RadarSSI.h

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#ifndef DW_SENSORS_RADAR_RADARSSI_H_
#define DW_SENSORS_RADAR_RADARSSI_H_
// Generated by dwProto from radar_ssi.proto DO NOT EDIT BY HAND!
// See //3rdparty/shared/dwproto/README.md for more information
 
 
#include <dw/core/base/Types.h>
 
#include <dw/sensors/radar/RadarTypes.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum dwRadarCalibrationBaseStat {
    DW_RADAR_CALIBRATION_BASE_STAT_SUCCESS = 0,
 
    DW_RADAR_CALIBRATION_BASE_STAT_FAIL = 1,
 
    DW_RADAR_CALIBRATION_BASE_STAT_NO_CALIB = 2,
 
    DW_RADAR_CALIBRATION_BASE_STAT_NO_BASE_CALIB_PERFORMED = 3,
 
    DW_RADAR_CALIBRATION_BASE_COUNT = 4,
} dwRadarCalibrationBaseStat;
 
typedef enum dwRadarCalibrationFuncStat {
    DW_RADAR_CALIBRATION_FUNC_STAT_AIC_SUCCESS = 0,
 
    DW_RADAR_CALIBRATION_FUNC_STAT_AIC_FAIL = 1,
 
    DW_RADAR_CALIBRATION_FUNC_STAT_AIC_ACTIVE = 2,
 
    DW_RADAR_CALIBRATION_FUNC_STAT_EOC_SUCCESS = 3,
 
    DW_RADAR_CALIBRATION_FUNC_STAT_EOC_FAIL = 4,
 
    DW_RADAR_CALIBRATION_FUNC_STAT_EOC_ACTIVE = 5,
 
    DW_RADAR_CALIBRATION_FUNC_STAT_SDC_SUCCESS = 6,
 
    DW_RADAR_CALIBRATION_FUNC_STAT_SDC_FAIL = 7,
 
    DW_RADAR_CALIBRATION_FUNC_STAT_SDC_ACTIVE = 8,
 
    DW_RADAR_CALIBRATION_FUNC_STAT_NO_CALIB = 9,
 
    DW_RADAR_CALIBRATION_FUNC_STAT_NO_COUNT = 10,
} dwRadarCalibrationFuncStat;
 
typedef enum dwRadarCalibrationSOCStat {
    DW_RADAR_CALIBRATION_SOC_STAT_ACTIVE = 0,
 
    DW_RADAR_CALIBRATION_SOC_STAT_FAIL = 1,
 
    DW_RADAR_CALIBRATION_SOC_STAT_PAUSE = 2,
 
    DW_RADAR_CALIBRATION_SOC_STAT_DEACTIVE = 3,
 
    DW_RADAR_CALIBRATION_SOC_STAT_COUNT = 4,
} dwRadarCalibrationSOCStat;
 
typedef enum dwRadarOrientationStat {
    DW_RADAR_ORIENT_STAT_DEFAULT = 0,
 
    DW_RADAR_ORIENT_STAT_NORMAL = 1,
 
    DW_RADAR_ORIENT_STAT_ROTATED = 2,
 
    DW_RADAR_ORIENT_STAT_COUNT = 3,
} dwRadarOrientationStat;
 
typedef enum dwRadarHealthOprtnStat {
    DW_RADAR_HEALTH_OPRTN_STAT_NORMAL = 0,
 
    DW_RADAR_HEALTH_OPRTN_STAT_OFF = 1,
 
    DW_RADAR_HEALTH_OPRTN_STAT_ERROR = 2,
 
    DW_RADAR_HEALTH_OPRTN_STAT_COUNT = 3,
} dwRadarHealthOprtnStat;
 
typedef enum dwRadarHealthOprtnMd {
    DW_RADAR_HEALTH_MD_ACTIVE = 0,
 
    DW_RADAR_HEALTH_MD_DISABLED = 1,
 
    DW_RADAR_HEALTH_MD_TEST_MODE = 2,
 
    DW_RADAR_HEALTH_MD_COUNT = 3,
} dwRadarHealthOprtnMd;
 
typedef enum dwRadarHealthDefectDtct {
    DW_RADAR_HEALTH_DEFECT_DTCT_FULL_FUNC = 0,
 
    DW_RADAR_HEALTH_DEFECT_DTCT_NOT_FULL_FUNC = 1,
 
    DW_RADAR_HEALTH_DEFECT_DTCT_OUT_OF_ORDER = 2,
 
    DW_RADAR_HEALTH_DEFECT_DTCT_COUNT = 3,
} dwRadarHealthDefectDtct;
 
typedef enum dwRadarHealthDefectRSN {
    DW_RADAR_HEALTH_DEFECT_RSN_NO_DEFECT = 0,
 
    DW_RADAR_HEALTH_DEFECT_RSN_WAKEUP_LINE_MALFUNC = 1,
 
    DW_RADAR_HEALTH_DEFECT_RSN_ETHERNET_MALFUNC = 2,
 
    DW_RADAR_HEALTH_DEFECT_RSN_SENSOR_IDENTIFICATION_ISSUE = 3,
 
    DW_RADAR_HEALTH_DEFECT_RSN_RADAR_FAILURE = 4,
 
    DW_RADAR_HEALTH_DEFECT_RSN_HARDWARE_FAILURE = 5,
 
    DW_RADAR_HEALTH_DEFECT_RSN_SOFTWARE_FAILURE = 6,
 
    DW_RADAR_HEALTH_DEFECT_RSN_INPUT_SIGNAL_MALFUNC = 7,
 
    DW_RADAR_HEALTH_DEFECT_RSN_COUNT = 8,
} dwRadarHealthDefectRSN;
 
typedef enum dwRadarHealthdiagMD {
    DW_RADAR_HEALTH_DIAG_MD_IDLE = 0,
 
    DW_RADAR_HEALTH_DIAG_MD_EOL = 1,
 
    DW_RADAR_HEALTH_DIAG_MD_DIAG = 2,
 
    DW_RADAR_HEALTH_DIAG_MD_EXTEND_DIAG = 3,
 
    DW_RADAR_HEALTH_DIAG_MD_COUNT = 4,
} dwRadarHealthdiagMD;
 
typedef enum dwRadarHealthSuppVoltStat {
    DW_RADAR_HEALTH_SUPP_VOLT_STAT_WITHIN_LIMITS = 0,
 
    DW_RADAR_HEALTH_SUPP_VOLT_STAT_VOLTAGE_LOW = 1,
 
    DW_RADAR_HEALTH_SUPP_VOLT_STAT_VOLTAGE_HIGH = 2,
 
    DW_RADAR_HEALTH_SUPP_VOLT_STAT_COUNT = 3,
} dwRadarHealthSuppVoltStat;
 
typedef enum dwRadarHealthTempStat {
    DW_RADAR_HEALTH_TEMP_STAT_NORMAL_TEMP = 0,
 
    DW_RADAR_HEALTH_TEMP_STAT_UNDER_TEMP = 1,
 
    DW_RADAR_HEALTH_TEMP_STAT_OVER_TEMP = 2,
 
    DW_RADAR_HEALTH_TEMP_STAT_COUNT = 3,
} dwRadarHealthTempStat;
 
typedef enum dwRadarHealthExternDisturb {
    DW_RADAR_HEALTH_EXTERN_DISTURB_NORMAL = 0,
 
    DW_RADAR_HEALTH_EXTERN_DISTURB_DISTURBED = 1,
 
    DW_RADAR_HEALTH_EXTERN_DISTURB_COUNT = 2,
} dwRadarHealthExternDisturb;
 
typedef enum dwRadarHealthTxPwrRedctnStat {
    DW_RADAR_HEALTH_TX_PWR_REDCTN_STAT_NORMAL = 0,
 
    DW_RADAR_HEALTH_TX_PWR_REDCTN_STAT_PWR_LIMITED = 1,
 
    DW_RADAR_HEALTH_TX_PWR_REDCTN_STAT_COUNT = 2,
} dwRadarHealthTxPwrRedctnStat;
 
typedef enum dwRadarHealthRadomHeatStat {
    DW_RADAR_HEALTH_RADOM_HEAT_STAT_HEATING_OFF = 0,
 
    DW_RADAR_HEALTH_RADOM_HEAT_STAT_HEATING_LVL1 = 1,
 
    DW_RADAR_HEALTH_RADOM_HEAT_STAT_HEATING_LVL2 = 2,
 
    DW_RADAR_HEALTH_RADOM_HEAT_STAT_HEATING_NOT_ENABLED = 3,
 
    DW_RADAR_HEALTH_RADOM_HEAT_STAT_HEATING_RXINV = 4,
 
    DW_RADAR_HEALTH_RADOM_HEAT_STAT_HEATING_FAULT = 5,
 
    DW_RADAR_HEALTH_RADOM_HEAT_STAT_HEATING_CONTROL_FAULT = 6,
 
    DW_RADAR_HEALTH_RADOM_HEAT_STAT_HEATING_COUNT = 7,
} dwRadarHealthRadomHeatStat;
 
typedef enum dwRadarHealthTmSyncStat {
    DW_RADAR_HEALTH_TM_SYNC_STAT_NO_ERROR = 0,
 
    DW_RADAR_HEALTH_TM_SYNC_STAT_TIMEOUT = 1 << 0,
 
    DW_RADAR_HEALTH_TM_SYNC_STAT_SYNC_TO_GATEWAY = 1 << 2,
 
    DW_RADAR_HEALTH_TM_SYNC_STAT_GLOBAL_TIME_BASE = 1 << 3,
 
    DW_RADAR_HEALTH_TM_SYNC_STAT_TIMELEAP_FUTURE = 1 << 4,
 
    DW_RADAR_HEALTH_TM_SYNC_STAT_TIMELEAP_PAST = 1 << 5,
 
    DW_RADAR_HEALTH_TM_SYNC_STAT_LOCAL_TIME_BASE = 1 << 6,
 
    DW_RADAR_HEALTH_TM_SYNC_STAT_INVALID = 1 << 7,
} dwRadarHealthTmSyncStat;
 
typedef enum dwRadarHealthVSMSyncStat {
    DW_RADAR_HEALTH_VSM_SYNC_STAT_NOT_SYNC = 0,
 
    DW_RADAR_HEALTH_VSM_SYNC_STAT_SYNC = 1,
 
    DW_RADAR_HEALTH_VSM_SYNC_STAT_COUNT = 2,
} dwRadarHealthVSMSyncStat;
 
typedef enum dwRadarHealthRangeGateStat {
    DW_RADAR_HEALTH_RANGE_GATE_STAT_FIXED = 0,
 
    DW_RADAR_HEALTH_RANGE_GATE_STAT_ADAPTIVE = 1,
 
    DW_RADAR_HEALTH_RANGE_GATE_STAT_COUNT = 2,
} dwRadarHealthRangeGateStat;
 
typedef enum dwRadarHealthFuSaStat {
    DW_RADAR_HEALTH_FUSA_STAT_DEFAULT = 0,
 
    DW_RADAR_HEALTH_FUSA_STAT_NORM = 1,
 
    DW_RADAR_HEALTH_FUSA_STAT_ERR = 2,
 
    DW_RADAR_HEALTH_FUSA_STAT_COUNT = 3,
} dwRadarHealthFuSaStat;
 
typedef enum dwRadarHealthParkModeStat {
    DW_RADAR_HEALTH_PARK_MODE_STAT_DEACTIVE = 0,
 
    DW_RADAR_HEALTH_PARK_MODE_STAT_ACTIVE = 1,
 
    DW_RADAR_HEALTH_PARK_MODE_STAT_COUNT = 2,
} dwRadarHealthParkModeStat;
 
typedef enum dwRadarFaultStatus {
    DW_RADAR_FAULT_STATUS_OPERATIONAL = 0,
 
    DW_RADAR_FAULT_STATUS_INITIALIZATION = 1,
 
    DW_RADAR_FAULT_STATUS_HW_ERROR = 2,
 
    DW_RADAR_FAULT_STATUS_DSP_ERROR = 3,
 
    DW_RADAR_FAULT_STATUS_COMMUNICATION_ERROR = 4,
 
    DW_RADAR_FAULT_STATUS_TEMPORARY_ERROR = 5,
 
    DW_RADAR_FAULT_STATUS_OTHERS = 6,
 
    DW_RADAR_FAULT_STATUS_RADAR_DISABLED = 7,
} dwRadarFaultStatus;
 
typedef enum dwRadarBlindStatus {
    DW_RADAR_BLIND_STATUS_OPERATIONAL = 0,
 
    DW_RADAR_BLIND_STATUS_TEMPORARY_BLINDNESS = 1,
 
    DW_RADAR_BLIND_STATUS_PERMANANT_BLINDNESS = 2,
 
    DW_RADAR_BLIND_STATUS_ERROR = 3,
} dwRadarBlindStatus;
 
typedef enum dwRadarWindowACTRequest {
    DW_RADAR_WINDOW_ACT_REQ_NO_REQUSTE = 0,
 
    DW_RADAR_WINDOW_ACT_REQ_OPEN_ALL = 1,
} dwRadarWindowACTRequest;
 
typedef enum dwRadarHealthBlockageStat {
    DW_RADAR_HEALTH_BLOCKAGE_STAT_NO_BLOCKAGE = 0,
 
    DW_RADAR_HEALTH_BLOCKAGE_STAT_FULL_BLOCKAGE = 1,
 
    DW_RADAR_HEALTH_BLOCKAGE_STAT_PART_BLOCKAGE_HIGH = 2,
 
    DW_RADAR_HEALTH_BLOCKAGE_STAT_PART_BLOCKAGE_MEDIUM = 3,
 
    DW_RADAR_HEALTH_BLOCKAGE_STAT_PART_BLOCKAGE_LOW = 4,
 
    DW_RADAR_HEALTH_BLOCKAGE_STAT_BLOCKAGE_DEFECT = 5,
 
    DW_RADAR_HEALTH_BLOCKAGE_STAT_BLOCKAGE_CHECK_ACTIVE = 6,
 
    DW_RADAR_HEALTH_BLOCKAGE_STAT_COUNT = 7,
} dwRadarHealthBlockageStat;
 
// Define segment blockage information
typedef enum dwRadarPerfBlockageStat {
    DW_RADAR_PERF_BLOCKAGE_STAT_NO_BLOCKAGE = 0,
 
    DW_RADAR_PERF_BLOCKAGE_STAT_FULL_BLOCKAGE = 1,
 
    DW_RADAR_PERF_BLOCKAGE_STAT_PART_BLOCKAGE_HIGH = 2,
 
    DW_RADAR_PERF_BLOCKAGE_STAT_PART_BLOCKAGE_MEDIUM = 3,
 
    DW_RADAR_PERF_BLOCKAGE_STAT_PART_BLOCKAGE_LOW = 4,
 
    DW_RADAR_PERF_BLOCKAGE_STAT_PART_BLOCKAGE_DEFECT = 5,
 
    DW_RADAR_PERF_BLOCKAGE_STAT_PART_BLOCKAGE_COUNT = 6,
} dwRadarPerfBlockageStat;
 
// Define segment reason
typedef enum dwRadarPerfRedctnRsn {
    DW_RADAR_PERF_REDCTN_RSN_UNKNOWN = 0,
 
    DW_RADAR_PERF_REDCTN_RSN_ABSORPTIVE = 1,
 
    DW_RADAR_PERF_REDCTN_RSN_DISTORTIVE = 2,
 
    DW_RADAR_PERF_REDCTN_RSN_INTERFERENCE = 3,
 
    DW_RADAR_PERF_REDCTN_RSN_SNOW_ON_FASCIA = 4,
 
    DW_RADAR_PERF_REDCTN_RSN_WATER_ON_FASCIA = 5,
 
    DW_RADAR_PERF_REDCTN_RSN_SOIL_ON_FASCIA = 6,
 
    DW_RADAR_PERF_REDCTN_RSN_SCRATCH_ON_FASCIA = 7,
 
    DW_RADAR_PERF_REDCTN_RSN_COUNT = 8,
} dwRadarPerfRedctnRsn;
 
typedef enum dwRadarHealthError {
    DW_RADAR_HEALTH_ERROR_SNA = 1 << 0,
 
    DW_RADAR_HEALTH_ERROR_FRAME_DROP = 1 << 1,
 
    DW_RADAR_HEALTH_ERROR_SODA_CRC = 1 << 2,
 
    DW_RADAR_HEALTH_ERROR_SSI_CRC = 1 << 3,
 
    DW_RADAR_HEALTH_ERROR_FRAME_OVERRRUN = 1 << 4,
 
    DW_RADAR_HEALTH_ERROR_SPLITPDU_NO_DATA_FROM_PUBLISHER = 1 << 5,
 
    DW_RADAR_HEALTH_ERROR_SPLITPDU_NOT_ENOUGH_DATA = 1 << 6,
 
    DW_RADAR_HEALTH_ERROR_SPLITPDU_E2E_FAILURE = 1 << 7,
 
    DW_RADAR_HEALTH_ERROR_SPLITPDU_STATE_MACHINE_DISABLED = 1 << 8,
 
    DW_RADAR_HEALTH_ERROR_AZIMUTH_OUT_OF_RANGE = 1 << 9,
 
    DW_RADAR_HEALTH_ERROR_NUM_RETURNS_OUT_OF_RANGE = 1 << 10,
 
    DW_RADAR_HEALTH_ERROR_ZERO_RETURNS = 1 << 11,
} dwRadarHealthError;
 
typedef struct dwRadarPerfSegmentValidity
{
    bool IDValidity;
 
    bool aziAnglBeginValidity;
 
    bool aziAnglEndValidity;
 
    bool rangeGainValidity;
 
    bool rangeGainRCSValidity;
 
    bool detctnRangeMinValidity;
 
    bool detctnRangeMaxValidity;
 
    bool blockageStatValidity;
 
    bool redctnRsnValidity;
 
    bool percElemsValidity[8];
 
    bool snrRefTargetValidity;
} dwRadarPerfSegmentValidity;
 
typedef struct dwRadarPerfInfoValidity
{
    bool orientRollValidity;
 
    bool cosOffsetXValidity;
 
    bool cosOffsetYValidity;
 
    bool cosOffsetZValidity;
 
    bool validSegAziValidity;
 
    bool validSegElevValidity;
 
    bool totalSegAziValidity;
 
    bool totalSegElevValidity;
 
    bool sizeValidity;
    dwRadarPerfSegmentValidity perfSegmentsValidity[32];
} dwRadarPerfInfoValidity;
 
typedef struct dwRadarHealthInfoValidity
{
    bool oprtnStatValidity;
 
    bool oprtnMdValidity;
 
    bool defectDtctValidity;
 
    bool defectRsnValidity;
 
    bool diagMdValidity;
 
    bool suppVoltStatValidity;
 
    bool tempStatValidity;
 
    bool validInputSignalsCurrValidity;
 
    bool validInputSignalsTrgtValidity;
 
    bool externDisturbValidity;
 
    bool txPwrRedctnStatValidity;
 
    bool radomHeatStatValidity;
 
    bool tmSyncStatValidity;
 
    bool vsmSyncStatValidity;
 
    bool rangeGateStatValidity;
 
    bool fuSaStatValidity;
 
    bool parkModeStatValidity;
 
    bool faultStatusValidity;
 
    bool blindStatusValidity;
 
    bool windowACTRequestValidity;
 
    bool blockageStatValidity;
} dwRadarHealthInfoValidity;
 
typedef struct dwRadarCalibrationInfoValidity
{
    bool baseStatValidity;
 
    bool funcStatValidity;
 
    bool socStatValidity;
 
    bool orientationStatValidity;
 
    bool orientAziValidity;
 
    bool orientElevValidity;
 
    bool orientErrAziValidity;
 
    bool orientErrElevValidity;
 
    bool originPosXValidity;
 
    bool originPosYValidity;
 
    bool originPosZValidity;
 
    bool corrctnLowLmtAziValidity;
 
    bool corrctnLowLmtElevValidity;
 
    bool corrctnUpLmtAziValidity;
 
    bool corrctnUpLmtElevValidity;
 
    bool corrctnOrientAziValidity;
 
    bool corrctnOrientElevValidity;
 
    bool progressPercentValidity;
} dwRadarCalibrationInfoValidity;
 
typedef struct dwRadarSSIValidity
{
    dwRadarCalibrationInfoValidity calibrationInfoValidity;
 
    dwRadarHealthInfoValidity healthInfoValidity;
 
    dwRadarPerfInfoValidity perfInfoValidity;
} dwRadarSSIValidity;
 
typedef struct dwRadarCalibrationInfo
{
    dwRadarCalibrationBaseStat baseStat;
 
    dwRadarCalibrationFuncStat funcStat;
 
    dwRadarCalibrationSOCStat socStat;
 
    dwRadarOrientationStat orientationStat;
 
    float32_t orientAzi;
 
    float32_t orientElev;
 
    float32_t orientErrAzi;
 
    float32_t orientErrElev;
 
    int16_t originPosX;
 
    int16_t originPosY;
 
    int16_t originPosZ;
 
    float32_t corrctnLowLmtAzi;
 
    float32_t corrctnLowLmtElev;
 
    float32_t corrctnUpLmtAzi;
 
    float32_t corrctnUpLmtElev;
 
    float32_t corrctnOrientAzi;
 
    float32_t corrctnOrientElev;
 
    uint8_t progressPercent;
} dwRadarCalibrationInfo;
 
// Define struct for sensor health info
typedef struct dwRadarHealthInfo
{
    dwRadarHealthOprtnStat oprtnStat;
 
    dwRadarHealthOprtnMd oprtnMd;
 
    dwRadarHealthDefectDtct defectDtct;
 
    dwRadarHealthDefectRSN defectRsn;
 
    dwRadarHealthdiagMD diagMd;
 
    dwRadarHealthSuppVoltStat suppVoltStat;
 
    dwRadarHealthTempStat tempStat;
 
    // None
    uint8_t validInputSignalsCurr;
 
    // None
    uint8_t validInputSignalsTrgt;
 
    dwRadarHealthExternDisturb externDisturb;
 
    dwRadarHealthTxPwrRedctnStat txPwrRedctnStat;
 
    dwRadarHealthRadomHeatStat radomHeatStat;
 
    dwRadarHealthTmSyncStat tmSyncStat;
 
    dwRadarHealthVSMSyncStat vsmSyncStat;
 
    dwRadarHealthRangeGateStat rangeGateStat;
 
    dwRadarHealthFuSaStat fuSaStat;
 
    dwRadarHealthParkModeStat parkModeStat;
 
    dwRadarFaultStatus faultStatus;
 
    dwRadarBlindStatus blindStatus;
 
    dwRadarWindowACTRequest windowACTRequest;
 
    dwRadarHealthBlockageStat blockageStat;
} dwRadarHealthInfo;
 
typedef struct dwRadarPerfSegment
{
    uint8_t ID;
 
    float32_t aziAnglBegin;
 
    float32_t aziAnglEnd;
 
    uint8_t rangeGain;
 
    int16_t rangeGainRCS;
 
    float32_t detctnRangeMin;
 
    float32_t detctnRangeMax;
 
    dwRadarPerfBlockageStat blockageStat;
 
    dwRadarPerfRedctnRsn redctnRsn;
 
    uint8_t percElems[8];
 
    float32_t snrRefTarget;
} dwRadarPerfSegment;
 
typedef struct dwRadarPerfInfo
{
    uint8_t orientRoll;
 
    float32_t cosOffsetX;
 
    float32_t cosOffsetY;
 
    float32_t cosOffsetZ;
 
    uint8_t validSegAzi;
 
    uint8_t validSegElev;
 
    uint8_t totalSegAzi;
 
    uint8_t totalSegElev;
 
    uint32_t size;
 
    dwRadarPerfSegment perfSegments[32];
} dwRadarPerfInfo;
 
typedef struct dwRadarSSI
{
    dwTime_t timestamp;
 
    dwRadarSSIValidity validityInfo;
 
    dwRadarCalibrationInfo calibInfo;
 
    dwRadarHealthInfo healthInfo;
 
    dwRadarPerfInfo perfInfo;
 
    dwRadarHealthError healthError;
} dwRadarSSI;
 
// roadcast debug struct with sensor header info and radar SSI
typedef struct dwRadarSSIDebugInfo
{
    uint32_t scanIndex;
 
    dwTime_t sensorTimestamp;
 
    dwTime_t hostTimestamp;
 
    dwRadarScanType scanType;
 
    uint32_t numReturns;
 
    dwRadarSSI RadarSSI;
} dwRadarSSIDebugInfo;
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSORS_RADAR_RADARSSI_H_