dwIMUNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_SENSORS_DWIMUNODE_DWIMUNODE_HPP_
#define DWFRAMEWORK_DWNODES_SENSORS_DWIMUNODE_DWIMUNODE_HPP_
 
#include <dw/sensors/common/Sensors.h>
#include <dw/sensors/imu/IMU.h>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/pass/Pass.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/channelpackets/IMU.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/SensorCommonTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/Sensors.hpp>
#include <dwval/base/ValCommonStructs.h>
 
namespace dw
{
namespace framework
{
 
struct dwIMUNodeParams
{
    const char* sensorName;
    dwConstRigHandle_t rigHandle;
    bool inputModeVal;
    FixedString<32> frameSkipMask;
    bool errorHandlingEnabled;
};
 
class dwIMUNode : public ExceptionSafeSensorNode
{
 
public:
    // TODO(csketch): FP -- This is used when the logger is called and not just at assignment.
    // coverity[autosar_cpp14_a0_1_1_violation] FP: nvbugs/2980283
    // coverity[autosar_cpp14_m0_1_4_violation] FP: nvbugs/2980283
    static constexpr char8_t LOG_TAG[]{"dwIMUNode"};
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-2201
    static constexpr auto describeInputPorts()
    {
        // TODO(csketch): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describePortCollection(
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "SENSOR_EXTRINSICS"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT(dwTime_t, "VIRTUAL_SYNC_TIME"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwIMUFrame, "FRAME"_sv, PortBinding::REQUIRED));
    };
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-2201
    static constexpr auto describeOutputPorts()
    {
        // TODO(csketch): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describePortCollection(
            DW_DESCRIBE_PORT(dwSensorNodeProperties, "SENSOR_PROPERTIES"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "SENSOR_EXTRINSICS"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT(dwIMUFrame, "PROCESSED_DATA"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwSensorNodeRawData, "RAW_DATA"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwSensorStats, "SENSOR_STATS"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwSensorTsAndID, "TIMESTAMP"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwTime_t, "NEXT_TIMESTAMP"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwValTimestampMetadata, "VAL_TIMESTAMP_METADATA"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwTime_t, "CONTEXT_TIMESTAMP"_sv));
    };
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-2201
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass(StringView{"SETUP"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"RAW_OUTPUT"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"PROCESSED_OUTPUT"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"TEARDOWN"}, DW_PROCESSOR_TYPE_CPU));
    };
 
    dwSensorType getSensorType() const
    {
        return DW_SENSOR_IMU;
    }
 
    static std::unique_ptr<dwIMUNode> create(ParameterProvider& provider);
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-2201
    static constexpr auto describeParameters()
    {
        // TODO(csketch): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describeConstructorArguments(
            describeConstructorArgument<dwIMUNodeParams>(
                DW_DESCRIBE_PARAMETER_WITH_DEFAULT(
                    bool,
                    "inputModeVal"_sv,
                    false,
                    &dwIMUNodeParams::inputModeVal),
                DW_DESCRIBE_PARAMETER(
                    dw::core::FixedString<32>,
                    "frameSkipMask"_sv,
                    &dwIMUNodeParams::frameSkipMask),
                DW_DESCRIBE_PARAMETER_WITH_DEFAULT(
                    bool,
                    "errorHandlingEnabled"_sv,
                    false,
                    &dwIMUNodeParams::errorHandlingEnabled)),
            describeConstructorArgument<const char*>(
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    const char*,
                    semantic_parameter_types::ImuName,
                    "imuIndex"_sv)),
            describeConstructorArgument<dwConstRigHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwConstRigHandle_t)),
            describeConstructorArgument<dwSALHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwSALHandle_t)),
            describeConstructorArgument<dwContextHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwIMUNode(const char* sensorName, dwConstRigHandle_t rigHandle,
              dwSALHandle_t sal, dwContextHandle_t ctx, const FixedString<32>& frameSkipMask);
    dwIMUNode(const dwIMUNodeParams& params, const char* sensorName, dwConstRigHandle_t rigHandle,
              dwSALHandle_t sal, dwContextHandle_t ctx);
    dwIMUNode(const dwSensorParams& params,
              dwSALHandle_t sal, dwContextHandle_t ctx);
};
} // namespace framework
} // namespace dw
#endif // DWFRAMEWORK_DWNODES_SENSORS_DWIMUNODE_DWIMUNODE_HPP_