Radar Plugin

Detailed Description

Provides an interface for non-standard radar sensors.

Data Structures
struct	_dwSensorRadarDecoder_constants
	Holds constants for a given radar. More...
struct	dwSensorRadarPluginFunctionTable
	Holds the list of exported functions implemented by the vendor-provided library. More...

Typedefs
typedef dwStatus(*	dwSensorRadarPlugin_getDecoderConstants) (_dwSensorRadarDecoder_constants *constants, dwSensorPluginSensorHandle_t sensor)
	Gets constants associated with this radar sensor. More...
typedef dwStatus(*	dwSensorRadarPlugin_parseDataBuffer) (dwRadarScan *output, const dwRadarScanType scanType, dwSensorPluginSensorHandle_t sensor)
	Processes the data previously passed via the 'dwSensorPlugin_pushData' interface. More...
typedef dwStatus(*	dwSensorRadarPlugin_setVehicleState) (const dwRadarVehicleState *state, dwSensorPluginSensorHandle_t sensor)
	Sends vehicle dynamics information to the radar. More...
typedef dwStatus(*	dwSensorRadarPlugin_validatePacket) (const char *rawData, size_t size, dwRadarScanType *messageType, dwSensorPluginSensorHandle_t sensor)
	Validates the raw data packet. More...

Functions
dwStatus	dwSensorRadarPlugin_getFunctionTable (dwSensorRadarPluginFunctionTable *functions)
	Returns the table of functions that are provided by the vendor-provided library for the sensor. More...

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Data Structure Documentation

_dwSensorRadarDecoder_constants

struct _dwSensorRadarDecoder_constants

Data Fields
size_t	dynamicsSizeInBytes	Dynamics Size, in bytes.
size_t	maxPacketsPerScan	Maximum packets per scan.
size_t	maxPayloadSize	Packet max payload size, in bytes.
size_t	maxPointsPerPacket[DW_RADAR_RETURN_TYPE_COUNT][DW_RADAR_RANGE_COUNT]	Maximum points per packet associate to each radar return type and range.
size_t	packetsPerScan[DW_RADAR_RETURN_TYPE_COUNT][DW_RADAR_RANGE_COUNT]	Packets per scan associate to each radar return type and range.
dwRadarProperties	properties	Radar properties.

dwSensorRadarPluginFunctionTable

struct dwSensorRadarPluginFunctionTable

Data Fields
dwSensorCommonPluginFunctions	common
dwSensorRadarPlugin_getDecoderConstants	getDecoderConstants
dwSensorRadarPlugin_parseDataBuffer	parseDataBuffer
dwSensorRadarPlugin_setVehicleState	setVehicleState
dwSensorRadarPlugin_validatePacket	validatePacket

Typedef Documentation

dwSensorRadarPlugin_getDecoderConstants

typedef dwStatus(* dwSensorRadarPlugin_getDecoderConstants) (_dwSensorRadarDecoder_constants *constants, dwSensorPluginSensorHandle_t sensor)

Gets constants associated with this radar sensor.

Parameters

[out]	constants	pointer to constants struct, parameters for this sensor are written here.
[in]	sensor	Specifies the sensor to which the constants are related.

Returns

DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_FAILURE, DW_SUCCESS

Definition at line 108 of file RadarPlugin.h.

dwSensorRadarPlugin_parseDataBuffer

typedef dwStatus(* dwSensorRadarPlugin_parseDataBuffer) (dwRadarScan *output, const dwRadarScanType scanType, dwSensorPluginSensorHandle_t sensor)

Processes the data previously passed via the 'dwSensorPlugin_pushData' interface.

The interpreted memory buffer outputted from this API is owned by the plugin. The plugin shall support multiple buffers in flight via this API.

Parameters

[out]	output	Pointer to decoded radar scan.
[in]	scanType	Specifies the scantype of the previously pushed raw data via the 'dwSensorPlugin_pushData' interface.
[in]	sensor	Specifies the sensor the data came from.

Returns

DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_NOT_AVAILABLE - if no scan is ready for consumption DW_NOT_READY - more raw data may needed to get a complete decoded packet DW_INVALID_ARGUMENT - if invalid argument DW_SUCCESS

Definition at line 95 of file RadarPlugin.h.

dwSensorRadarPlugin_setVehicleState

typedef dwStatus(* dwSensorRadarPlugin_setVehicleState) (const dwRadarVehicleState *state, dwSensorPluginSensorHandle_t sensor)

Sends vehicle dynamics information to the radar.

Parameters

[in]	state	A pointer to the struct containing the vehicle dynamics information to send
[in]	sensor	Specifies the sensor the data came from.

Returns

DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_INVALID_ARGUMENT - if invalid argument DW_SUCCESS

Definition at line 137 of file RadarPlugin.h.

dwSensorRadarPlugin_validatePacket

typedef dwStatus(* dwSensorRadarPlugin_validatePacket) (const char *rawData, size_t size, dwRadarScanType *messageType, dwSensorPluginSensorHandle_t sensor)

Validates the raw data packet.

Parameters

[in]	rawData	pointer to raw data
[in]	size	size of raw data
[out]	messageType	specifies the radarScanType
[in]	sensor	Specifies the sensor the data came from.

Returns

DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_FAILURE - if invalid packet DW_SUCCESS

Definition at line 123 of file RadarPlugin.h.

Function Documentation

dwSensorRadarPlugin_getFunctionTable()

dwStatus dwSensorRadarPlugin_getFunctionTable

(

dwSensorRadarPluginFunctionTable *

functions

)

Returns the table of functions that are provided by the vendor-provided library for the sensor.

Parameters

[out]

functions

Function table exported by the library

Returns

DW_FAILURE - unspecified failure while getting the function table.
DW_SUCCESS