Detailed Description

Defines the Data sensor structure.

Data Structures
struct	dwDataPacket
	Holds a data packet. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorData_readPacket (const dwDataPacket **const packet, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads the next data packet. More...

DW_API_PUBLIC dwStatus	dwSensorData_returnPacket (dwDataPacket const *const scan, dwSensorHandle_t const sensor)
	Returns the data previously read to the internal pool. More...

Data Structure Documentation

◆ dwDataPacket

struct dwDataPacket

Data Fields
dwTime_t	hostTimestamp	Timestamp of the message in microseconds (using clock of the context).
uint8_t *	raw	Payload.
size_t	size	Number of bytes of the payload.

Function Documentation

◆ dwSensorData_readPacket()

DW_API_PUBLIC dwStatus dwSensorData_readPacket	(	const dwDataPacket **const	packet,
		dwTime_t const	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads the next data packet.

The pointer returned is to the internal data pool. The data must be explicitly returned by the application. The method blocks until either a new valid frame is received from the sensor or the given timeout exceeds.

Parameters

[out]	packet	A pointer to a data packet read from the sensor.
[in]	timeoutUs	Specifies the timeout in microseconds. Special values: DW_TIMEOUT_INFINITE - to wait infinitely. Zero - means polling of internal queue. Normalized value in the range 0-5000000.
[in]	sensor	Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Returns: DW_INVALID_HANDLE if given sensor handle is nullptr.
DW_INVALID_ARGUMENT if given pointer to a data packet read is nullptr.
DW_NOT_AVAILABLE if sensor has not been started or data is not available in polling mode.
DW_CALL_NOT_ALLOWED if dwSensorData_returnPacket is not called after prior dwSensorData_readPacket call.
DW_TIME_OUT if socket connection for data reading or queue holding data packets operations have timeout.
DW_SUCCESS if read next data packet successfully.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorData_returnPacket()

DW_API_PUBLIC dwStatus dwSensorData_returnPacket	(	dwDataPacket const *const	scan,
		dwSensorHandle_t const	sensor
	)

Returns the data previously read to the internal pool.

This API does not perform any of the functionality of this SW unit, but support API dwSensorData_readPacket. dwSensorData_readPacket in fact provides temporarily an packet, in the form of a pointer to an element of queue, to the User. While the element is in use by the User it is not part of the queue and not used by this SW unit; when the User does not need anymore the packet the element shall be returned in order to be used again. This API allows returning the packet previously read via API dwSensorData_readPacket to the queue.