Detailed Description

Defines the Radar sensor methods.

Data Structures
struct	dwRadarDetection
	Defines the return structure for a raw radar detection in sensor coordinates. More...

struct	dwRadarMountPosition
	Defines the structure for reporting sensor mount position. More...

struct	dwRadarProperties
	Defines the properties of the radar. More...

struct	dwRadarScan
	Defines the structure for a complete radar scan. More...

struct	dwRadarScanType
	Defines the type of scan (combination of return type & range) More...

struct	dwRadarStatus
	Defines the return structure for sensor status messages. More...

struct	dwRadarTrack
	Defines the track which the radar provides. More...

struct	dwRadarVehicleState
	Defines the structure for reporting current vehicle dynamics state. More...

Macros
#define	DW_RADARSCAN_MINIMUM_PAYLOAD_SIZE 1744
	The minimum payload size is larger than sizeof(dwRadarScan) to allow custom types to use a larger payload. More...

Enumerations
enum	dwRadarDynamicState { DW_RADAR_DYNAMIC_STATE_MOVING = 0 , DW_RADAR_DYNAMIC_STATE_STATIONARY = 1 , DW_RADAR_DYNAMIC_STATE_ONCOMING = 2 , DW_RADAR_DYNAMIC_STATE_CROSS_TRAFFIC = 3 , DW_RADAR_DYNAMIC_STATE_STOPPED = 4 , DW_RADAR_DYNAMIC_STATE_UNKNOWN = 5 }
	Defines the dynamic state of the radar return. More...

enum	dwRadarRange { DW_RADAR_RANGE_SHORT = 0 , DW_RADAR_RANGE_MEDIUM = 1 , DW_RADAR_RANGE_LONG = 2 , DW_RADAR_RANGE_UNKNOWN = 3 , DW_RADAR_RANGE_COUNT = 4 }
	Defines the range of radar return. More...

enum	dwRadarReturnType { DW_RADAR_RETURN_TYPE_DETECTION = 0 , DW_RADAR_RETURN_TYPE_TRACK = 1 , DW_RADAR_RETURN_TYPE_STATUS = 2 , DW_RADAR_RETURN_TYPE_COUNT = 3 }
	Defines the type of radar return. More...

Functions
DW_API_PUBLIC dwStatus	dwSensorRadar_getProperties (dwRadarProperties *const radarProperties, dwSensorHandle_t const sensor)
	Gets information about the radar sensor. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_processRawData (const dwRadarScan *const data, const uint8_t const rawData, size_t const size, dwSensorHandle_t const sensor)
	Decodes raw data previously read onto the application side structure. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_readData (const dwRadarScan **const data, const dwRadarScanType type, const dwTime_t timeoutUs, dwSensorHandle_t const sensor)
	Reads a single packet, which might be an entire scan or a fraction of a scan, which is sensor dependent. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_readScan (const dwRadarScan **const data, const dwTime_t timeoutUs, dwSensorHandle_t const sensor)
	Reads a one scan chunk. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_returnData (const dwRadarScan *const scan, dwSensorHandle_t const sensor)
	Returns the data read to the internal pool. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_returnScan (const dwRadarScan *const scan, dwSensorHandle_t const sensor)
	Returns the data covering an entire scan read to the internal pool. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_setDataDecoding (bool const enable, dwSensorHandle_t const sensor)
	Enables/disables the decoding of the Radar packets, which incurs in additional CPU load. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_setMountPosition (dwRadarMountPosition *const data, dwSensorHandle_t const sensor)
	Sends the radar mount position information to the radar. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_setVehicleState (dwRadarVehicleState *const data, dwSensorHandle_t const sensor)
	Sends vehicle dynamics information to the radar. More...

DW_API_PUBLIC dwStatus	dwSensorRadar_toggleScanType (bool const enable, dwRadarScanType const scanType, dwSensorHandle_t const sensor)
	Enables/Disables a scan type for the radar sensor. More...

Data Structure Documentation

◆ dwRadarDetection

struct dwRadarDetection

Data Fields
float32_t	azimuth	Azimuth angle (radians)
float32_t	elevationAngle	Angle of elevation (radians)
bool	elevationValidity	Indicates validity of the elevation angle.
float32_t	radialVelocity	Radial velocity (m/s)
float32_t	radius	Radial distance (m)
float32_t	rcs	Reflection amplitude (dB)
float32_t	SNR	Signal to noise ratio (dBr)
float32_t	Vx	X-component (m/s) of the velocity in the azimuth direction.
float32_t	Vy	Y-component (m/s) of the velocity in the azimuth direction.
float32_t	x	X-position (m)
float32_t	y	Y-position (m)

◆ dwRadarMountPosition

struct dwRadarMountPosition

Data Fields
float32_t	damping	Damping of radome (db)
bool	isReversed	Indicates if the sensor is reversed from its default orientation.
dwTransformation3f	radarPosition	Radar position.
uint32_t	sensorId	Id of the sensor (vendor-specific)
float32_t	wheelbase	Size of wheel-base (m)

◆ dwRadarProperties

struct dwRadarProperties

Data Fields
uint32_t	inputPacketsPerSecond	Number of input odometry packets per second.
uint8_t	isDecodingOn	Indicates whether decoding is enabled.
bool	isSimulation	Indicates whether the sensor is simulated.
uint32_t	maxReturnsPerScan[DW_RADAR_RETURN_TYPE_COUNT][DW_RADAR_RANGE_COUNT]	Max # of returns in any given scan.
uint32_t	numScanTypes	Number of supported scan types.
uint32_t	packetsPerScan	of packets per scan (Note: will be deprecated soon)
dwRadarModel	radarModel	Radar model of the current radar.
uint32_t	scansPerSecond	Number of scans (of a particular type) per second. In case scan rate differ between scans, this number is the maximum amongst all scan types
uint32_t	supportedScanTypes[DW_RADAR_RETURN_TYPE_COUNT][DW_RADAR_RANGE_COUNT]	Enumerates the types of scans supported by the radar.

◆ dwRadarScan

struct dwRadarScan

Data Fields
void *	data	Pointer to the array of returns (to be casted based on return type) Size of this array is numReturns.
dwRadarDetectionFFTPatch const *	detectionFFTPatch	Pointer to the array of dwRadarDetectionFFTPatch, size of this array is numReturns.
dwRadarDetectionMisc const *	detectionMisc	Pointer to the array of dwRadarDetectionMisc, size of this array is numReturns.
dwRadarDetectionProbability const *	detectionProbability	Pointer to the array of dwRadarDetectionProbability, size of this array is numReturns.
dwRadarDetectionQuality const *	detectionQuality	Pointer to the array of dwRadarDetectionQuality, size of this array is numReturns.
dwRadarDetectionStdDev const *	detectionStdDev	Pointer to the array of dwRadarDetectionStdDev, size of this array is numReturns.
float32_t	dopplerAmbiguity	Doppler ambiguity free range.
dwTime_t	hostTimestamp	Host timestamp at reception of first packet belonging to this scan (us)
uint32_t	numReturns	Number of radar returns in this scan.
dwRadarScanAmbiguity	radarScanAmbiguity	Radar Scan ambiguity.
dwRadarScanMisc	radarScanMisc	Radar Scan miscellaneous fields.
uint32_t	scanIndex	Sensor-provided scan index.
dwRadarScanType	scanType	Type of scan.
dwRadarScanValidity	scanValidity	Radar Scan validity If the signal is unavailable or invalid, the value of the signal will be the maximum number of the data type.
dwTime_t	sensorTimestamp	Sensor timestamp at which the current measurement scan was started (us)

◆ dwRadarScanType

struct dwRadarScanType

Data Fields
dwRadarRange	range	Scan range.
dwRadarReturnType	returnType	Type of radar return.

◆ dwRadarStatus

struct dwRadarStatus

Data Fields
float32_t	azimuthDeviation[DW_RADAR_RANGE_COUNT]
float32_t	elevationDeviation[DW_RADAR_RANGE_COUNT]
float32_t	pitch	Pitch angle of sensor (radians)
float32_t	roll	Roll angle of sensor (radians)
bool	sensorAligned	Indicates if the sensor is aligned.
bool	sensorBlock	Indicates if the sensor is blocked.
bool	sensorDisturbed	Indicates if the sensor is disturbed due to interference.
bool	sensorOK	Indicaes if the is OK.
float32_t	x	X-position (m) of sensor mounting in AUTOSAR-coordinates from CoG Estimated radar position/orientation as reported by the radar, refer to Radar spec for the coordinate system defintion. [optional: might not be populated if radar is not supporting estimation]
float32_t	y	Y-position (m) of sensor mounting in AUTOSAR-coordinates from CoG Estimated radar position/orientation as reported by the radar, refer to Radar spec for the coordinate system defintion. [optional: might not be populated if radar is not supporting estimation]
float32_t	yaw	Yaw angle of sensor (radians)
float32_t	z	Z-position (m) of sensor mounting in AUTOSAR-coordinates from CoG Estimated radar position/orientation as reported by the radar, refer to Radar spec for the coordinate system defintion. [optional: might not be populated if radar is not supporting estimation]

◆ dwRadarTrack

struct dwRadarTrack

Data Fields
uint32_t	age	Age of tracked object (in scans)
float32_t	Ax	X-component (m/s^2) of the acceleration.
float32_t	Ay	Y-component (m/s^2) of the aceleration.
float32_t	azimuth	Azimuth angle (radians)
float32_t	azimuthRate	Rate of change of azimuth angle (radians/s)
float32_t	confidence	Confidence of object existence (range: 0-1);.
dwRadarDynamicState	dynamicState	Dynamic state of the object.
bool	elevationValid	Indicates validity of z position.
uint32_t	id	Radar-provided track id.
float32_t	radialAcceleration	Radial acceleration (m/s^2)
float32_t	radialVelocity	Radial velocity (m/s)
float32_t	radius	Radial distance (m)
float32_t	rcs	Compensated reflection amplitude (dB)
float32_t	Vx	X-component (m/s) of the velocity.
float32_t	Vy	Y-component (m/s) of the velocity.
float32_t	x	X-position (m)
float32_t	y	Y-position (m)
float32_t	z	Z-position (m)

◆ dwRadarVehicleState

struct dwRadarVehicleState

Data Fields
float32_t	acceleration	Longitudinal acceleration (m/s^2)
float32_t	lateralAcceleration	Lateral acceleration (m/s^2)
float32_t	velocity	Longitudinal velocity (m/s)
float32_t	yawRate	Yaw rate (radians/s)

Macro Definition Documentation

◆ DW_RADARSCAN_MINIMUM_PAYLOAD_SIZE

#define DW_RADARSCAN_MINIMUM_PAYLOAD_SIZE 1744

The minimum payload size is larger than sizeof(dwRadarScan) to allow custom types to use a larger payload.

Definition at line 56 of file Radar.h.

Enumeration Type Documentation

◆ dwRadarDynamicState

enum dwRadarDynamicState

Defines the dynamic state of the radar return.

Enumerator
DW_RADAR_DYNAMIC_STATE_MOVING	Moving.
DW_RADAR_DYNAMIC_STATE_STATIONARY	Stationary.
DW_RADAR_DYNAMIC_STATE_ONCOMING	Oncoming.
DW_RADAR_DYNAMIC_STATE_CROSS_TRAFFIC	Cross-traffic.
DW_RADAR_DYNAMIC_STATE_STOPPED	Stopped (was moving, now stationary)
DW_RADAR_DYNAMIC_STATE_UNKNOWN	Unknown.

Definition at line 93 of file Radar.h.

◆ dwRadarRange

enum dwRadarRange

Defines the range of radar return.

Enumerator
DW_RADAR_RANGE_SHORT	Short Range.
DW_RADAR_RANGE_MEDIUM	Medium Range.
DW_RADAR_RANGE_LONG	Long Range.
DW_RADAR_RANGE_UNKNOWN	Unknown Range.
DW_RADAR_RANGE_COUNT	Count.

Definition at line 59 of file Radar.h.

◆ dwRadarReturnType

enum dwRadarReturnType

Defines the type of radar return.

Enumerator
DW_RADAR_RETURN_TYPE_DETECTION	Raw detection.
DW_RADAR_RETURN_TYPE_TRACK	Processed tracker output.
DW_RADAR_RETURN_TYPE_STATUS	Sensor status information.
DW_RADAR_RETURN_TYPE_COUNT	Count.

Definition at line 77 of file Radar.h.

Function Documentation

◆ dwSensorRadar_getProperties()

DW_API_PUBLIC dwStatus dwSensorRadar_getProperties	(	dwRadarProperties *const	radarProperties,
		dwSensorHandle_t const	sensor
	)

Gets information about the radar sensor.

Parameters

[out]	radarProperties	A pointer to the struct containing the properties of the radar.
[in]	sensor	Sensor handle created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid.
DW_INVALID_ARGUMENT	input argurment invalid.
DW_SUCCESS	successful deal.

◆ dwSensorRadar_processRawData()

DW_API_PUBLIC dwStatus dwSensorRadar_processRawData	(	const dwRadarScan **const	data,
		const uint8_t *const	rawData,
		size_t const	size,
		dwSensorHandle_t const	sensor
	)

Decodes raw data previously read onto the application side structure.

This happens on the CPU thread where the function is called, incurring on additional load on that thread.

Parameters

[out]	data	A pointer to a container for the decoded data.
[in]	rawData	A pointer for the non-decoded Radar packet, as returned from 'dwSensor_readRawData()'.
[in]	size	Specifies the size in bytes of the raw data.
[in]	sensor	Specifies the sensor handle of the sensor previously created with 'dwSAL_createSensor()'.

Return values

DW_INVALID_HANDLE	sensor handle is invalid.
DW_INVALID_ARGUMENT	input argurment invalid.
DW_NOT_AVAILABLE	work stopped.
DW_SUCCESS	successful deal.
DW_TIME_OUT	time out.

Note: The returned dwRadarScan is only valid till the next 'dwSensorRadar_processRawData()' call.

◆ dwSensorRadar_readData()

DW_API_PUBLIC dwStatus dwSensorRadar_readData	(	const dwRadarScan **const	data,
		const dwRadarScanType	type,
		const dwTime_t	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads a single packet, which might be an entire scan or a fraction of a scan, which is sensor dependent.

The pointer returned is to the internal data pool. DW guarantees that the data remains constant until returned by the application. The data must be explicitly returned by the application.

Parameters

[out]	data	A pointer to a pointer to the decoded data read from the sensor. The struct contains the numbers of points read, which depends on the sensor used.
[in]	type	Type of scan requested
[in]	timeoutUs	Specifies the timeout in microseconds. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid.
DW_INVALID_ARGUMENT	input argurment invalid.
DW_NOT_AVAILABLE	work stopped.
DW_SUCCESS	successful deal.
DW_TIME_OUT	time out.

◆ dwSensorRadar_readScan()

DW_API_PUBLIC dwStatus dwSensorRadar_readScan	(	const dwRadarScan **const	data,
		const dwTime_t	timeoutUs,
		dwSensorHandle_t const	sensor
	)

Reads a one scan chunk.

The pointer returned is to the internal data pool. DW guarantees that the data remains constant until returned by the application. The data must be explicitly returned by the application.

Note: This method returns the oldest scan contained in the internal pool.

Parameters

[out]	data	A pointer to a pointer to a decoded scan from the sensor. The struct contains the numbers of points read, which depends on the sensor used.
[in]	timeoutUs	Specifies the timeout in microseconds. Special values: DW_TIMEOUT_INFINITE - to wait infinitly. Zero - means polling of internal queue.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid.
DW_INVALID_ARGUMENT	input argurment invalid.
DW_NOT_AVAILABLE	work stopped.
DW_SUCCESS	successful deal.
DW_TIME_OUT	time out.

◆ dwSensorRadar_returnData()

DW_API_PUBLIC dwStatus dwSensorRadar_returnData	(	const dwRadarScan *const	scan,
		dwSensorHandle_t const	sensor
	)

Returns the data read to the internal pool.

At this point the pointer is still be valid, but data is changed based on newer readings of the sensor.

Parameters

[in]	scan	A pointer to the scan data previously read from the Radar using 'dwSensorRadar_readData()' to be returned to the pool.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid.
DW_INVALID_ARGUMENT	input argurment invalid.
DW_NOT_AVAILABLE	work stopped.
DW_SUCCESS	successful deal.
DW_TIME_OUT	time out.

◆ dwSensorRadar_returnScan()

DW_API_PUBLIC dwStatus dwSensorRadar_returnScan	(	const dwRadarScan *const	scan,
		dwSensorHandle_t const	sensor
	)

Returns the data covering an entire scan read to the internal pool.

At this point the pointer is still be valid, but data is changed based on newer readings of the sensor.

Parameters

[in]	scan	A pointer to an entire scan's data previously read from the Radar using 'dwSensorRadar_readScan()' to be returned to the pool.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid.
DW_INVALID_ARGUMENT	input argurment invalid.
DW_NOT_AVAILABLE	work stopped.
DW_SUCCESS	successful deal.
DW_TIME_OUT	time out.

◆ dwSensorRadar_setDataDecoding()

DW_API_PUBLIC dwStatus dwSensorRadar_setDataDecoding	(	bool const	enable,
		dwSensorHandle_t const	sensor
	)

Enables/disables the decoding of the Radar packets, which incurs in additional CPU load.

Method fails if the sensor has been started and is capturing data. Stop the sensor first.

Parameters

[in]	enable	Specifies TRUE when decoding, false if RAW data.
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor()

Return values

DW_INVALID_HANDLE	sensor handle is invalid.
DW_CALL_NOT_ALLOWED	operation is not allowed now.
DW_SUCCESS	successful deal.

◆ dwSensorRadar_setMountPosition()

DW_API_PUBLIC dwStatus dwSensorRadar_setMountPosition	(	dwRadarMountPosition *const	data,
		dwSensorHandle_t const	sensor
	)

Sends the radar mount position information to the radar.

Parameters

[in]	data	A pointer to the struct containing the radar mount position information to send.
[in]	sensor	Sensor handle created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid.
DW_INVALID_ARGUMENT	input argurment invalid.
DW_SUCCESS	successful deal.

◆ dwSensorRadar_setVehicleState()

DW_API_PUBLIC dwStatus dwSensorRadar_setVehicleState	(	dwRadarVehicleState *const	data,
		dwSensorHandle_t const	sensor
	)

Sends vehicle dynamics information to the radar.

Parameters

[in]	data	A pointer to the struct containing the vehicle dynamics information to send
[in]	sensor	Sensor handle created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid.
DW_INVALID_ARGUMENT	input argurment invalid.
DW_SUCCESS	successful deal.

◆ dwSensorRadar_toggleScanType()

DW_API_PUBLIC dwStatus dwSensorRadar_toggleScanType	(	bool const	enable,
		dwRadarScanType const	scanType,
		dwSensorHandle_t const	sensor
	)

Enables/Disables a scan type for the radar sensor.

Method fails if the sensor does not support the specified scan type OR the sensor has been started and is capturing data.

Parameters

[in]	enable	Specifies if the scan should be enabled or disabled
[in]	scanType	Specifies the scan type to enable
[in]	sensor	Specifies the sensor handle of the sensor previously created with dwSAL_createSensor().

Return values

DW_INVALID_HANDLE	sensor handle is invalid.
DW_INVALID_ARGUMENT	input argurment invalid.
DW_CALL_NOT_ALLOWED	operation is not allowed now.
DW_SUCCESS	successful deal.

Detailed Description

Data Structures

Macros

Enumerations

Functions

Data Structure Documentation

◆ dwRadarDetection

◆ dwRadarMountPosition

◆ dwRadarProperties

of packets per scan (Note: will be deprecated soon)

◆ dwRadarScan

◆ dwRadarScanType

◆ dwRadarStatus

◆ dwRadarTrack

◆ dwRadarVehicleState

Macro Definition Documentation

◆ DW_RADARSCAN_MINIMUM_PAYLOAD_SIZE

Enumeration Type Documentation

◆ dwRadarDynamicState

◆ dwRadarRange

◆ dwRadarReturnType

Function Documentation

◆ dwSensorRadar_getProperties()

◆ dwSensorRadar_processRawData()

◆ dwSensorRadar_readData()

◆ dwSensorRadar_readScan()

◆ dwSensorRadar_returnData()

◆ dwSensorRadar_returnScan()

◆ dwSensorRadar_setDataDecoding()

◆ dwSensorRadar_setMountPosition()

◆ dwSensorRadar_setVehicleState()

◆ dwSensorRadar_toggleScanType()