Detailed Description

NVIDIA DriveWorks API: Sensors

Description: This file defines the sensor abstraction layer (SAL).

Definition in file Sensors.h.

Data Structures
struct	dwSensorParams
	Holds sets of parameters for sensor creation. More...

struct	dwSensorSeekTable

struct	dwSensorSeekTableEntry
	A seek structure is made of memory offset, eventcount and timestamp. More...

struct	dwSensorStats
	Holds the available statistics for a sensor. More...

struct	dwSensorTsAndID

struct	dwSensorVehicleState
	Vehicle State inputs. More...

struct	dwSensorVehicleState.validityInfo
	Validity info. More...

Macros
#define	DW_SENSOR_ERROR_ID_OFFSET (1U << DW_SENSOR_ERROR_ID_OFFSET_BIT)
	offset of dwSensorErrorID when reported via module health service More...

#define	DW_SENSOR_ERROR_ID_OFFSET_BIT 24U
	bit-shift of dwSensorErrorID when reported via module health service More...

#define	DW_SENSOR_MAX_PARAMETER_STRING_LENGTH 512
	Maximal length of the parameter string of a sensor. More...

#define	DW_SENSOR_MAX_PROTOCOL_NAME_LENGTH 32
	Maximal length of the protocol name of a sensor. More...

Typedefs
typedef struct dwSALObject *	dwSALHandle_t
	Handle representing the Sensor Abstraction Layer interface. More...

typedef struct dwSensorObject *	dwSensorHandle_t
	Handle representing a sensor. More...

Enumerations
enum	dwPlatformOS { DW_PLATFORM_OS_LINUX = 0 , DW_PLATFORM_OS_V5L = 1 , DW_PLATFORM_OS_V5Q = 2 , DW_PLATFORM_NUM = 3 }
	Defines the operating system in use. More...

enum	dwSensorDrivingDirection { DW_SENSOR_DRIVING_DIRECTION_UNKNOWN = 0 , DW_SENSOR_DRIVING_DIRECTION_FORWARD = 1 , DW_SENSOR_DRIVING_DIRECTION_BACKWARD = 2 }
	Driving Direction options. More...

enum	dwSensorErrorID { DW_SENSOR_ERROR_CODE_INVALID = 0 , DW_SENSOR_ERROR_CODE_NO_NEW_DATA = 1 }
	Sensor Error ID to be used in, e.g., dwErrorSignal.errorID[31:24] when DW_SENSOR_ERROR_CODE_OFFSET_BIT equals 24. More...

enum	dwSensorStatTimeDifference { DW_SENSOR_STATE_DELTA_HOST_AND_HOST_TIME = 0 , DW_SENSOR_STATE_DELTA_SENSOR_AND_SENSOR_TIME = 1 , DW_SENSOR_STATE_DELTA_HOST_AND_SENSOR_TIME = 2 , DW_SENSOR_STATE_DELTA_CURRENT_AND_HOST_TIME = 3 , DW_SENSOR_STATE_SENSOR_STAT_COUNT = 4 }
	Defines the various delta used in statistics. More...

enum	dwSensorType { DW_SENSOR_CAMERA = 0 , DW_SENSOR_LIDAR , DW_SENSOR_GPS , DW_SENSOR_IMU , DW_SENSOR_CAN , DW_SENSOR_RADAR , DW_SENSOR_TIME , DW_SENSOR_DATA , DW_SENSOR_ULTRASONIC , DW_SENSOR_COUNT }
	Defines the type of sensors that are available in DriveWorks. More...

Functions
DW_API_PUBLIC dwStatus	dwSAL_createSensor (dwSensorHandle_t *const sensor, dwSensorParams const params, dwSALHandle_t const sal)
	Creates a new sensor managed by the SAL module with the given parameters. More...

DW_API_PUBLIC dwStatus	dwSAL_getNumSensors (uint32_t *const num, dwPlatformOS const os, dwSALHandle_t const sal)
	Gets number of available sensors for a platform. More...

DW_API_PUBLIC dwStatus	dwSAL_getPlatform (dwPlatformOS *const os, dwSALHandle_t sal)
	Gets current platform the SDK is running on. More...

DW_API_PUBLIC dwStatus	dwSAL_getPlatformInfo (char8_t const **const osName, dwPlatformOS const os, dwSALHandle_t const sal)
	Gets detailed information about the running hardware platform and operating system. More...

DW_API_PUBLIC dwStatus	dwSAL_getSensorParameterString (const char **const parameters, uint32_t const idx, dwPlatformOS const os, dwSALHandle_t const sal)
	Gets the parameter string acceptable by a sensor. More...

DW_API_PUBLIC dwStatus	dwSAL_getSensorProtocol (const char **const name, uint32_t const idx, dwPlatformOS const os, dwSALHandle_t const sal)
	Gets protocol name of a sensor for a given index, e.g., 'camera.gmsl' or 'can.file'. More...

DW_API_PUBLIC dwStatus	dwSAL_initialize (dwSALHandle_t *const sal, dwContextHandle_t const context)
	Creates and initializes a SAL (sensor abstraction layer) module. More...

DW_API_PUBLIC dwStatus	dwSAL_release (dwSALHandle_t const sal)
	Releases the SAL (sensor abstraction layer) module. More...

DW_API_PUBLIC dwStatus	dwSAL_releaseSensor (dwSensorHandle_t const sensor)
	Releases a sensor managed by the SAL module. More...

DW_API_PUBLIC dwStatus	dwSAL_reset (dwSALHandle_t const sal)
	Resets the SAL (sensor abstraction layer) module. More...

DW_API_PUBLIC dwStatus	dwSAL_setVehicleState (dwSensorVehicleState *const vehicleState, dwSALHandle_t const sal)
	Pass vehicle state to all sensors. More...

DW_API_PUBLIC dwStatus	dwSAL_start (dwSALHandle_t const sal)
	Bootstraps all sensors managed by the SAL module. More...

DW_API_PUBLIC dwStatus	dwSensor_createSeekTable (dwSensorHandle_t const sensor)
	Forces recreation of the seek table, for sensors that support seeking. More...

DW_API_PUBLIC dwStatus	dwSensor_getCurrentSeekPosition (size_t *const event, dwSensorHandle_t const sensor)
	Gets the current seek position of the sensor. More...

dwStatus	dwSensor_getHeader (uint8_t const *const buffer, size_t bufferSize, dwSensorHandle_t const sensor)

DW_API_PUBLIC dwStatus	dwSensor_getNumSeekTableEntries (size_t *const size, dwSensorHandle_t const hsensor)
	Get the number of entries in the seek Table. More...

DW_API_PUBLIC dwStatus	dwSensor_getSeekRange (size_t const eventCount, dwTime_t const startTimestampUs, dwTime_t *const endTimestampUs, dwSensorHandle_t const sensor)
	Retrieves the valid range of seek parameters, for sensors that support seeking. More...

DW_API_PUBLIC dwStatus	dwSensor_getSeekTableEntries (dwSensorSeekTableEntry *const entries, size_t const numEntries, dwSensorHandle_t const sensor)
	Fill in the pre-allocated dwSensorSeekTableEntry array. More...

DW_API_PUBLIC dwStatus	dwSensor_getStats (dwSensorStats *const stats, dwSensorHandle_t const sensor)
	Gets sensor statistics (if available). More...

DW_API_PUBLIC dwStatus	dwSensor_readRawData (const uint8_t *const data, size_t const size, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
	Reads RAW data from sensor as byte array. More...

DW_API_PUBLIC dwStatus	dwSensor_reset (dwSensorHandle_t const sensor)
	Resets the sensor. More...

DW_API_PUBLIC dwStatus	dwSensor_returnRawData (const uint8_t *const data, dwSensorHandle_t const sensor)
	Returns RAW data to sensor as a byte array. More...

DW_API_PUBLIC dwStatus	dwSensor_saveSeekTable (const char *const fileName, dwSensorHandle_t const sensor)
	Saves the seek table for the sensor to a file, for sensors that support seek tables. More...

DW_API_PUBLIC dwStatus	dwSensor_seekToEvent (size_t const event, dwSensorHandle_t const sensor)
	Seeks the sensor to an event, for sensors that support seeking. More...

DW_API_PUBLIC dwStatus	dwSensor_seekToTime (dwTime_t const timestampUs, dwSensorHandle_t const sensor)
	Seeks the sensor to a specific timestamp, for sensors that support seeking. More...

DW_API_PUBLIC dwStatus	dwSensor_setThreadAffinity (uint32_t const affinityMask, dwSensorHandle_t const sensor)
	Sets the affinity of the internal thread, for sensors that use an internal thread to communicate to the OS drivers. More...

DW_API_PUBLIC dwStatus	dwSensor_setThreadPriority (int32_t const priority, dwSensorHandle_t const sensor)
	Sets the priority of the internal thread, for sensors that use an internal thread to communicate to the OS drivers. More...

DW_API_PUBLIC dwStatus	dwSensor_start (dwSensorHandle_t const sensor)
	Starts the sensor previously successfully created with 'dwSAL_createSensor()'. More...

DW_API_PUBLIC dwStatus	dwSensor_stop (dwSensorHandle_t const sensor)
	Stops the sensor. More...

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions