Detailed Description

Defines sensor management interface layer.

Note: SW Release Applicability: These APIs are available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

Data Structures
struct	dwDispatcherParams

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

struct	dwSensorManagerParams

Macros
#define	DW_SENSORMANGER_MAX_CAMERAS 16U

#define	DW_SENSORMANGER_MAX_NUM_SENSORS 64U

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

typedef struct dwSensorManagerObject *	dwSensorManagerHandle_t

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

Functions
DW_API_PUBLIC dwStatus	dwSensorManager_acquireNextEvent (const dwSensorEvent **ev, dwTime_t timeoutMicroSeconds, 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 char8_t *groupName, uint32_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 (uint32_t *count, dwSensorType type, dwSensorManagerHandle_t sm)
	Gets the number of sensors instantiated for a given sensor type. More...

DW_API_PUBLIC dwStatus	dwSensorManager_getSensorClientData (uint64_t *cd, uint32_t sensorIndex, dwSensorManagerHandle_t sm)
	Gets sensor's clientData. More...

DW_API_PUBLIC dwStatus	dwSensorManager_getSensorHandle (dwSensorHandle_t *handle, uint32_t sensorIndex, dwSensorManagerHandle_t sm)
	Gets the sensor handle to the specified sensor. More...

DW_API_PUBLIC dwStatus	dwSensorManager_getSensorIndex (uint32_t *sensorIndex, dwSensorType type, uint32_t sensorTypeIndex, dwSensorManagerHandle_t sm)
	Gets sensor's index. More...

DW_API_PUBLIC dwStatus	dwSensorManager_getSensorTypeIndex (uint32_t sensorTypeIndex, dwSensorType type, uint32_t sensorIndex, dwSensorManagerHandle_t sm)
	Gets sensor's relative index and type based upon its sensor index. 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_initializeFromRig (dwSensorManagerHandle_t *sm, dwRigHandle_t rc, size_t poolSize, dwSALHandle_t sal)
	Creates and initializes a SensorManager module, adding all sensors in the provided Rig Configuration. More...

DW_API_PUBLIC dwStatus	dwSensorManager_initializeFromRigWithParams (dwSensorManagerHandle_t sm, dwRigHandle_t rc, const dwSensorManagerParams params, size_t poolSize, dwSALHandle_t sal)
	Creates and initializes a SensorManager module, adding enabled sensors in the provided Rig Configuration, and configuring SensorManager according to params provided. 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_setDispatcher (dwSensorManagerDispatcher_t dispatchPtr, void *cookie, dwSensorManagerHandle_t sm)
	Sets sensor's dispatcher function when the feature is turned on. 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

◆ dwDispatcherParams

struct dwDispatcherParams

Data Fields
bool	accumCamFrames	Whether Dispatcher shall accumulated frames from all cameras into a single event.
dwTime_t	camFramesTimeDiffLimit	Up to how much can timstamps of camera frames accumulated in a single event differ.
dwTime_t	timeout	Timeout value to be used in dispatcher mode for virtual files.

◆ dwSensorEvent

struct dwSensorEvent

Data Fields
dwCameraFrameHandle_t	camFrames[DW_SENSORMANGER_MAX_CAMERAS]
dwCANMessage	canFrame
const dwDataPacket *	dataFrame
dwGPSFrame	gpsFrame	Data accessor for all other sensors.
dwIMUFrame	imuFrame
const dwLidarDecodedPacket *	lidFrame
uint32_t	numCamFrames	Data accessor for camera.
const dwRadarScan *	radFrame
const uint8_t *	rawData
size_t	rawDataSize
uint32_t	sensorIndex	The index of the sensor as defined by the order in which it was created. If the sensor manager was created via the rig configuration file this will match that sensor index. If it was not created via the rig configuration will be the number of sensors already created
uint32_t	sensorIndices[DW_SENSORMANGER_MAX_CAMERAS]	If the event is a multisensor event then the sensor indices of all sensors involved will be stored here.
uint32_t	sensorTypeIndex	Index of the given sensor as defined by the order in which it was created and the type of sensor it is (ie Camera and Lidar can have sensorTypeIndex 0 because they are different sensor types.
dwTime_t	timestamp_us	Timestamp (us)
dwSensorType	type	Type of sensor providing data for this event.

◆ dwSensorManagerParams

struct dwSensorManagerParams

Data Fields
dwDispatcherParams	dispatcherParams	Parameters to configure dispatcher mode.
uint32_t	enableSensors[DW_SENSORMANGER_MAX_NUM_SENSORS]	List of sensors indices to be enabled during initialization (i.e. whitelist)
uint32_t	numEnableSensors	Number of entries in the 'enableSensors' list. Note if this number is 0 all sensors will be enabled

Macro Definition Documentation

◆ DW_SENSORMANGER_MAX_CAMERAS

#define DW_SENSORMANGER_MAX_CAMERAS 16U

Definition at line 66 of file SensorManager.h.

◆ DW_SENSORMANGER_MAX_NUM_SENSORS

#define DW_SENSORMANGER_MAX_NUM_SENSORS 64U

Definition at line 67 of file SensorManager.h.

Typedef Documentation

◆ dwSensorManagerDispatcher_t

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

Definition at line 137 of file SensorManager.h.

◆ dwSensorManagerHandle_t

typedef struct dwSensorManagerObject* dwSensorManagerHandle_t

Definition at line 69 of file SensorManager.h.

Enumeration Type Documentation

◆ dwSensorManagerDataMode

enum dwSensorManagerDataMode

Enumerator
DW_SENSOR_MANAGER_DATA_MODE_NON_RAW
DW_SENSOR_MANAGER_DATA_MODE_RAW

Definition at line 108 of file SensorManager.h.

Function Documentation

◆ dwSensorManager_acquireNextEvent()

DW_API_PUBLIC dwStatus dwSensorManager_acquireNextEvent	(	const dwSensorEvent **	ev,
		dwTime_t	timeoutMicroSeconds,
		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 among all sensors.

Parameters

[out]	ev	A pointer to a pointer of the event to be acquired
[in]	timeoutMicroSeconds	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 available within timeout period
DW_END_OF_STREAM - reached end of all sensor streams
DW_SUCCESS

◆ dwSensorManager_addCameraSensor()

DW_API_PUBLIC dwStatus dwSensorManager_addCameraSensor	(	const char8_t *	groupName,
		uint32_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 added 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_INVALID_ARGUMENT - if the sensor parameters are invalid or incomplete.
DW_FILE_NOT_FOUND - if a specified video or other file parameter cannot be found.
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 added 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	(	uint32_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_getSensorClientData()

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

Gets sensor's clientData.

Parameters

[out]	cd	Pointer to location where clientData shall be returned
[in]	sensorIndex	Index of the sensor
[in]	sm	SM handle instantiated by the caller

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

◆ dwSensorManager_getSensorHandle()

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

Gets the sensor handle to the specified sensor.

Parameters

[in]	handle	Pointer to location where handle shall be returned
[in]	sensorIndex	Index of the sensor
[in]	sm	SM handle instantiated by the caller

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

◆ dwSensorManager_getSensorIndex()

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

Gets sensor's index.

Parameters

[out]	sensorIndex	Pointer to location where the sensor index should be returned
[in]	type	Type of sensor being requested
[in]	sensorTypeIndex	Index of the sensor as defined by the dwSensorType
[in]	sm	SM handle instantiated by the caller

Returns: DW_INVALID_ARGUMENT - pointer to the sensorIndex is null or no sensor of that type and index exists
DW_INVALID_HANDLE - if provided SM handle is invalid.
DW_SUCCESS

◆ dwSensorManager_getSensorTypeIndex()

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

Gets sensor's relative index and type based upon its sensor index.

Parameters

[out]	sensorTypeIndex	Pointer to location where the index of the sensor as defined by the dwSensorType should be returned
[out]	type	Pointer to location where the type of sensor should be returned
[in]	sensorIndex	Index of the sensor
[in]	sm	SM handle instantiated by the caller

Returns: DW_INVALID_ARGUMENT - pointer to the sensorTypeIndex or type is null or no sensorIndex exists
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. Has to be greater than 0
[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_initializeFromRig()

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

Creates and initializes a SensorManager module, adding all sensors in the provided Rig Configuration.

Parameters

[out]	sm	A pointer to the sm handle will be returned here.
[in]	rc	Rig Configuration handle
[in]	poolSize	Size of the event pool to be allocated. Has to be greater than 0
[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_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

◆ dwSensorManager_initializeFromRigWithParams()

DW_API_PUBLIC dwStatus dwSensorManager_initializeFromRigWithParams	(	dwSensorManagerHandle_t *	sm,
		dwRigHandle_t	rc,
		const dwSensorManagerParams *	params,
		size_t	poolSize,
		dwSALHandle_t	sal
	)

Creates and initializes a SensorManager module, adding enabled sensors in the provided Rig Configuration, and configuring SensorManager according to params provided.

Parameters

[out]	sm	A pointer to the sm handle will be returned here.
[in]	rc	Rig Configuration handle
[in]	params	Params to configure SensorManager
[in]	poolSize	Size of the event pool to be allocated. Has to be greater than 0
[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_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

◆ dwSensorManager_release()

DW_API_PUBLIC dwStatus dwSensorManager_release ( dwSensorManagerHandle_t sm )

Releases the SensorManager module.

Parameters

[out] sm The sensor manager handle that needs to be released

Returns: DW_INVALID_HANDLE - if provided sm 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_FAILURE - if the sensor is tried to be reset while it is still running
DW_SUCCESS

◆ dwSensorManager_setDispatcher()

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

Sets sensor's dispatcher function when the feature is turned on.

Parameters

[in]	dispatchPtr	dispatcher function pointer
[in]	cookie	pointer of the the class object in which the dispatcher member function is defined
[in]	sm	SM handle instantiated by the caller

Returns: DW_INVALID_ARGUMENT - pointer to the dispatchPtr is null or no function with that pointer exists
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_FAILURE - if the sensor already running
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_FAILURE - if the sensor is not running and is tried to be stopped
DW_SUCCESS

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwDispatcherParams

◆ dwSensorEvent

◆ dwSensorManagerParams

Macro Definition Documentation

◆ DW_SENSORMANGER_MAX_CAMERAS

◆ DW_SENSORMANGER_MAX_NUM_SENSORS

Typedef Documentation

◆ dwSensorManagerDispatcher_t

◆ dwSensorManagerHandle_t

Enumeration Type Documentation

◆ dwSensorManagerDataMode

Function Documentation

◆ dwSensorManager_acquireNextEvent()

◆ dwSensorManager_addCameraSensor()

◆ dwSensorManager_addSensor()

◆ dwSensorManager_getNumSensors()

◆ dwSensorManager_getSensorClientData()

◆ dwSensorManager_getSensorHandle()

◆ dwSensorManager_getSensorIndex()

◆ dwSensorManager_getSensorTypeIndex()

◆ dwSensorManager_initialize()

◆ dwSensorManager_initializeFromRig()

◆ dwSensorManager_initializeFromRigWithParams()

◆ dwSensorManager_release()

◆ dwSensorManager_releaseAcquiredEvent()

◆ dwSensorManager_reset()

◆ dwSensorManager_setDispatcher()

◆ dwSensorManager_start()

◆ dwSensorManager_stop()