid.
DW_SUCCESS

◆ dwSensorManager_release()

DW_API_PUBLIC dwStatus dwSensorManager_release ( dwSensorManagerHandle_t * sm )

Releases the SensorManager module.

Parameters

[out] sm A pointer to the sm handle will be returned here.

Returns: DW_INVALID_ARGUMENT - if pointer to the SM handle is NULL.
DW_INVALID_HANDLE - if provided contex/SAL handle is invalid.
DW_SUCCESS

◆ dwSensorManager_releaseAcquiredEvent()

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

Releases a previously acquired event back to the pool.

For certain sensors, this call will also trigger returning the backing buffer back to the DW sensor bufferpools.

Parameters

[in]	ev	A pointer to the event to be returned
[in]	sm	SM handle instantiated by the caller

Returns: DW_INVALID_ARGUMENT - pointer to the event is null
DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_SUCCESS

◆ dwSensorManager_reset()

DW_API_PUBLIC dwStatus dwSensorManager_reset ( dwSensorManagerHandle_t sm )

Resets all sensors.

Parameters

[in] sm SM handle instantiated by the caller

Returns: DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_SUCCESS

◆ dwSensorManager_start()

DW_API_PUBLIC dwStatus dwSensorManager_start ( dwSensorManagerHandle_t sm )

Starts all sensors.

Parameters

[in] sm SM handle instantiated by the caller

Returns: DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_SUCCESS

◆ dwSensorManager_stop()

DW_API_PUBLIC dwStatus dwSensorManager_stop ( dwSensorManagerHandle_t sm )

Stops all sensors.

Parameters

[in] sm SM handle instantiated by the caller

Returns: DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_SUCCESS

DriveWorks SDK Reference

| 0.6.67 Release

Detailed Description

Data Structures

Macros

Typedefs

Functions

Data Structure Documentation

◆ dwSensorEvent

Macro Definition Documentation

◆ DW_SENSORMANGER_MAX_CAMERAS

Typedef Documentation

◆ dwSensorManagerHandle_t

Function Documentation

◆ dwSensorManager_acquireNextEvent()

◆ dwSensorManager_addCameraSensor()

◆ dwSensorManager_addSensor()

◆ dwSensorManager_getNumSensors()

◆ dwSensorManager_getSensorHandle()

◆ dwSensorManager_initialize()

◆ dwSensorManager_release()

◆ dwSensorManager_releaseAcquiredEvent()

◆ dwSensorManager_reset()

◆ dwSensorManager_start()

◆ dwSensorManager_stop()