CalibrationTypes.h

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#ifndef DW_CALIBRATION_ENGINE_CALIBRATIONTYPES_H_
#define DW_CALIBRATION_ENGINE_CALIBRATIONTYPES_H_

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

#ifdef __cplusplus
extern "C" {
#endif

#define DW_CALIBRATION_MAXROUTINES 64

typedef struct dwCalibrationRoutineObject* dwCalibrationRoutineHandle_t;
typedef struct dwCalibrationEngineObject* dwCalibrationEngineHandle_t;

typedef enum dwCalibrationState {
    DW_CALIBRATION_STATE_NOT_ACCEPTED = 0,

    DW_CALIBRATION_STATE_ACCEPTED = 1,

    DW_CALIBRATION_STATE_FAILED = 2,
} dwCalibrationState;

DW_API_PUBLIC
dwStatus dwCalibrationState_toString(const char** str, dwCalibrationState state);

typedef struct dwCalibrationStatus
{
    bool started;

    dwCalibrationState state;

    float32_t percentageComplete;
} dwCalibrationStatus;

typedef void (*dwCalibrationStatusChanged)(dwCalibrationRoutineHandle_t routine,
                                           dwCalibrationStatus status,
                                           void* userData);

typedef enum dwCalibrationSignal {
    DW_CALIBRATION_SIGNAL_POSE_SENSOR_TO_RIG    = 1 << 1, 
    DW_CALIBRATION_SIGNAL_POSE_SENSOR_TO_SENSOR = 1 << 2, 
    DW_CALIBRATION_SIGNAL_POSE_ROLL             = 1 << 3, 
    DW_CALIBRATION_SIGNAL_POSE_PITCH            = 1 << 4, 
    DW_CALIBRATION_SIGNAL_POSE_YAW              = 1 << 5, 
    DW_CALIBRATION_SIGNAL_POSE_X                = 1 << 6, 
    DW_CALIBRATION_SIGNAL_POSE_Y                = 1 << 7, 
    DW_CALIBRATION_SIGNAL_POSE_Z                = 1 << 8, 

    DW_CALIBRATION_SIGNAL_VEHICLE_SPEED_FACTOR          = 1 << 9,  
    DW_CALIBRATION_SIGNAL_VEHICLE_WHEEL_RADII           = 1 << 10, 
    DW_CALIBRATION_SIGNAL_VEHICLE_FRONT_STEERING_OFFSET = 1 << 11  
} dwCalibrationSignal;

typedef enum dwCalibrationFastAcceptanceOption {
    DW_CALIBRATION_FAST_ACCEPTANCE_DEFAULT = 0,

    DW_CALIBRATION_FAST_ACCEPTANCE_ENABLED = 1,

    DW_CALIBRATION_FAST_ACCEPTANCE_DISABLED = 2,
} dwCalibrationFastAcceptanceOption;

#ifdef __cplusplus
} // extern C
#endif

#endif // DW_CALIBRATION_ENGINE_CALIBRATIONTYPES_H_