dwSelfCalibrationSuspensionStateNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONSUSPENSIONSTATENODE_DWSELFCALIBRATIONSUSPENSIONSTATENODE_HPP_
#define DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONSUSPENSIONSTATENODE_DWSELFCALIBRATIONSUSPENSIONSTATENODE_HPP_
 
#include <dwcgf/channel/ChannelPacketTypes.hpp>
#include <dwcgf/node/impl/ExceptionSafeNode.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
 
#include <dwframework/dwnodes/common/channelpackets/EgomotionState.hpp>
#include <dwframework/dwnodes/common/channelpackets/FeatureList.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/SensorCommonTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/VehicleIOValStructures.hpp>
#include <dwframework/dwnodes/common/channelpackets/IMU.hpp>
#include <dwframework/dwnodes/common/SelfCalibrationTypes.hpp>
#include <dw/core/context/Context.h>
 
namespace dw
{
namespace framework
{
 
struct dwSelfCalibrationSuspensionStateNodeParams
{
    // These parameters are assigned in describeParameters()
    dwConstRigHandle_t rigHandle; 
 
    int32_t imuSensorIndex; 
 
    int32_t cameraSensorIndices[SELF_CALIBRATION_NODE_MAX_CAMERAS_FOR_SUSPENSION_STATE]; 
 
    bool enableCalibration; 
 
    uint32_t channelFifoSize;     
    cudaStream_t cudaStreamIndex; 
 
    bool sigPresenceSuspensionLevel[SELF_CALIBRATION_NUM_SUSPENSION_LEVEL_SIGNALS]; 
    bool sigPresenceSuspensionLevelQuality;                                         
    bool sigPresenceSuspensionLevelTimestamp;                                       
    bool sigPresenceSuspensionLevelTimestampQuality;                                
    bool sigPresenceSuspensionLevelCalibrationState;                                
 
    //  This is a WAR to resolve the issue seen in the development of multi-process RoadRunner.
    //  Details of the issue is available: https://nvbugs/3991262
    dwTime_t nvSciChannelWaitTimeUs{}; 
 
    //  These parameters are assigned in create()
    int32_t imuSensorRigIndex; 
 
    int32_t cameraSensorRigIndices[SELF_CALIBRATION_NODE_MAX_CAMERAS_FOR_SUSPENSION_STATE]; 
};
 
class dwSelfCalibrationSuspensionStateNode : public ExceptionSafeProcessNode
{
public:
    // a valid sensor has non negative a index, define -1 as the UNUSED sensor index
    static constexpr int32_t UNUSED_SENSOR_INDEX = -1;
 
    // TODO(sceriani): 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[]{"dwSelfCalibrationSuspensionStateNode"};
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-2201
    static constexpr auto describeInputPorts()
    {
        // TODO(sceriani): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describePortCollection(
            // vehicle
            DW_DESCRIBE_PORT(dwVehicleIOQMState, "VEHICLE_IO_QM_STATE"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT(dwVehicleIOASILStateE2EWrapper, "VEHICLE_IO_ASIL_STATE"_sv, PortBinding::OPTIONAL),
            // imu
            DW_DESCRIBE_PORT(dwIMUFrame, "IMU_FRAME"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "IMU_EXTRINSICS"_sv, PortBinding::OPTIONAL),
            // egomotion
            DW_DESCRIBE_PORT(dwEgomotionStateHandle_t, "EGOMOTION_STATE_ODO_IMU"_sv, PortBinding::OPTIONAL),
            // add camera calibration inputs
            DW_DESCRIBE_PORT_ARRAY(dwFeatureHistoryArray, SELF_CALIBRATION_NODE_MAX_CAMERAS_FOR_SUSPENSION_STATE, "CAMERA_FEATURE_DETECTION"_sv, PortBinding::OPTIONAL),
            // add camera calibration output (final and intermediate)
            DW_DESCRIBE_PORT_ARRAY(dwCalibratedExtrinsics, SELF_CALIBRATION_NODE_MAX_CAMERAS_FOR_SUSPENSION_STATE, "CAMERA_EXTRINSICS"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT_ARRAY(dwCameraTwoViewTransformation, SELF_CALIBRATION_NODE_MAX_CAMERAS_FOR_SUSPENSION_STATE, "CAMERA_TWO_VIEW_TRANSFORMATION"_sv, PortBinding::OPTIONAL));
    };
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-2201
    static constexpr auto describeOutputPorts()
    {
        // TODO(sceriani): 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(dwCalibratedSuspensionStateProperties, "SUSPENSION_STATE"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT(dwSelfCalibrationSuspensionStateDiagnostics, "ROADCAST_SELFCALIBRATION_SUSPENSIONSTATE_DIAGNOSTICS"_sv, PortBinding::OPTIONAL));
    };
 
    // 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{"PROCESS_NONCAMERA_INPUTS"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"PROCESS_SUSPENSIONSTATE_GPU_ASYNC"}, DW_PROCESSOR_TYPE_GPU),
            describePass(StringView{"PROCESS_SUSPENSIONSTATE_CPU_SYNC"}, DW_PROCESSOR_TYPE_CPU),
            describePass(StringView{"TEARDOWN"}, DW_PROCESSOR_TYPE_CPU));
    };
 
    static std::unique_ptr<dwSelfCalibrationSuspensionStateNode> create(ParameterProvider const& provider);
 
    // coverity[autosar_cpp14_a7_1_5_violation] RFD Accepted: TID-2201
    static constexpr auto describeParameters()
    {
        // TODO(sceriani): RFD --  user defined literal being interpreted as c style cast.
        // coverity[autosar_cpp14_a5_2_2_violation] RFD Pending: TID-1983
        return describeConstructorArguments(
            describeConstructorArgument<dwSelfCalibrationSuspensionStateNodeParams>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwConstRigHandle_t,
                    &dwSelfCalibrationSuspensionStateNodeParams::rigHandle),
                DW_DESCRIBE_PARAMETER(
                    int32_t,
                    "imuSensorIndex"_sv,
                    &dwSelfCalibrationSuspensionStateNodeParams::imuSensorIndex),
                DW_DESCRIBE_ARRAY_PARAMETER(
                    int32_t,
                    "cameraSensorIndices"_sv,
                    SELF_CALIBRATION_NODE_MAX_CAMERAS_FOR_SUSPENSION_STATE,
                    &dwSelfCalibrationSuspensionStateNodeParams::cameraSensorIndices),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "enableCalibration"_sv,
                    &dwSelfCalibrationSuspensionStateNodeParams::enableCalibration),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "channelFifoSize"_sv,
                    &dwSelfCalibrationSuspensionStateNodeParams::channelFifoSize),
                DW_DESCRIBE_INDEX_PARAMETER(
                    cudaStream_t,
                    "cudaStreamIndex"_sv,
                    &dwSelfCalibrationSuspensionStateNodeParams::cudaStreamIndex),
                DW_DESCRIBE_ARRAY_PARAMETER(
                    bool,
                    "sigPresenceSuspensionLevel"_sv, SELF_CALIBRATION_NUM_SUSPENSION_LEVEL_SIGNALS,
                    &dwSelfCalibrationSuspensionStateNodeParams::sigPresenceSuspensionLevel),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "sigPresenceSuspensionLevelQuality"_sv,
                    &dwSelfCalibrationSuspensionStateNodeParams::sigPresenceSuspensionLevelQuality),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "sigPresenceSuspensionLevelTimestamp"_sv,
                    &dwSelfCalibrationSuspensionStateNodeParams::sigPresenceSuspensionLevelTimestamp),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "sigPresenceSuspensionLevelTimestampQuality"_sv,
                    &dwSelfCalibrationSuspensionStateNodeParams::sigPresenceSuspensionLevelTimestampQuality),
                DW_DESCRIBE_PARAMETER(
                    bool,
                    "sigPresenceSuspensionLevelCalibrationState"_sv,
                    &dwSelfCalibrationSuspensionStateNodeParams::sigPresenceSuspensionLevelCalibrationState),
                DW_DESCRIBE_PARAMETER_WITH_DEFAULT(
                    dwTime_t,
                    "nvSciChannelWaitTimeUs"_sv,
                    0,
                    &dwSelfCalibrationSuspensionStateNodeParams::nvSciChannelWaitTimeUs)),
            describeConstructorArgument<dwContextHandle_t>(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwSelfCalibrationSuspensionStateNode(dwSelfCalibrationSuspensionStateNodeParams const& param, dwContextHandle_t const ctx);
};
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONSUSPENSIONSTATENODE_DWSELFCALIBRATIONSUSPENSIONSTATENODE_HPP_