dwLidarBatchNode.hpp

Go to the documentation of this file.

 
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA CORPORATION & AFFILIATES assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA CORPORATION & AFFILIATES. No third party distribution is allowed unless
// expressly authorized by NVIDIA. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA CORPORATION & AFFILIATES products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA CORPORATION & AFFILIATES.
//
// SPDX-FileCopyrightText: Copyright (c) 2020-2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: LicenseRef-NvidiaProprietary
//
// NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
// property and proprietary rights in and to this material, related
// documentation and any modifications thereto. Any use, reproduction,
// disclosure or distribution of this material and related documentation
// without an express license agreement from NVIDIA CORPORATION or
// its affiliates is strictly prohibited.
//
 
#ifndef DW_FRAMEWORK_LIDAR_BATCH_NODE_HPP_
#define DW_FRAMEWORK_LIDAR_BATCH_NODE_HPP_
 
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/SensorCommonTypes.hpp>
#include <dwframework/dwnodes/common/ChannelPacketTypes.hpp>
 
#include <dw/sensors/Sensors.h>
#include <dw/sensors/lidar/Lidar.h>
 
namespace dw
{
namespace framework
{
 
class dwLidarBatchNode : public ExceptionSafeSensorNode
{
public:
    static constexpr char LOG_TAG[] = "dwLidarBatchNode";
 
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "SENSOR_EXTRINSICS"_sv),
            DW_DESCRIBE_PORT(dwTime_t, "VIRTUAL_SYNC_TIME"_sv));
    };
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwSensorNodeProperties, "SENSOR_PROPERTIES"_sv),
            DW_DESCRIBE_PORT(dwLidarPacketsArray, "PROCESSED_DATA"_sv),
            DW_DESCRIBE_PORT(dwSensorNodeRawData, "RAW_DATA"_sv),
            DW_DESCRIBE_PORT(dwSensorTsAndID, "TIMESTAMP"_sv),
            DW_DESCRIBE_PORT(dwTime_t, "NEXT_TIMESTAMP"_sv));
    };
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("RAW_OUTPUT"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PROCESSED_OUTPUT"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<const char*, dwRigHandle_t, dwSALHandle_t, dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_INDEX_PARAMETER_WITH_SEMANTIC(
                    const char*,
                    semantic_parameter_types::LidarName,
                    "sensorId"_sv)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwRigHandle_t)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwSALHandle_t)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    static std::unique_ptr<dwLidarBatchNode> create(ParameterProvider& provider);
 
    dwStatus getLidarProperties(dwLidarProperties* prop); // the node needs to know the properties of sensor from the DW functions
 
    dwLidarBatchNode(const char* sensorName, dwConstRigHandle_t rigHandle,
                     dwSALHandle_t sal, dwContextHandle_t ctx);
    dwLidarBatchNode(const dwSensorParams& params, dwSALHandle_t sal,
                     dwContextHandle_t ctx);
};
 
} // namespace framework
} // namespace dw
#endif // DW_FRAMEWORK_LIDARNODE_BATCH_HPP_