Radar Plugin

Detailed Description

Provides an interface for supporting non-standard Radar sensors.

Data Structures
struct	_dwRadarDecoder_constants
	Holds constants for a given radar. More...

Functions
dwStatus	_dwRadarDecoder_decodePacket (dwRadarScan *output, const uint8_t *buffer, const size_t length, const dwRadarScanType scanType)
	Decodes a packet from the radar, given a raw byte array and a specified decoding format. More...
dwStatus	_dwRadarDecoder_encodeMountPosition (uint8_t *buffer, const size_t maxOutputSize, const dwRadarMountPosition *packet)
	Encodes data from a /ref dwRadarMountPosition into a raw byte array. More...
dwStatus	_dwRadarDecoder_encodeVehicleState (uint8_t *buffer, const size_t maxOutputSize, const dwRadarVehicleState *packet)
	Encodes data from a /ref dwRadarVehicleState into a raw byte array. More...
dwStatus	_dwRadarDecoder_getConstants (_dwRadarDecoder_constants *constants)
	Gets constants associated with this radar sensor. More...
dwStatus	_dwRadarDecoder_initialize ()
	Initializes the radar decoder. More...
bool	_dwRadarDecoder_isScanComplete (dwRadarScanType scanType, const uint8_t **buffer, size_t *length, size_t numPackets)
	Returns the status of the scan. More...
dwStatus	_dwRadarDecoder_release ()
	Releases the radar decoder. More...
dwStatus	_dwRadarDecoder_synchronize (const uint8_t *buffer, const size_t length, size_t *remaining)
	Determines whether a byte array of packet data has a valid radar signature. More...
dwStatus	_dwRadarDecoder_validatePacket (const uint8_t *buffer, const size_t length, dwRadarScanType *scanType)
	Determines whether a byte array of packet data is valid. More...

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Data Structure Documentation

_dwRadarDecoder_constants

struct _dwRadarDecoder_constants

Data Fields
size_t	headerSize	Packet header size (in bytes).
size_t	maxPayloadSize	Packet max payload size (in bytes).
size_t	mountSize	Size of the mount poisition message to be sent to the radar.
dwRadarProperties	properties	Radar properties.
size_t	vehicleStateSize	Size of the vehicle state message to be sent to the radar.

Function Documentation

_dwRadarDecoder_decodePacket()

dwStatus _dwRadarDecoder_decodePacket	(	dwRadarScan *	output,
		const uint8_t *	buffer,
		const size_t	length,
		const dwRadarScanType	scanType
	)

Decodes a packet from the radar, given a raw byte array and a specified decoding format.

Parameters

[out]	output	A pointer to a recoded packet output.
[in]	buffer	Byte array containing raw.
[in]	length	Length of the byte array.
[in]	scanType	Type of scan for this packet.

Returns

DW_FAILURE, DW_SUCCESS

_dwRadarDecoder_encodeMountPosition()

dwStatus _dwRadarDecoder_encodeMountPosition	(	uint8_t *	buffer,
		const size_t	maxOutputSize,
		const dwRadarMountPosition *	packet
	)

Encodes data from a /ref dwRadarMountPosition into a raw byte array.

The raw data is in a format expected by the radar.

Parameters

[in,out]	buffer	A pointer to the byte array into which the function places encoded data. The caller must deallocate the buffer when it is no longer needed.
[in]	maxOutputSize	Length of the output buffer in bytes.
[in]	packet	A pointer to the mounting packet to be encoded.

Returns

DW_FAILURE, DW_SUCCESS

_dwRadarDecoder_encodeVehicleState()

dwStatus _dwRadarDecoder_encodeVehicleState	(	uint8_t *	buffer,
		const size_t	maxOutputSize,
		const dwRadarVehicleState *	packet
	)

Encodes data from a /ref dwRadarVehicleState into a raw byte array.

The raw data is in a format expected by the radar.

Parameters

[in,out]	buffer	A pointer to the byte array into which the function places encoded data. The caller must deallocate the buffer when it is no longer needed.
[in]	maxOutputSize	Length of the output buffer, in bytes.
[in]	packet	A pointer to the dynamics packet to be encoded.

Returns

DW_FAILURE, DW_SUCCESS

_dwRadarDecoder_getConstants()

dwStatus _dwRadarDecoder_getConstants

(

_dwRadarDecoder_constants *

constants

)

Gets constants associated with this radar sensor.

Parameters

[out]

constants

Constant parameters for this sensor are written here.

Returns

DW_FAILURE, DW_SUCCESS

_dwRadarDecoder_initialize()

dwStatus _dwRadarDecoder_initialize

(

)

Initializes the radar decoder.

Returns

DW_FAILURE, DW_SUCCESS

_dwRadarDecoder_isScanComplete()

bool _dwRadarDecoder_isScanComplete	(	dwRadarScanType	scanType,
		const uint8_t **	buffer,
		size_t *	length,
		size_t	numPackets
	)

Returns the status of the scan.

If this function returns true, the complete scan is passed to the user.

Parameters

[in]	scanType	The type of scan for this data.
[in]	buffer	A pointer to an array of byte arrays containing packet data that potentially belongs to a single scan.
[in]	length	A pointer to the array of lengths of the packets.
[out]	numPackets	Number of packets in each array.

Returns

True if the scan is completed, or False otherwise.

_dwRadarDecoder_release()

dwStatus _dwRadarDecoder_release

(

)

Releases the radar decoder.

Returns

DW_FAILURE, DW_SUCCESS

_dwRadarDecoder_synchronize()

dwStatus _dwRadarDecoder_synchronize	(	const uint8_t *	buffer,
		const size_t	length,
		size_t *	remaining
	)

Determines whether a byte array of packet data has a valid radar signature.

Parameters

[in]	buffer	A pointer to the byte array containing packet data.
[in]	length	Length of the buffer in bytes.
[out]	remaining	Number of bytes remaining for packet completion.

Returns

DW_SUCCESS if the signature is valid, or DW_FAILURE otherwise.

_dwRadarDecoder_validatePacket()

dwStatus _dwRadarDecoder_validatePacket	(	const uint8_t *	buffer,
		const size_t	length,
		dwRadarScanType *	scanType
	)

Determines whether a byte array of packet data is valid.

The definition of "valid" here is implementation-specific.

Parameters

[in]	buffer	A pointer to the byte array containing packet data.
[in]	length	Length of the buffer in bytes.
[out]	scanType	Returns the radar scan type for this packet.

Returns

DW_SUCCESS if the data is valid, or DW_FAILURE otherwise.