dwSelfCalibrationSingleIMUNode.hpp

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#ifndef DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONSINGLEIMUNODE_DWSELFCALIBRATIONSINGLEIMUNODE_HPP_
#define DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONSINGLEIMUNODE_DWSELFCALIBRATIONSINGLEIMUNODE_HPP_
 
#include <dwcgf/channel/ChannelPacketTypes.hpp>
#include <dwcgf/node/Node.hpp>
#include <dwcgf/parameter/ParameterDescriptor.hpp>
#include <dwcgf/pass/PassDescriptor.hpp>
#include <dwcgf/port/Port.hpp>
#include <dwcgf/port/PortDescriptor.hpp>
#include <dwframework/dwnodes/common/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/IMU.hpp>
#include <dwframework/dwnodes/common/channelpackets/SelfCalibrationTypes.hpp>
#include <dwframework/dwnodes/common/channelpackets/VehicleIOLegacyStructures.hpp>
#include <dwframework/dwnodes/common/channelpackets/VehicleIOValStructures.hpp>
 
namespace dw
{
namespace framework
{
 
struct dwSelfCalibrationSingleIMUNodeParam
{
    dwRigHandle_t rigHandle;
    bool enableCalibration;
    uint32_t channelFifoSize;
};
 
class dwSelfCalibrationSingleIMUNode : public ExceptionSafeProcessNode
{
public:
    static constexpr char LOG_TAG[] = "dwSelfCalibrationSingleIMUNode";
 
    static constexpr auto describeInputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwVehicleIOState, "VEHICLE_IO_STATE"_sv, PortBinding::REQUIRED),
            DW_DESCRIBE_PORT(dwIMUFrame, "IMU_FRAME"_sv, PortBinding::REQUIRED));
    }
 
    static constexpr auto describeOutputPorts()
    {
        return describePortCollection(
            DW_DESCRIBE_PORT(dwCalibratedExtrinsics, "IMU_EXTRINSICS"_sv, PortBinding::REQUIRED));
    }
 
    static constexpr auto describePasses()
    {
        return describePassCollection(
            describePass("SETUP"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("PROCESS"_sv, DW_PROCESSOR_TYPE_CPU),
            describePass("TEARDOWN"_sv, DW_PROCESSOR_TYPE_CPU));
    }
 
    static std::unique_ptr<dwSelfCalibrationSingleIMUNode> create(ParameterProvider& provider);
 
    static constexpr auto describeParameters()
    {
        return describeConstructorArguments<dwSelfCalibrationSingleIMUNodeParam, dwContextHandle_t>(
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwRigHandle_t,
                    &dwSelfCalibrationSingleIMUNodeParam::rigHandle),
                DW_DESCRIBE_PARAMETER(
                    uint32_t,
                    "channelFifoSize"_sv,
                    &dwSelfCalibrationSingleIMUNodeParam::channelFifoSize)),
            describeConstructorArgument(
                DW_DESCRIBE_UNNAMED_PARAMETER(
                    dwContextHandle_t)));
    }
 
    dwSelfCalibrationSingleIMUNode(dwSelfCalibrationSingleIMUNodeParam const& param, dwContextHandle_t const ctx);
};
 
} // namespace framework
} // namespace dw
 
#endif // DWFRAMEWORK_DWNODES_SELFCALIBRATION_DWSELFCALIBRATIONSINGLEIMUNODE_DWSELFCALIBRATIONSINGLEIMUNODE_HPP_