dwIMUNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_SENSORS_DWIMUNODE_DWIMUNODE_HPP_
#define DWFRAMEWORK_DWNODES_SENSORS_DWIMUNODE_DWIMUNODE_HPP_
 
#include <dw/sensors/Sensors.h>
#include <dw/sensors/imu/IMU.h>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/parameter/SemanticParameterTypes.hpp>
#include <dwcgf/pass/Pass.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/channelpackets/IMU.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/SensorCommonTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/Sensors.hpp>
 
namespace dw
{
namespace framework
{
 
struct dwIMUNodeParams
{
    const char* sensorName;
    dwConstRigHandle_t rigHandle;
    bool inputModeVal;
    FixedString<32> frameSkipMask;
};
 
class dwIMUNode : public ExceptionSafeSensorNode
{
 
public:
    static constexpr char LOG_TAG[] = "dwIMUNode";
 
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "SENSOR_EXTRINSICS"_sv, PortBinding::OPTIONAL),
            DW_DESCRIBE_PORT(dwTime_t, "VIRTUAL_SYNC_TIME"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwIMUFrame, "FRAME"_sv, PortBinding::REQUIRED));
    };
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwSensorNodeProperties, "SENSOR_PROPERTIES"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwIMUFrame, "PROCESSED_DATA"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwSensorNodeRawData, "RAW_DATA"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwSensorTsAndID, "TIMESTAMP"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwTime_t, "NEXT_TIMESTAMP"_sv, PortBinding::REQUIRED));
    };
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("RAW_OUTPUT"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PROCESSED_OUTPUT"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    };
 
    dwSensorType getSensorType() const
    {
        return DW_SENSOR_IMU;
    }
 
    static std::unique_ptr<dwIMUNode> create(ParameterProvider& provider);
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwIMUNodeParams, const char*, dwRigHandle_t, dwSALHandle_t, dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_PARAMETER_WITH_DEFAULT(
                    bool,
                    "inputModeVal"_sv,
                    false,
                    &dwIMUNodeParams::inputModeVal),
                DW_DESCRIBE_PARAMETER(
                    dw::core::FixedString<32>,
                    "frameSkipMask"_sv,
                    &dwIMUNodeParams::frameSkipMask)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(
                    const char*,
                    semantic_parameter_types::ImuName)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwRigHandle_t)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwSALHandle_t)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwIMUNode(const char* sensorName, dwConstRigHandle_t rigHandle,
              dwSALHandle_t sal, dwContextHandle_t ctx, const FixedString<32>& frameSkipMask);
    dwIMUNode(const dwIMUNodeParams& params, const char* sensorName, dwConstRigHandle_t rigHandle,
              dwSALHandle_t sal, dwContextHandle_t ctx);
    dwIMUNode(const dwSensorParams& params,
              dwSALHandle_t sal, dwContextHandle_t ctx);
};
}
}
#endif // DWFRAMEWORK_DWNODES_SENSORS_DWIMUNODE_DWIMUNODE_HPP_