SensorManager.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) 2017-2020 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_SENSORMANAGER_H_
#define DW_SENSORS_SENSORMANAGER_H_

#include <dw/rig/Rig.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 16U
#define DW_SENSORMANGER_MAX_NUM_SENSORS 64U

typedef struct dwSensorManagerObject* dwSensorManagerHandle_t;

typedef struct
{
    dwSensorType type;

    uint32_t sensorTypeIndex;

    dwTime_t timestamp_us;

    uint32_t sensorIndex;

    uint32_t sensorIndices[DW_SENSORMANGER_MAX_CAMERAS];

    uint32_t numCamFrames;
    dwCameraFrameHandle_t camFrames[DW_SENSORMANGER_MAX_CAMERAS];

    dwGPSFrame gpsFrame;
    dwIMUFrame imuFrame;
    dwCANMessage canFrame;
    const dwRadarScan* radFrame;
    const dwLidarDecodedPacket* lidFrame;
    const uint8_t* rawData;
    size_t rawDataSize;
} dwSensorEvent;

enum dwSensorManagerDataMode
{
    DW_SENSOR_MANAGER_DATA_MODE_NON_RAW = 0,
    DW_SENSOR_MANAGER_DATA_MODE_RAW     = 1
};

typedef struct
{
    bool accumCamFrames;
    dwTime_t camFramesTimeDiffLimit;
    dwTime_t timeout;
} dwDispatcherParams;

typedef struct
{
    dwDispatcherParams dispatcherParams;

    uint32_t enableSensors[DW_SENSORMANGER_MAX_NUM_SENSORS];

    uint32_t numEnableSensors;
} dwSensorManagerParams;

typedef void (*dwSensorManagerDispatcher_t)(const dwSensorEvent*, void*, dwStatus);

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

DW_API_PUBLIC
dwStatus dwSensorManager_initializeFromRig(dwSensorManagerHandle_t* sm,
                                           dwRigHandle_t rc,
                                           size_t poolSize, dwSALHandle_t sal);

DW_API_PUBLIC
dwStatus dwSensorManager_initializeFromRigWithParams(dwSensorManagerHandle_t* sm,
                                                     dwRigHandle_t rc,
                                                     const dwSensorManagerParams* params,
                                                     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, uint32_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 timeoutMicroSeconds,
                                          dwSensorManagerHandle_t sm);

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

DW_API_PUBLIC
dwStatus dwSensorManager_getNumSensors(uint32_t* count, dwSensorType type, dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_getSensorHandle(dwSensorHandle_t* handle, uint32_t sensorIndex, dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_getSensorClientData(uint64_t* cd, uint32_t sensorIndex, dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_getSensorIndex(uint32_t* sensorIndex, dwSensorType type,
                                        uint32_t sensorTypeIndex, dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_getSensorTypeIndex(uint32_t* sensorTypeIndex, dwSensorType* type,
                                            uint32_t sensorIndex, dwSensorManagerHandle_t sm);

DW_API_PUBLIC
dwStatus dwSensorManager_setDispatcher(dwSensorManagerDispatcher_t dispatchPtr, void* cookie, dwSensorManagerHandle_t sm);

#ifdef __cplusplus
}
#endif


#endif // DW_SENSORS_SENSORMANAGER_H_