Detailed Description

Defines the Radar sensor methods.

Defines the Radar sensor types.

Data Structures
struct	dwRadarScan
	Defines the structure for a complete radar scan. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorRadar_copyScan (dwRadarScan dst, dwRadarScan const src)
	Deep-copy a radar scan. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_getProperties (dwRadarProperties *const radarProperties, dwSensorHandle_t const sensor)
	Gets information about the radar sensor. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_getScanDataSize (size_t size, dwRadarScan const scan)
	Get size of the data buffer of a radar scan. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_processRawData (const dwRadarScan *const data, const uint8_t const rawData, size_t const size, dwSensorHandle_t const sensor)
	Decodes raw data previously read onto the application side structure. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_readData (const dwRadarScan **const data, const dwRadarScanType type, const dwTime_t timeoutUs, dwSensorHandle_t const sensor)
	Reads a single packet, which might be an entire scan or a fraction of a scan, which is sensor dependent. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_readScan (const dwRadarScan **const data, const dwTime_t timeoutUs, dwSensorHandle_t const sensor)
	Reads one scan chunk. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_returnData (const dwRadarScan *const scan, dwSensorHandle_t const sensor)
	Returns the data read to the internal pool. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_returnScan (const dwRadarScan *const scan, dwSensorHandle_t const sensor)
	Returns the data covering an entire scan read to the internal pool. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_setDataDecoding (bool const enable, dwSensorHandle_t const sensor)
	Enables/disables the decoding of the Radar packets, which incurs in additional CPU load. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_setMountPosition (dwRadarMountPosition *const data, dwSensorHandle_t const sensor)
	Sends the radar mount position information to the radar. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_setVehicleState (dwRadarVehicleState *const data, dwSensorHandle_t const sensor)
	Sends vehicle dynamics information to the radar. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_toggleScanType (bool const enable, dwRadarScanType const scanType, dwSensorHandle_t const sensor)
	Enables/Disables a scan type for the radar sensor. More...

Data Structure Documentation

◆ dwRadarScan

struct dwRadarScan

Data Fields
void *	data	Pointer to the array of returns (to be casted based on return type) Size of this array is numReturns.
dwRadarDetectionFFTPatch const *	detectionFFTPatch	Pointer to the array of dwRadarDetectionFFTPatch, size of this array is numReturns.
dwRadarDetectionMisc const *	detectionMisc	Pointer to the array of dwRadarDetectionMisc, size of this array is numReturns.
dwRadarDetectionProbability const *	detectionProbability	Pointer to the array of dwRadarDetectionProbability, size of this array is numReturns.
dwRadarDetectionQuality const *	detectionQuality	Pointer to the array of dwRadarDetectionQuality, size of this array is numReturns.
dwRadarDetectionStdDev const *	detectionStdDev	Pointer to the array of dwRadarDetectionStdDev, size of this array is numReturns.
float32_t	dopplerAmbiguity	Doppler ambiguity free range.
dwTime_t	hostTimestamp	Host timestamp at reception of first packet belonging to this scan (us)
uint32_t	numReturns	Number of radar returns in this scan.
dwRadarScanAmbiguity	radarScanAmbiguity	Radar Scan ambiguity.
dwRadarScanMisc	radarScanMisc	Radar Scan miscellaneous fields.
dwRadarScanSSI const *	radarSSI	radar supplement status info such as calibration info, health signal, performance
uint32_t	scanIndex	Sensor-provided scan index.
dwRadarScanType	scanType	Type of scan.
dwRadarScanValidity	scanValidity	Radar Scan validity If the signal is unavailable or invalid, the value of the signal will be the maximum number of the data type.
dwTime_t	sensorTimestamp	Sensor timestamp at which the current measurement scan was started (us). Same time domain as hostTimestamp.

Function Documentation

◆ dwSensorRadar_copyScan()

DW_API_PUBLIC dwStatus dwSensorRadar_copyScan	(	dwRadarScan *	dst,
		dwRadarScan const *	src
	)

Deep-copy a radar scan.

Will not allocate memory, the buffers in dst must be pre-allocated. The pointers in dst will not be modified, but the memory they are pointing to will be overwritten. All pointers except for radarSSI must be non-nullptr.

Copying of radarSSI is optional: If src->radarSSI is non-nullptr, dst->radarSSI must also be non-nullptr. The buffer will then be copied. Use dwSensorRadar_getProperties() to get the buffer size dwRadarProperties::radarSSISizeInBytes for allocating the dst buffer.

Parameters

[out]	dst	Pointer to destination radar scan object (will be overwritten)
[in]	src	Pointer to source radar scan object

Note: the pointer member in dst and src should not be NULL.

Return values

DW_INVALID_ARGUMENT	invalid pointer. dst is NULL or src is NULL.
DW_SUCCESS	copy successfully.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_getProperties()

DW_API_PUBLIC dwStatus dwSensorRadar_getProperties	(	dwRadarProperties *const	radarProperties,
		dwSensorHandle_t const	sensor
	)

Gets information about the radar sensor.

Parameters

[out]	radarProperties	A pointer to the struct containing the properties of the radar.
[in]	sensor	Sensor handle created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid, which means sensor handle is nullptr or sensor is not a radar.
DW_INVALID_ARGUMENT	input arguments invalid. data is nullptr.
DW_SUCCESS	successful deal.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_getScanDataSize()

DW_API_PUBLIC dwStatus dwSensorRadar_getScanDataSize	(	size_t *	size,
		dwRadarScan const *	scan
	)

Get size of the data buffer of a radar scan.

Parameters

[out]	size	Size of the data section, in bytes
[in]	scan	Pointer to radar scan object

Return values

DW_INVALID_ARGUMENT	size is NULL or scan is NULL.
DW_SUCCESS	get successfully.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_processRawData()

DW_API_PUBLIC dwStatus dwSensorRadar_processRawData	(	const dwRadarScan **const	data,
		const uint8_t *const	rawData,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Decodes raw data previously read onto the application side structure.

This happens on the CPU thread where the function is called, incurring on additional load on that thread.

Parameters

[out]	data	A pointer to a container for the decoded data.
[in]	rawData	A pointer for the non-decoded Radar packet, as returned from 'dwSensor_readRawData()'.
[in]	size	Specifies the size in bytes of the raw data.
[in]	sensor	Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Return values

DW_INVALID_HANDLE	sensor handle is invalid, which means sensor handle is nullptr or sensor is not a radar.
DW_INVALID_ARGUMENT	input arguments invalid. data is nullptr or rawData is nullptr or dataSize in rawData is not equal to size.
DW_CALL_NOT_ALLOWED	Sensor is decoding.
DW_SUCCESS	successful deal.
DW_TIME_OUT	time out.

Note: The returned dwRadarScan is only valid till the next 'dwSensorRadar_processRawData()' call.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_readData()

DW_API_PUBLIC dwStatus dwSensorRadar_readData	(	const dwRadarScan **const	data,
		const dwRadarScanType	type,
		const dwTime_t	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads a single packet, which might be an entire scan or a fraction of a scan, which is sensor dependent.

The data return to users is decoded from rawdata by DW, which is relative to 'dwSensor_readRawData'. The pointer returned is to the internal data pool. DW guarantees that the data remains constant until returned by the application. The data must be explicitly returned by the application.

Note: dwSensorRadar_returnData should be called if user doesn't need the data anymore.

Parameters

[out]	data	A pointer to a pointer to the decoded data read from the sensor. The struct contains the numbers of points read, which depends on the sensor used.
[in]	type	Type of scan requested
[in]	timeoutUs	Specifies the timeout in microseconds. Special values: DW_TIMEOUT_INFINITE - to wait infinitely. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Note: The scanType.returnType should be less than DW_RADAR_RETURN_TYPE_COUNT. The scanType.range should be less than DW_RADAR_RANGE_COUNT.

Return values

DW_INVALID_HANDLE	sensor handle is invalid, which means sensor handle is nullptr or sensor is not a radar.
DW_CALL_NOT_ALLOWED	Sensor is not decoding.
DW_INVALID_ARGUMENT	input arguments invalid.(type.returnType < 0, type.range < 0, data is nullptr)
DW_SUCCESS	successful deal.
DW_TIME_OUT	time out.
DW_NOT_AVAILABLE	Sensor stops or scan type in type is not supported

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_readScan()

DW_API_PUBLIC dwStatus dwSensorRadar_readScan	(	const dwRadarScan **const	data,
		const dwTime_t	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads one scan chunk.

The pointer returned is to the internal data pool. DW guarantees that the data remains constant until returned by the application. The data must be explicitly returned by the application.

Note: This method returns the oldest scan contained in the internal pool.

Parameters

[out]	data	A pointer to a pointer to a decoded scan from the sensor. The struct contains the numbers of points read, which depends on the sensor used.
[in]	timeoutUs	Specifies the timeout in microseconds. Special values: DW_TIMEOUT_INFINITE - to wait infinitely. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid, which means sensor handle is nullptr or sensor is not a radar.
DW_INVALID_ARGUMENT	input arguments invalid. data is nullptr.
DW_CALL_NOT_ALLOWED	Sensor is not decoding.
DW_SUCCESS	successful deal.
DW_TIME_OUT	time out.
DW_NOT_AVAILABLE	Sensor stops.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_returnData()

DW_API_PUBLIC dwStatus dwSensorRadar_returnData	(	const dwRadarScan *const	scan,
		dwSensorHandle_t const	sensor
	)

Returns the data read to the internal pool.

At this point the pointer is still valid, but data is changed based on newer readings of the sensor.

Parameters

[in]	scan	A pointer to the scan data previously read from the Radar using 'dwSensorRadar_readData()' to be returned to the pool.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid, which means sensor handle is nullptr or sensor is not a radar.
DW_INVALID_ARGUMENT	input arguments invalid. data is nullptr.
DW_CALL_NOT_ALLOWED	Sensor is not decoding.
DW_SUCCESS	successful deal.
DW_TIME_OUT	time out.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_returnScan()

DW_API_PUBLIC dwStatus dwSensorRadar_returnScan	(	const dwRadarScan *const	scan,
		dwSensorHandle_t const	sensor
	)

Returns the data covering an entire scan read to the internal pool.

At this point the pointer is still valid, but data is changed based on newer readings of the sensor.

Parameters

[in]	scan	A pointer to an entire scan's data previously read from the Radar using 'dwSensorRadar_readScan()' to be returned to the pool.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid, which means sensor handle is nullptr or sensor is not a radar.
DW_INVALID_ARGUMENT	input arguments invalid. data is nullptr.
DW_CALL_NOT_ALLOWED	Sensor is not decoding.
DW_SUCCESS	successful deal.
DW_TIME_OUT	time out.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_setDataDecoding()

DW_API_PUBLIC dwStatus dwSensorRadar_setDataDecoding	(	bool const	enable,
		dwSensorHandle_t const	sensor
	)

Enables/disables the decoding of the Radar packets, which incurs in additional CPU load.

Method fails if the sensor has been started and is capturing data. Stop the sensor first.

Parameters

[in]	enable	Specifies TRUE when decoding, false if RAW data.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor()

Return values

DW_INVALID_HANDLE	sensor handle is invalid, which means sensor handle is nullptr or sensor is not a radar.
DW_CALL_NOT_ALLOWED	operation is not allowed now. Radar started and running.
DW_SUCCESS	successful deal.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_setMountPosition()

DW_API_PUBLIC dwStatus dwSensorRadar_setMountPosition	(	dwRadarMountPosition *const	data,
		dwSensorHandle_t const	sensor
	)

Sends the radar mount position information to the radar.

Parameters

[in]	data	A pointer to the struct containing the radar mount position information to send.
[in]	sensor	Sensor handle created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid, which means sensor handle is nullptr or sensor is not a radar.
DW_INVALID_ARGUMENT	input argument invalid. data is nullptr.
DW_SUCCESS	successful deal.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_setVehicleState()

DW_API_PUBLIC dwStatus dwSensorRadar_setVehicleState	(	dwRadarVehicleState *const	data,
		dwSensorHandle_t const	sensor
	)

Sends vehicle dynamics information to the radar.

Parameters

[in]	data	A pointer to the struct containing the vehicle dynamics information to send
[in]	sensor	Sensor handle created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid, which means sensor handle is nullptr or sensor is not a radar.
DW_INVALID_ARGUMENT	input arguments invalid. data is nullptr.
DW_SUCCESS	successful deal.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

◆ dwSensorRadar_toggleScanType()

DW_API_PUBLIC dwStatus dwSensorRadar_toggleScanType	(	bool const	enable,
		dwRadarScanType const	scanType,
		dwSensorHandle_t const	sensor
	)

Enables/Disables a scan type for the radar sensor.

Method fails if the sensor does not support the specified scan type OR the sensor has been started and is capturing data.

Parameters

[in]	enable	Specifies if the scan should be enabled or disabled, true for enable.
[in]	scanType	Specifies the scan type to enable/disable. The range of this parameters should be in struct value of dwRadarReturnType and dwRadarRange.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Note: The scanType.returnType should be less than DW_RADAR_RETURN_TYPE_COUNT. The scanType.range should be less than DW_RADAR_RANGE_COUNT.

Return values

DW_INVALID_HANDLE	sensor handle is invalid, which means sensor handle is nullptr or sensor is not a radar
DW_INVALID_ARGUMENT	input arguments invalid. (scanType.returnType < 0 or scanType.range < 0)
DW_CALL_NOT_ALLOWED	operation is not allowed now. Radar started and running.
DW_SUCCESS	successful deal.
DW_NOT_SUPPORTED	The scan type in scanType is not supported.

API Group

Init: Yes
Runtime: Yes
De-Init: Yes

Detailed Description

Data Structures

Functions

Data Structure Documentation

◆ dwRadarScan

Function Documentation

◆ dwSensorRadar_copyScan()

◆ dwSensorRadar_getProperties()

◆ dwSensorRadar_getScanDataSize()

◆ dwSensorRadar_processRawData()

◆ dwSensorRadar_readData()

◆ dwSensorRadar_readScan()

◆ dwSensorRadar_returnData()

◆ dwSensorRadar_returnScan()

◆ dwSensorRadar_setDataDecoding()

◆ dwSensorRadar_setMountPosition()

◆ dwSensorRadar_setVehicleState()

◆ dwSensorRadar_toggleScanType()