Ultrasonic.h

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#ifndef DW_SENSORS_ULTRASONIC_ULTRASONIC_H_
#define DW_SENSORS_ULTRASONIC_ULTRASONIC_H_

#include <dw/core/base/Types.h>
#include <dw/sensors/Sensors.h>

#ifdef __cplusplus
extern "C" {
#endif

#define DW_ULTRASONIC_MAX_SAMPLE_SIZE 320

#define DW_ULTRASONIC_MAX_NUM_SENSORS 12

#define DW_ULTRASONIC_MAX_NUM_SIGNAL_WAYS 32

typedef struct dwUltrasonicMountingPositions
{
    dwVector3f coordinates[DW_ULTRASONIC_MAX_NUM_SENSORS];

    dwVector3f angles[DW_ULTRASONIC_MAX_NUM_SENSORS];

    float32_t horizontalFoV;

    float32_t verticalFoV;
} dwUltrasonicMountingPositions;

typedef enum dwUltrasonicMeasurementMode {
    DW_ULTRASONIC_MEASURE_MODE_UNKNOWN           = 0,
    DW_ULTRASONIC_MEASURE_MODE_DUAL_AM_LOW       = 1,
    DW_ULTRASONIC_MEASURE_MODE_DUAL_AM_HIGH      = 2,
    DW_ULTRASONIC_MEASURE_MODE_DUAL_CHIRP_LOW    = 3,
    DW_ULTRASONIC_MEASURE_MODE_DUAL_CHIRP_HIGH   = 4,
    DW_ULTRASONIC_MEASURE_MODE_SINGLE_CHIRP_UP   = 5,
    DW_ULTRASONIC_MEASURE_MODE_SINGLE_CHIRP_DOWN = 6,
} dwUltrasonicMeasurementMode;

typedef enum dwUltrasonicNearRangeDetectionStatus {
    DW_ULTRASONIC_NEAR_RANGE_UNAVAILABLE = 0,

    DW_ULTRASONIC_NEAR_RANGE_NO_DETECTION = 1,

    DW_ULTRASONIC_NEAR_RANGE_VALID_DETECTION = 2
} dwUltrasonicNearRangeDetectionStatus;

typedef struct _dwUltrasonicEnvelope
{
    uint32_t cycleCount;

    dwTime_t hostTimestamp;

    dwTime_t sensorTimestamp;

    uint32_t txSensorId;

    uint32_t rxSensorId;

    float32_t txFrequency;

    float32_t rxFrequency;

    dwUltrasonicMeasurementMode measurementMode;

    float32_t reverberationPeriod;

    float32_t distanceInterval;

    dwUltrasonicNearRangeDetectionStatus nearRangeDetectionStatus;

    float32_t nearRangeDistance;

    uint32_t maxNumAmplitudeSamples;

    uint32_t numAmplitudeSamples;

    float32_t amplitudeSamples[DW_ULTRASONIC_MAX_SAMPLE_SIZE];

    float32_t speed;

    int32_t temperature;
} dwUltrasonicEnvelope;

typedef struct dwUltrasonicProperties
{
    uint32_t versionId[3];

    uint32_t numSensors;

    uint32_t maxNumSignalWays;

    uint32_t maxRawSizeInBytes;

    float32_t sampleTimeInterval;

    float32_t horizontalFoV;

    float32_t verticalFoV;

    uint32_t fwVersion[3];
} dwUltrasonicProperties;

DW_API_PUBLIC
dwStatus dwSensorUltrasonic_readEnvelope(dwUltrasonicEnvelope const** envelope,
                                         dwTime_t timeout_us,
                                         dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorUltrasonic_returnEnvelope(dwUltrasonicEnvelope const* envelope, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorUltrasonic_processRawData(uint8_t const* data, size_t size, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorUltrasonic_enableDecoding(dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorUltrasonic_disableDecoding(dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorUltrasonic_isDecodingEnabled(bool* enable, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorUltrasonic_getProperties(dwUltrasonicProperties* properties, dwSensorHandle_t sensor);

DW_API_PUBLIC
dwStatus dwSensorUltrasonic_setTemperature(float32_t const temperature, dwSensorHandle_t sensor);

#ifdef __cplusplus
}
#endif

#endif // DW_SENSORS_ULTRASONIC_ULTRASONIC_H_