Rig.h

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#ifndef DW_RIG_RIG_H_
#define DW_RIG_RIG_H_

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

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwRigObject* dwRigHandle_t;
typedef struct dwRigObject const* dwConstRigHandle_t;

// Calibrated cameras

#define DW_MAX_RIG_CAMERA_COUNT 255U

typedef enum dwCameraModel {
    DW_CAMERA_MODEL_OCAM    = 0,
    DW_CAMERA_MODEL_PINHOLE = 1,
    DW_CAMERA_MODEL_FTHETA  = 2
} dwCameraModel;

#define DW_PINHOLE_DISTORTION_LENGTH 3U
#define DW_VEHICLE_STEER_MAP_POLY_DEGREE 5U

typedef struct dwPinholeCameraConfig
{
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t focalX;

    float32_t focalY;

    float32_t distortion[DW_PINHOLE_DISTORTION_LENGTH];
} dwPinholeCameraConfig;

#define DW_OCAM_POLY_LENGTH 5U

typedef struct dwOCamCameraConfig
{
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t c;

    float32_t d;

    float32_t e;

    float32_t poly[DW_OCAM_POLY_LENGTH];
} dwOCamCameraConfig;

#define DW_FTHETA_POLY_LENGTH 5U

typedef struct dwFThetaCameraConfig
{
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t backwardsPoly[DW_FTHETA_POLY_LENGTH];
} dwFThetaCameraConfig;

typedef struct dwStereographicCameraConfig
{
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t hFOV;
} dwStereographicCameraConfig;

typedef enum {
    DW_VEHICLE_WHEEL_FRONT_LEFT  = 0,
    DW_VEHICLE_WHEEL_FRONT_RIGHT = 1,
    DW_VEHICLE_WHEEL_REAR_LEFT   = 2,
    DW_VEHICLE_WHEEL_REAR_RIGHT  = 3,

    DW_VEHICLE_NUM_WHEELS = 4
} dwVehicleWheels;

#define DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE 15U

typedef struct dwVehicleTorqueLUT
{
    float32_t throttlePedalInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];

    float32_t throttleSpeedInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];

    float32_t throttleTorqueOutput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE][DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];

    float32_t brakePedalInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];

    float32_t brakeTorqueOutput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
} dwVehicleTorqueLUT;

typedef struct dwVehicle
{
    float32_t height;              
    float32_t length;              
    float32_t width;               
    float32_t widthWithMirrors;    
    float32_t wheelbase;           
    float32_t axlebaseFront;       
    float32_t axlebaseRear;        
    float32_t bumperRear;          
    float32_t bumperFront;         
    float32_t steeringCoefficient; 
    float32_t mass;                
    dwVector3f inertia3D; 
    float32_t effectiveMass; 
    float32_t frontCorneringStiffness; 
    float32_t rearCorneringStiffness;  
    float32_t centerOfMassToRearAxle;  
    float32_t driveByWireTimeDelay;    
    float32_t driveByWireTimeConstant; 
    float32_t aerodynamicDragCoeff;         
    float32_t frontalArea;                  
    float32_t centerOfMassToFrontAxle;      
    float32_t centerOfMassHeight;           
    float32_t aeroHeight;                   
    float32_t rollingResistanceCoeff;       
    float32_t maxEnginePower;               
    float32_t throttleActuatorTimeConstant; 
    float32_t brakeActuatorTimeConstant;    
    dwVehicleTorqueLUT torqueLUT; 
    float32_t wheelRadius[DW_VEHICLE_NUM_WHEELS]; 
    float32_t steeringWheelToSteeringMap[DW_VEHICLE_STEER_MAP_POLY_DEGREE + 1U]; 
    float32_t maxSteeringWheelAngle;                                             
    float32_t frontSteeringOffset;                                               
} dwVehicle;

DW_API_PUBLIC
dwStatus dwRig_initializeFromFile(dwRigHandle_t* obj,
                                  dwContextHandle_t ctx,
                                  char8_t const* const configurationFile);

DW_API_PUBLIC
dwStatus dwRig_initializeFromString(dwRigHandle_t* obj,
                                    dwContextHandle_t ctx,
                                    char8_t const* const configurationString,
                                    char8_t const* const relativeBasePath);

DW_API_PUBLIC
dwStatus dwRig_reset(dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_release(dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getVehicle(dwVehicle const** const vehicle, dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_setVehicle(dwVehicle const* vehicle, dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getVehicleIOConfigCount(uint32_t* vioConfigCount,
                                       dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorCount(uint32_t* const sensorCount,
                              dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorCountOfType(uint32_t* const sensorCount,
                                    dwSensorType const sensorType,
                                    dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorProtocol(char8_t const** const sensorProtocol,
                                 uint32_t const sensorId,
                                 dwConstRigHandle_t const obj);

DW_API_PUBLIC dwStatus dwRig_getSensorParameter(char8_t const** const sensorParameter,
                                                uint32_t const sensorId,
                                                dwConstRigHandle_t const obj);

DW_API_PUBLIC dwStatus dwRig_setSensorParameter(char8_t const* const sensorParameter,
                                                uint32_t const sensorId,
                                                dwRigHandle_t const obj);

DW_API_PUBLIC dwStatus dwRig_getSensorParameterUpdatedPath(char8_t const** const sensorParameter,
                                                           uint32_t const sensorId,
                                                           dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorToRigTransformation(dwTransformation3f* const transformation,
                                            uint32_t const sensorId,
                                            dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorFLUToRigTransformation(dwTransformation3f* const transformation,
                                               uint32_t const sensorId,
                                               dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getNominalSensorToRigTransformation(dwTransformation3f* const transformation,
                                                   uint32_t const sensorId,
                                                   dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorToSensorTransformation(dwTransformation3f* const transformation,
                                               uint32_t const sensorIdFrom,
                                               uint32_t const sensorIdTo,
                                               dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getNominalSensorToSensorTransformation(dwTransformation3f* const transformation,
                                                      uint32_t const sensorIdFrom,
                                                      uint32_t const sensorIdTo,
                                                      dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_setSensorToRigTransformation(dwTransformation3f const* transformation,
                                            uint32_t const sensorId,
                                            dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorName(char8_t const** const sensorName,
                             uint32_t const sensorId,
                             dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorDataPath(char8_t const** const dataPath,
                                 uint32_t const sensorId,
                                 dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getCameraTimestampPath(char8_t const** const timestampPath,
                                      uint32_t const sensorId,
                                      dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorPropertyByName(char8_t const** const propertyValue,
                                       char8_t const* const propertyName,
                                       uint32_t const sensorId,
                                       dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_addOrSetSensorPropertyByName(char8_t const* const propertyValue,
                                            char8_t const* const propertyName,
                                            uint32_t const sensorId,
                                            dwRigHandle_t const obj);
DW_API_PUBLIC
dwStatus dwRig_getPropertyByName(char8_t const** const propertyValue,
                                 char8_t const* const propertyName,
                                 dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_addOrSetPropertyByName(char8_t const* const propertyValue,
                                      char8_t const* const propertyName,
                                      dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_findSensorByName(uint32_t* const sensorId,
                                char8_t const* sensorName,
                                dwConstRigHandle_t const obj);
DW_API_PUBLIC
dwStatus dwRig_findSensorIdFromVehicleIOId(uint32_t* const sensorId,
                                           uint32_t vehicleIOId,
                                           dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_findSensorByTypeIndex(uint32_t* const sensorId,
                                     dwSensorType const sensorType,
                                     uint32_t sensorTypeIndex,
                                     dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getSensorType(dwSensorType* sensorType,
                             uint32_t const sensorId,
                             dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getCameraModel(dwCameraModel* const cameraModel,
                              uint32_t const sensorId,
                              dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getPinholeCameraConfig(dwPinholeCameraConfig* config,
                                      uint32_t const sensorId,
                                      dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getOCamCameraConfig(dwOCamCameraConfig* config,
                                   uint32_t const sensorId,
                                   dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_getFThetaCameraConfig(dwFThetaCameraConfig* const config,
                                     uint32_t const sensorId,
                                     dwConstRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_setPinholeCameraConfig(dwPinholeCameraConfig const* config,
                                      uint32_t const sensorId,
                                      dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_setOCamCameraConfig(dwOCamCameraConfig const* config,
                                   uint32_t const sensorId,
                                   dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_setFThetaCameraConfig(dwFThetaCameraConfig const* config,
                                     uint32_t const sensorId,
                                     dwRigHandle_t const obj);

DW_API_PUBLIC
dwStatus dwRig_serializeToFile(char8_t const* configurationFile,
                               dwConstRigHandle_t const obj);

#ifdef __cplusplus
}
#endif

#endif // DW_RIG_RIG_H_