Sensors.h

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#ifndef DW_SENSORS_SENSORS_H_
#define DW_SENSORS_SENSORS_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_OS_V5Q = 2,

    DW_PLATFORM_NUM = 3
} dwPlatformOS;

typedef struct dwSALObject* dwSALHandle_t;

typedef struct dwSensorObject* dwSensorHandle_t;

#define DW_SENSOR_MAX_PROTOCOL_NAME_LENGTH 32
#define DW_SENSOR_MAX_PARAMETER_STRING_LENGTH 512

typedef struct dwSensorParams
{
    // FP: TODO(dwplc):
    // coverity[autosar_cpp14_a3_9_1_violation]
    const char* protocol;

    // FP: TODO(dwplc):
    // coverity[autosar_cpp14_a3_9_1_violation]
    const char* parameters;

    const void* auxiliarydata;

} dwSensorParams;

typedef struct dwSensorStats
{
    uint64_t events;

    uint64_t errors;

    uint64_t drops;

    dwTime_t timeDeltaCur;

    dwTime_t timeDeltaMin;

    dwTime_t timeDeltaMax;

    float64_t timeDeltaStandardDeviation;

    float64_t timeDeltaMean;

} dwSensorStats;

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

typedef struct dwSensorSeekTableEntry
{
    dwTime_t timestamp;

    uint64_t event;

    uint64_t offset;

    uint64_t size;

} dwSensorSeekTableEntry;

//Holds the available seek table entries for the sensor
typedef struct dwSensorSeekTable
{
    size_t numEntries;
    uint64_t* timestamp;
    uint64_t* offset;
    uint64_t* frameNum;
    size_t* frameSize;
} dwSensorSeekTable;

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
// FP: TODO(dwplc):
// coverity[autosar_cpp14_a3_9_1_violation]
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
// FP: TODO(dwplc):
// coverity[autosar_cpp14_a3_9_1_violation]
dwStatus dwSAL_getSensorProtocol(const char** name, uint32_t idx, dwPlatformOS os, dwSALHandle_t sal);

DW_API_PUBLIC
// FP: TODO(dwplc):
// coverity[autosar_cpp14_a3_9_1_violation]
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_getNumSeekTableEntries(size_t* size, dwSensorHandle_t hsensor);

DW_API_PUBLIC
dwStatus dwSensor_getSeekTableEntries(dwSensorSeekTableEntry* entries, size_t numEntries, dwSensorHandle_t sensor);

DW_API_PUBLIC
// FP: TODO(dwplc):
// coverity[autosar_cpp14_a3_9_1_violation]
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_