Detailed Description

Defines the core Context methods of the SDK.

Data Structures
struct	dwContextParameters
	A set of parameters that is passed to the SDK to create the context. More...

struct	dwCustomizedFileFunctions
	Data structure representing a customized FileStream that can be passed in. More...

Typedefs
typedef struct dwContextObject const *	dwConstContextHandle_t

typedef struct dwModuleObject const *	dwConstModuleHandle_t

typedef struct dwContextObject *	dwContextHandle_t
	Context handle. More...

typedef void *	dwCustomizedFileHandle
	FileStream function pointers handle. More...

typedef struct dwModuleObject *	dwModuleHandle_t

typedef struct dwVisualizationContextObject const *	dwVisualizationConstContextHandle_t

typedef struct dwVisualizationContextObject *	dwVisualizationContextHandle_t
	Context handle. More...

Functions
DW_API_PUBLIC dwStatus	dwContext_advanceTime (dwTime_t const newTime, dwContextHandle_t const context)
	Advances the virtual time to newTime. More...

DW_API_PUBLIC dwStatus	dwContext_getCUDAProperties (int32_t const driverVersion, int32_t const apiVersion, dwContextHandle_t const context)
	Returns Driver and Runtime API version of CUDA on the current machine. More...

DW_API_PUBLIC dwStatus	dwContext_getCurrentTime (dwTime_t *const time, dwContextHandle_t const context)
	Returns the current timestamp. More...

DW_API_PUBLIC dwStatus	dwContext_getDataPath (char8_t const **const dataPath, dwContextHandle_t const context)
	Gets the initial data path of the library that contains the driveworks context. More...

DW_API_PUBLIC dwStatus	dwContext_getDLAEngineCount (int32_t *const count, dwContextHandle_t const context)
	Get the available DLA engines count. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUArchitecture (char8_t const **const architecture, dwContextHandle_t const context)
	Returns the architecture for the currently selected CUDA device. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUAttribute (int32_t *const value, cudaDeviceAttr const attribute, int32_t const deviceNum, dwContextHandle_t const context)
	Returns the value of the selected CUDA attribute for the specific CUDA device. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUCount (int32_t *const count, dwContextHandle_t const context)
	Get the available GPU devices count. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUDeviceCurrent (int32_t *const deviceNumber, dwContextHandle_t const context)
	Returns the currently selected GPU device. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUDeviceType (dwGPUDeviceType *const deviceType, int32_t const deviceNum, dwContextHandle_t const context)
	Returns the device type of the input GPU number. More...

DW_API_PUBLIC dwStatus	dwContext_getGPUProperties (cudaDeviceProp *const properties, int32_t const deviceNum, dwContextHandle_t const context)
	Returns the properties for the specific CUDA device. More...

DW_API_PUBLIC dwStatus	dwContext_getTimeSource (dwTimeSourceHandle_t *const source, dwContextHandle_t const context)
	Retrieve time source used in the context. More...

DW_API_PUBLIC dwStatus	dwContext_getUseVirtualTime (bool *const useVirtualTime, dwContextHandle_t const ctx)
	Check if in virtual time mode. More...

DW_API_PUBLIC dwStatus	dwContext_isTimePTPSynchronized (bool *const flag, dwContextHandle_t const context)
	Check if the used time source inside the context is synchronized over PTP. More...

DW_API_PUBLIC dwStatus	dwContext_selectGPUDevice (int32_t const deviceNumber, dwContextHandle_t const context)
	Selects a GPU device, if available. More...

DW_API_PUBLIC dwStatus	dwContext_setCustomFileFunctions (dwContextHandle_t const context, dwCustomizedFileFunctions *const fileFunctionPtr)
	Set the customized fileStream function pointers in context. More...

DW_API_PUBLIC dwStatus	dwGetLastError (char8_t const **const errorMsg)
	Retrieves the last error encountered. More...

DW_API_PUBLIC dwStatus	dwInitialize (dwContextHandle_t const context, dwVersion const headerVersion, dwContextParameters const const params)
	Creates and initializes an SDK context. More...

DW_API_PUBLIC dwStatus	dwRelease (dwContextHandle_t const context)
	Releases the context. More...

DW_VIZ_API_PUBLIC dwStatus	dwVisualizationGetDWContext (dwContextHandle_t *dwctx, dwVisualizationContextHandle_t context)
	Return DW context associated with this visualization library. More...

DW_VIZ_API_PUBLIC dwStatus	dwVisualizationInitialize (dwVisualizationContextHandle_t *vizContext, dwContextHandle_t ctx)
	Creates and initializes a Visualization SDK context. More...

DW_VIZ_API_PUBLIC dwStatus	dwVisualizationRelease (dwVisualizationContextHandle_t context)
	Releases the context. More...

Data Structure Documentation

◆ dwContextParameters

struct dwContextParameters

Data Fields
const char8_t *	dataPath	Path where all DriveWorks related data required during runtime are stored. If path is set to NULL, then a data folder is looked for in typical install locations in relation to the current driveworks library install location.
bool	enableCudaTaskGraph	if true, Cuda task-graph will be used where possible.
bool	enablePVA	if true, PVA platform will be enabled. Note Without PVA some SDK modules will stop working properly. There can be maximum 4 SDK contexts with PVA running simultaneously. This parameter only has effect on platforms containing PVA, it is otherwise ignored.
bool	skipCudaInit	if true will skip CUDA initialization in the context Note Without CUDA some SDK modules will stop working properly.
bool	useVirtualTime	if true, the context's time source will be a virtual clock. This clock must be advanced manually, see `dwContext_advanceTime`

Typedef Documentation

◆ dwConstContextHandle_t

typedef struct dwContextObject const* dwConstContextHandle_t

Definition at line 83 of file Context.h.

◆ dwConstModuleHandle_t

typedef struct dwModuleObject const* dwConstModuleHandle_t

Definition at line 86 of file Context.h.

◆ dwContextHandle_t

typedef struct dwContextObject* dwContextHandle_t

Context handle.

Definition at line 82 of file Context.h.

◆ dwCustomizedFileHandle

typedef void* dwCustomizedFileHandle

FileStream function pointers handle.

Definition at line 138 of file Context.h.

◆ dwModuleHandle_t

typedef struct dwModuleObject* dwModuleHandle_t

Definition at line 85 of file Context.h.

◆ dwVisualizationConstContextHandle_t

typedef struct dwVisualizationContextObject const* dwVisualizationConstContextHandle_t

Definition at line 68 of file Visualization.h.

◆ dwVisualizationContextHandle_t

typedef struct dwVisualizationContextObject* dwVisualizationContextHandle_t

Context handle.

Definition at line 67 of file Visualization.h.

Function Documentation

◆ dwContext_advanceTime()

DW_API_PUBLIC dwStatus dwContext_advanceTime	(	dwTime_t const	newTime,
		dwContextHandle_t const	context
	)

Advances the virtual time to newTime.

Returns

DW_INVALID_ARGUMENT

if the given context is NULL.

DW_INVALID_HANDLE if given context handle is not valid.
DW_CALL_NOT_ALLOWED if the given context is not using a virtual time source.
DW_SUCCESS if no error occurs.

◆ dwContext_getCUDAProperties()

DW_API_PUBLIC dwStatus dwContext_getCUDAProperties	(	int32_t *const	driverVersion,
		int32_t *const	apiVersion,
		dwContextHandle_t const	context
	)

Returns Driver and Runtime API version of CUDA on the current machine.

Parameters

[out]	driverVersion	Driver version.
[out]	apiVersion	Runtime API version.
[in]	context	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if context handle, driverVersion or apiVersion are NULL.

DW_INVALID_HANDLE if given context handle is not valid.
DW_CUDA_ERROR in case of an underlying CUDA failure.
DW_SUCCESS if no error occurs.

◆ dwContext_getCurrentTime()

DW_API_PUBLIC dwStatus dwContext_getCurrentTime	(	dwTime_t *const	time,
		dwContextHandle_t const	context
	)

Returns the current timestamp.

Timestamps from the same context are guaranteed to be in sync. The returned time represents the absolute time as received through system time source. On POSIX based systems, the time is measured using CLOCK_MONOTONIC time source. On Windows based systems, the returned time is relative to the epoch, i.e., 31std dec, 1969.

Note: An offset is calculated and added to CLOCK_MONOTONIC, to ensure the time has an epoch base.

Parameters

[out]	time	A pointer to the return time to a given location, in [us].
[in]	context	Specifies the context.

Returns

DW_INVALID_ARGUMENT

if given context handle or time is NULL.

DW_INVALID_HANDLE if given context handle is not valid.
DW_SUCCESS if no error occurs.

◆ dwContext_getDataPath()

DW_API_PUBLIC dwStatus dwContext_getDataPath	(	char8_t const **const	dataPath,
		dwContextHandle_t const	context
	)

Gets the initial data path of the library that contains the driveworks context.

Note: Later added data paths are not returned here.

Parameters

[out]	dataPath	Path to the Driveworks data.
[in]	context	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if context handle or descriptor pointer is NULL.

DW_INVALID_HANDLE if given context handle is not valid.
DW_SUCCESS if no error occurs.

◆ dwContext_getDLAEngineCount()

DW_API_PUBLIC dwStatus dwContext_getDLAEngineCount	(	int32_t *const	count,
		dwContextHandle_t const	context
	)

Get the available DLA engines count.

Parameters

[out]	count	The number of DLA engines available.
[in]	context	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if context handle or descriptor pointer is NULL.

DW_INVALID_HANDLE if given context handle is not valid.
DW_SUCCESS if no error occurs.

◆ dwContext_getGPUArchitecture()

DW_API_PUBLIC dwStatus dwContext_getGPUArchitecture	(	char8_t const **const	architecture,
		dwContextHandle_t const	context
	)

Returns the architecture for the currently selected CUDA device.

Parameters

[out]	architecture	A string containing the architecture.
[in]	context	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if value pointer or context handle is NULL.

DW_INVALID_HANDLE if given context handle is not valid.
DW_SUCCESS if no error occurs.

◆ dwContext_getGPUAttribute()

DW_API_PUBLIC dwStatus dwContext_getGPUAttribute	(	int32_t *const	value,
		cudaDeviceAttr const	attribute,
		int32_t const	deviceNum,
		dwContextHandle_t const	context
	)

Returns the value of the selected CUDA attribute for the specific CUDA device.

Parameters

[out]	value	Integer representing the value of the requested attribute.
[in]	attribute	Specifies the attribute requested.
[in]	deviceNum	Specifies the device number.
[in]	context	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if value pointer or context handle is NULL or context is NULL or if the input device number does not match to the number of available devices or if the selected device doesn't exist.

DW_INVALID_HANDLE if given context handle is not valid.
DW_CUDA_ERROR in case of an underlying CUDA failure
DW_NOT_AVAILABLE if no GPU devices are available
DW_SUCCESS if no error occurs.

◆ dwContext_getGPUCount()

DW_API_PUBLIC dwStatus dwContext_getGPUCount	(	int32_t *const	count,
		dwContextHandle_t const	context
	)

Get the available GPU devices count.

Parameters

[out]	count	The number of GPU devices available.
[in]	context	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if context handle is NULL.

DW_INVALID_HANDLE if given context handle is not valid.
DW_SUCCESS if no error occurs.

◆ dwContext_getGPUDeviceCurrent()

DW_API_PUBLIC dwStatus dwContext_getGPUDeviceCurrent	(	int32_t *const	deviceNumber,
		dwContextHandle_t const	context
	)

Returns the currently selected GPU device.

If no device is selected, will return -1.

Parameters

[out]	deviceNumber	The number of GPU device.
[in]	context	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if context handle is NULL.

DW_INVALID_HANDLE if given context handle is not valid.
DW_SUCCESS if no error occurs.

◆ dwContext_getGPUDeviceType()

DW_API_PUBLIC dwStatus dwContext_getGPUDeviceType	(	dwGPUDeviceType *const	deviceType,
		int32_t const	deviceNum,
		dwContextHandle_t const	context
	)

Returns the device type of the input GPU number.

Parameters

[out]	deviceType	The type of GPU device.
[in]	deviceNum	Specifies the device number.
[in]	context	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if context handle is NULL or number is invalid or if the input device number does not match to the number of available devices.

DW_INVALID_HANDLE if given context handle is not valid.
DW_SUCCESS if no error occurs.

◆ dwContext_getGPUProperties()

DW_API_PUBLIC dwStatus dwContext_getGPUProperties	(	cudaDeviceProp *const	properties,
		int32_t const	deviceNum,
		dwContextHandle_t const	context
	)

Returns the properties for the specific CUDA device.

Parameters

[out]	properties	A struct containing the properties.
[in]	deviceNum	Specifies the device number.
[in]	context	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if value pointer or context handle is NULL or deviceNum doesn't exist or if the input device number does not match to the number of available devices.

DW_INVALID_HANDLE if given context handle is not valid.
DW_CUDA_ERROR in case of an underlying CUDA failure.
DW_NOT_AVAILABLE if no GPU devices are available.
DW_SUCCESS if no error occurs.

◆ dwContext_getTimeSource()

DW_API_PUBLIC dwStatus dwContext_getTimeSource	(	dwTimeSourceHandle_t *const	source,
		dwContextHandle_t const	context
	)

Retrieve time source used in the context.

Parameters

[out]	source	Hadle to the time source used by the context
[in]	context	Specifies the context.

Returns: DW_INVALID_ARGUMENT if given context handle or source is. NULL. Provide valid input parameters.
DW_INVALID_HANDLE if given context handle is not valid. Provide a valid context pointer.
DW_SUCCESS

Note: Ownership of the time source remains by the context.

◆ dwContext_getUseVirtualTime()

DW_API_PUBLIC dwStatus dwContext_getUseVirtualTime	(	bool *const	useVirtualTime,
		dwContextHandle_t const	ctx
	)

Check if in virtual time mode.

Parameters

[out]	useVirtualTime	boolean for if virtual time is used.
[in]	ctx	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if context handle or descriptor pointer is NULL.

DW_INVALID_HANDLE if given context handle is not valid.
DW_SUCCESS if no error occurs.

◆ dwContext_isTimePTPSynchronized()

DW_API_PUBLIC dwStatus dwContext_isTimePTPSynchronized	(	bool *const	flag,
		dwContextHandle_t const	context
	)

Check if the used time source inside the context is synchronized over PTP.

PTP synchronization is available starting from PDK 4.1.6.4 and provides a solution to synchronize multiple NVIDIA DRIVE boxes to a common clock base. All sensor readings as well as the 'dwContext_getCurrentTime()' method will be based on the same time source.

Parameters

[out]	flag	Return true if PTP synchronized time is used.
[in]	context	Specifies the context.

Returns

DW_INVALID_ARGUMENT

if given context handle or time is NULL.

DW_INVALID_HANDLE if given context handle is not valid.
DW_NOT_SUPPORTED if the method is called on a system where PTP synchronized time is not supported, i.e. PDK < 4.1.6.4 or x86 based host.
DW_SUCCESS if no error occurs.

Note: Synchronized time is only available if PTP daemon has been identified during context creation.; PTP time base is not guaranteed to be epoch based.; It might happen at run-time that the PTP daemon is not responding anymore and PTP synchronization will be lost. In such case DW context will continue to count based on the last synced PTP time. There is no current mechanism to determine whether the PTP framework lost its sync during runtime.

◆ dwContext_selectGPUDevice()

DW_API_PUBLIC dwStatus dwContext_selectGPUDevice	(	int32_t const	deviceNumber,
		dwContextHandle_t const	context
	)

Selects a GPU device, if available.

Note that the selected gpu is valid for the current thread

Parameters

[in]	deviceNumber	The number of GPU device.
[in]	context	Specifies the context handle.

Returns

DW_INVALID_ARGUMENT

if context handle is NULL or the selected device doesn't exist or if the input device number does not match to the number of available devices.

DW_INVALID_HANDLE if given context handle is not valid.
DW_NOT_AVAILABLE if no GPU devices are available.
DW_CUDA_ERROR in case of an underlying CUDA failure.
DW_SUCCESS if no error occurs.

◆ dwContext_setCustomFileFunctions()

DW_API_PUBLIC dwStatus dwContext_setCustomFileFunctions	(	dwContextHandle_t const	context,
		dwCustomizedFileFunctions *const	fileFunctionPtr
	)

Set the customized fileStream function pointers in context.

Parameters

[in]	context	handle
[in]	fileFunctionPtr	dwCustomizedFileFunctions pointer to be passed into context

Returns

DW_INVALID_ARGUMENT

if given context handle or fileFunctionPtr is NULL.

DW_INVALID_HANDLE if given context handle is not an actual handle. Provide a valid context handle.
DW_SUCCESS if no error occurs.

◆ dwGetLastError()

DW_API_PUBLIC dwStatus dwGetLastError ( char8_t const **const errorMsg )

Retrieves the last error encountered.

When a DriveWorks function reports an error, this error is stored internally. It can later be retrieved by this function. After calling this function, the error is reset and future calls will return 'DW_SUCCESS' until another error is encountered.

Error information is thread local. Each thread has its own last error and an error encountered in one thread will not be visible in another thread.

Parameters

[out] errorMsg A pointer to a pointer to a string containing a description of the last error encountered. Can be NULL to just reset last error.

Returns: The code of the last error encountered, or DW_SUCCESS if no error is recorded.

◆ dwInitialize()

DW_API_PUBLIC dwStatus dwInitialize	(	dwContextHandle_t *const	context,
		dwVersion const	headerVersion,
		dwContextParameters const *const	params
	)

Creates and initializes an SDK context.

The context is required for initialization of the SDK modules.

Parameters

[out]	context	A pointer to the context handler is returned here.
[in]	headerVersion	Specifies current driveworks API version (usually DW_VERSION).
[in]	params	A pointer with a set of parameters to create the SDK. Can be NULL for a default set of parameters.

Returns

DW_INVALID_VERSION

if the DW version does not match the version of the library.

DW_INVALID_ARGUMENT if the input context pointer is null.
DW_INTERNAL_ERROR if SDK could not to detect platform or if the offset between realtime and monotonic clocks is too large and cannot be represented in microseconds.
DW_CANNOT_CREATE_OBJECT if the system call clock_gettime() or EGL display initialization fails.
DW_BUFFER_FULL if not enough memory for initialization is available.
DW_OUT_OF_BOUNDS if not enough memory for initialization is available.
DW_FAILURE if initialization fails.
DW_CUDA_ERROR if CUDA initialization fails.
DW_NOT_SUPPORTED if an available GPU is not supported.
DW_NOT_AVAILABLE if Deep Learning Accelerator (DLA) initialization fails or
if Programmable Vision Accelerator (PVA) initialization fails or
if EGL display initialization fails.
DW_INVALID_HANDLE if context initialization fails.
DW_SUCCESS if no error occurs.

◆ dwRelease()

DW_API_PUBLIC dwStatus dwRelease ( dwContextHandle_t const context )

Releases the context.

Any module created with this context must be released before the context can be released.

Note: This method renders the context handle unusable.

Parameters

[in] context The context to be released.

Returns

DW_INVALID_HANDLE if provided context is NULL or invalid.

DW_SUCCESS if no error occurs.

◆ dwVisualizationGetDWContext()

DW_VIZ_API_PUBLIC dwStatus dwVisualizationGetDWContext	(	dwContextHandle_t *	dwctx,
		dwVisualizationContextHandle_t	context
	)

Return DW context associated with this visualization library.

Parameters

[out]	dwctx	Context of the DW SDK as given through `dwVisualizationInitialize()`
[in]	context	Handle to existing dwVisualization context, created with dwInitialize.

Returns: DW_INVALID_ARGUMENT - If provided, context pointer is null.
DW_SUCCESS

◆ dwVisualizationInitialize()

DW_VIZ_API_PUBLIC dwStatus dwVisualizationInitialize	(	dwVisualizationContextHandle_t *	vizContext,
		dwContextHandle_t	ctx
	)

Creates and initializes a Visualization SDK context.

The context is required for initialization of the Visualization SDK modules.

Parameters

[out]	vizContext	A pointer to the context handler is returned here.
[in]	ctx	Handle to existing DW SDK context, created with dwInitialize.

Returns: DW_INVALID_VERSION - If provided context' version does not match the version of the library.
DW_INVALID_ARGUMENT - If provided, context pointer is null.
DW_SUCCESS

Note: Visualization SDK depends on GL components, hence an automatic initialization with dwGLInitialize will happen

◆ dwVisualizationRelease()

DW_VIZ_API_PUBLIC dwStatus dwVisualizationRelease ( dwVisualizationContextHandle_t context )

Releases the context.

Any module created with this context must be released before the context can be released.

Note: This method renders the context handle unusable.

Parameters

[in] context The context to be released.

Returns: DW_INVALID_ARGUMENT - If provided context is NULL.
DW_SUCCESS

Detailed Description

Data Structures

Typedefs

Functions

Data Structure Documentation

◆ dwContextParameters

Typedef Documentation

◆ dwConstContextHandle_t

◆ dwConstModuleHandle_t

◆ dwContextHandle_t

◆ dwCustomizedFileHandle

◆ dwModuleHandle_t

◆ dwVisualizationConstContextHandle_t

◆ dwVisualizationContextHandle_t

Function Documentation

◆ dwContext_advanceTime()

◆ dwContext_getCUDAProperties()

◆ dwContext_getCurrentTime()

◆ dwContext_getDataPath()

◆ dwContext_getDLAEngineCount()

◆ dwContext_getGPUArchitecture()

◆ dwContext_getGPUAttribute()

◆ dwContext_getGPUCount()

◆ dwContext_getGPUDeviceCurrent()

◆ dwContext_getGPUDeviceType()

◆ dwContext_getGPUProperties()

◆ dwContext_getTimeSource()

◆ dwContext_getUseVirtualTime()

◆ dwContext_isTimePTPSynchronized()

◆ dwContext_selectGPUDevice()

◆ dwContext_setCustomFileFunctions()

◆ dwGetLastError()

◆ dwInitialize()

◆ dwRelease()

◆ dwVisualizationGetDWContext()

◆ dwVisualizationInitialize()

◆ dwVisualizationRelease()