Radar.hpp

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#ifndef DWFRAMEWORK_DWNODES_COMMON_CHANNELPACKETS_RADAR_HPP_
#define DWFRAMEWORK_DWNODES_COMMON_CHANNELPACKETS_RADAR_HPP_
 
#include "ChannelPacketUtils.hpp"
#include <dw/core/container/Span.hpp>
#include <dw/sensors/radar/Radar.h>
#include <dwcgf/Exception.hpp>
#include <dwcgf/channel/Buffer.hpp>
#include <dwcgf/channel/ChannelPacketImpl.hpp>
#include <dwcgf/channel/IChannelPacket.hpp>
#include <dwcgf/channel/ChannelPacketTypes.hpp>
#include <dwframework/dwnodes/common/DwavEnums.hpp>
#include <nvscibuf.h>
 
DWFRAMEWORK_DECLARE_PACKET_DWTYPE_RELATION_SIMPLE(dwRadarScan, DW_RADAR_SCAN);
DWFRAMEWORK_DECLARE_PACKET_TYPE_POD(dwRadarProperties);
 
namespace dw
{
namespace framework
{
 
// dwRadarScan packet for channel socket
class ChannelPacketRadarScan : public ChannelPacketBase
{
public:
    ChannelPacketRadarScan(const GenericData& specimen, dwContextHandle_t ctx);
    ChannelPacketRadarScan(dwRadarScan& ref, dwContextHandle_t);
    dwRadarScan* getFrame();
    void setBufferSize(size_t bufferSize);
    // Serializes the frame before transmission
    size_t serialize() final;
    // Deserializes the frame after transmission
    void deserialize(size_t) final;
 
private:
    size_t getRadarDataSize(const dwRadarScan& radarScan);
    dwRadarScan m_data{};
    std::unique_ptr<uint8_t[]> m_scanData;
    std::unique_ptr<uint8_t[]> m_scanDetectionMisc;
    std::unique_ptr<uint8_t[]> m_scanDetectionStdDev;
    std::unique_ptr<uint8_t[]> m_scanDetectionQuality;
    std::unique_ptr<uint8_t[]> m_scanDetectionProbability;
    std::unique_ptr<uint8_t[]> m_scanDetectionFFTPatch;
};
 
class RadarScanNvSciPacket : public IChannelPacket, public IChannelPacket::NvSciCallbacks
{
private:
    static constexpr uint32_t NUM_BUFFERS{1U};
 
public:
    RadarScanNvSciPacket(const GenericData& specimen);
    uint32_t getNumBuffers() const final;
    void fillNvSciBufAttributes(uint32_t /*bufferIndex*/, NvSciBufAttrList& attrList) const final;
    void initializeFromNvSciBufObjs(dw::core::span<NvSciBufObj> bufs) final;
    void pack() final;
    void unpack() final;
    GenericData getGenericData() final;
 
private:
    void setPointers();
 
    std::unique_ptr<Buffer> m_buffer;
    dwRadarScan m_reference{};
    dwRadarScan m_dispatch{};
    dwRadarScan* m_header{};
    size_t m_headerSize{};
    size_t m_numReturns{};
    size_t m_dataSize{};
    size_t m_detectionMiscSize{};
    size_t m_detectionStdDevSize{};
    size_t m_detectionQualitySize{};
    size_t m_detectionProbabilitySize{};
    size_t m_detectionFFTPatchSize{};
};
 
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_COMMON_CHANNELPACKETS_RADAR_HPP_