pss_protocol.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 *
 * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
 * property and proprietary rights in and to this material, related
 * documentation and any modifications thereto. Any use, reproduction,
 * disclosure or distribution of this material and related documentation
 * without an express license agreement from NVIDIA CORPORATION or
 * its affiliates is strictly prohibited.
*/
 
#ifndef PSS_PROTOCOL_H
#define PSS_PROTOCOL_H
 
#include <string>
#include <vector>
#include <ctime>
 
 
#define MAX_SENSORS_DATA_SUMMARY_SIZE 8
#define MAX_TRAJECTORY_COORDINATES 10
#define MAX_INDENTIFIER_LENGTH 64
 
typedef enum {
    //Generic events
    EVENT_0 = 0,
    EVENT_1,
    EVENT_2,
    EVENT_3,
    EVENT_4,
    EVENT_5,
    EVENT_6,
    EVENT_7,
    // Add  event types as needed
    //Special events
    ROI_ENTRY,
    ROI_EXIT,
    TW_CROSSING_ENTRY,
    TW_CROSSING_EXIT,
    SW_FAIL //This is the end event
}EventType;
 
typedef enum {
    ESTOP,
    AUDIO_WARNING,
    VISUAL_WARNING,
    IMPLEMENT_SAFETY_CONTROL,
    NO_ACTION_REQUIRED
    // Add other event types as needed
}RecommendedAction;
 
typedef enum {
    TYPE_0 = 0,
    TYPE_1,
    TYPE_2,
    TYPE_3,
    TYPE_4,
    TYPE_5,
    TYPE_6,
    // ....
    PERSON,
    VEHICLE,
    OBJECT
    // Add other event types as needed
}ObjectType;
 
typedef enum {
    LOW,     /* Low severity event */
    MEDIUM,  /* Medium severity event */
    HIGH,    /* High severity event */
    CRITICAL /* Critical severity event */
}SeverityLevel;
 
typedef enum {
    NORMAL,   /* Normal operational mode */
    DEGRADED, /* Degraded operational mode */
    ERROR     /* Error operational mode */
}OperationalMode;
 
typedef enum {
    FUSED,        /* Fused Safety Event */
    PASSTHROUGH,  /* Safety Event pass-through withut fusion */
    STALE,        /* Safety Event arrivd with high latency */
    UNKNOWN       /* Error operational mode or Fusion not enabled*/
}SafetyEventStatus;
 
typedef struct {
    float x;
    float y;
} TrajectoryCoordinates;
 
typedef struct {
    TrajectoryCoordinates coordinates[MAX_TRAJECTORY_COORDINATES];  /* Trajectory coordinates of the event */
    uint8_t pipelineID;            /* Source pipeline identifier */
    uint8_t clientID;              /* Client identifier */
    ObjectType objectType;         /* Type of object, example Person, Vehicle, Face */
    float speed;                   /* Speed of Object */
} EventFusionMetadata;
 
typedef struct {
    uint32_t id;                   /* Unique identifier for the safety event */
    char sensorIdentifier[MAX_INDENTIFIER_LENGTH]; /* Name of sensor generating the Safety Event */
    char ruleIdentifier[MAX_INDENTIFIER_LENGTH]; /* Name of rule generating the Safety Event */
    EventType type;                /* Type of the safety event */
    SeverityLevel severity;        /* Severity level of the event */
    uint64_t timestamp;            /* Timestamp of event detection */
    float confidenceLevel;         /* Confidence level of the event */
    bool processed;                /* Flag indicating if event has been processed for fusion */
    EventFusionMetadata fusionMetadata;  /* Fusion metadata */
#ifdef NVPSF_DBG
    uint64_t msgReceiveTimestamp;
#endif
} SafetyEvent;
 
typedef struct {
    uint32_t id;                   /* Unique identifier for the fused event */
    char sensorIdentifier[MAX_INDENTIFIER_LENGTH]; /* Name of primary sensor generating the Safety Event */
    char ruleIdentifier[MAX_INDENTIFIER_LENGTH]; /* Name of rule generating the Safety Event */
    EventType type;                /* Type of the safety event */
    SeverityLevel severity;        /* Severity level of the event */
    uint64_t timestamp;            /* Timestamp of the earliest source event */
    float confidenceLevel;         /* Calculated fusion confidence */
    SafetyEventStatus status;      /* Flag indicating status of event after fusion */
    uint8_t clientID;              /* Client identifier */
    SafetyEvent* sourceEvents[2];  /* Source events that were fused */
#ifdef NVPSF_DBG
    uint64_t msgReceiveTimestamp;
    uint32_t secondaryEventId;
#endif
} FusedSafetyEvent;
 
typedef struct {
    uint32_t sensorId;  /* Unique identifier for the sensor */
    bool isHealthy;     /* Health status of the sensor */
    FusedSafetyEvent event;  /* Safety Event Data */
}SensorData;
 
typedef struct {
    bool hardwareErrorFlag; /* HW error flags */
    bool softwareErrorFlag; /* SW error flags */
    OperationalMode mode;   /* Current operational mode */
}SystemStatus;
 
typedef struct {
    uint32_t requestId;             /* Unique identifier for the decision request*/
    uint8_t sensorDataSummarySize;  /* Number of sensor summary infomation*/
    SensorData sensorDataSummary[MAX_SENSORS_DATA_SUMMARY_SIZE]; /* Summary ofSensor Data Info*/
    SystemStatus pssStatus;                                         /* System status information */
}DecisionRequest;
 
typedef struct {
    uint32_t decisionId;       /* Unique identifier for the decision response*/
    RecommendedAction action;  /* Recommended action based on the decision */
    float confidenceLevel; /* Confidence level of the decision */
}DecisionResponse;
 
#endif