Detailed Description

Provides an interface for non-standard sensors.

Data Structures
struct	dwSensorCommonPluginFunctions
	Function Table exposing common plugin functions. More...

struct	dwSensorPlugin_firmwareVersion

struct	dwSensorPlugin_information

struct	dwSensorPluginProperties
	Structure for generic constants returned by the plugin. More...

Typedefs
typedef dwStatus(*	dwSensorPlugin_createHandle) (dwSensorPluginSensorHandle_t handle, dwSensorPluginProperties properties, char const *params, dwContextHandle_t ctx)
	Creates a new handle to the sensor managed by the plugin module. More...

typedef dwStatus(*	dwSensorPlugin_createSensor) (char const *params, dwSALHandle_t sal, dwSensorPluginSensorHandle_t handle)
	Creates and initializes a new sensor managed by the plugin. More...

typedef dwStatus(*	dwSensorPlugin_getRawPackets) (uint8_t const const rawData, size_t const size, dwSensorPlugin_rawDataLevel level, int32_t groupNum, uint8_t const **const data, dwSensorPluginSensorHandle_t handle)
	Reads RAW data from different level. More...

typedef dwStatus(*	dwSensorPlugin_getSensorInformation) (dwSensorPlugin_information *information, dwSensorPluginSensorHandle_t sensor)
	Gets information of this sensor. More...

typedef dwStatus(*	dwSensorPlugin_pushData) (size_t lenPushed, uint8_t const data, size_t const size, dwSensorPluginSensorHandle_t handle)
	Pushes raw data obtained from a previous 'dwSensorPlugin_readRawData' call for decoding. More...

typedef dwStatus(*	dwSensorPlugin_rawDataReadyForDecode) (size_t offset, size_t size, uint8_t const *const data, dwSensorPluginSensorHandle_t ctx)
	API for sensor that raw data and decoded packet are many to one relationship. More...

typedef dwStatus(*	dwSensorPlugin_readRawData) (uint8_t const *data, size_t size, dwTime_t *timestamp, dwTime_t timeout_us, dwSensorPluginSensorHandle_t handle)
	Reads RAW data for one single message from the sensor as byte array. More...

typedef dwStatus(*	dwSensorPlugin_release) (dwSensorPluginSensorHandle_t handle)
	Releases a sensor managed by the plugin module. More...

typedef dwStatus(*	dwSensorPlugin_reset) (dwSensorPluginSensorHandle_t handle)
	Resets the sensor. More...

typedef dwStatus(*	dwSensorPlugin_returnRawData) (uint8_t const *data, dwSensorPluginSensorHandle_t handle)
	Returns RAW data to sensor as a byte array. More...

typedef dwStatus(*	dwSensorPlugin_start) (dwSensorPluginSensorHandle_t handle)
	Starts the sensor previously successfully created with 'dwSensorPlugin_createSensor' interface. More...

typedef dwStatus(*	dwSensorPlugin_stop) (dwSensorPluginSensorHandle_t handle)
	Stops the sensor. More...

typedef void *	dwSensorPluginSensorHandle_t

Enumerations
enum	dwSensorPlugin_rawDataLevel { DW_SENSORS_RAW_DATA_LEVEL_ZERO = 0 , DW_SENSORS_RAW_DATA_LEVEL_ONE = 1 , DW_SENSORS_RAW_DATA_LEVEL_TWO = 2 , DW_SENSORS_RAW_DATA_LEVEL_COUNT = 3 }

enum	dwSensorPlugin_rawToDecMap { DW_SENSORS_RAW_DEC_ONE_TO_ONE = 0 , DW_SENSORS_RAW_DEC_MANY_TO_ONE = 1 , DW_SENSORS_RAW_DEC_NOT_SUPPORTED = 2 }

enum	dwSensorPlugin_timeDomain { DW_SENSORS_PLUGIN_TIME_DOMAIN_HOST = 0 , DW_SENSORS_PLUGIN_TIME_DOMAIN_TSC = 1 , DW_SENSORS_PLUGIN_TIME_DOMAIN_PTP = 2 , DW_SENSORS_PLUGIN_TIME_DOMAIN_UTC = 3 , DW_SENSORS_PLUGIN_TIME_DOMAIN_UTCTOH = 4 , DW_SENSORS_PLUGIN_TIME_DOMAIN_MISC = 5 , DW_SENSORS_PLUGIN_TIME_DOMAIN_COUNT = 6 }

Data Structure Documentation

◆ dwSensorCommonPluginFunctions

struct dwSensorCommonPluginFunctions

Data Fields
dwSensorPlugin_createHandle	createHandle
dwSensorPlugin_createSensor	createSensor
dwSensorPlugin_getRawPackets	getRawPackets
dwSensorPlugin_getSensorInformation	getSensorInformation
dwSensorPlugin_pushData	pushData
dwSensorPlugin_rawDataReadyForDecode	rawDataReadyForDecode	Funciton pointer used to check if raw data is ready for decode.
dwSensorPlugin_readRawData	readRawData
dwSensorPlugin_release	release
dwSensorPlugin_reset	reset
dwSensorPlugin_returnRawData	returnRawData
dwSensorPlugin_start	start
dwSensorPlugin_stop	stop

◆ dwSensorPlugin_firmwareVersion

struct dwSensorPlugin_firmwareVersion

Data Fields
uint64_t	versionMajor
uint64_t	versionMinor
uint64_t	versionPatch
char *	versionString

◆ dwSensorPlugin_information

struct dwSensorPlugin_information

Data Fields
dwSensorPlugin_firmwareVersion	firmware

◆ dwSensorPluginProperties

struct dwSensorPluginProperties

Data Fields
size_t	packetSize	Packet size for each raw data message.
dwSensorPlugin_rawToDecMap	rawToDec	Indicate the relationship between raw data and decoded packet.

Typedef Documentation

◆ dwSensorPlugin_createHandle

typedef dwStatus(* dwSensorPlugin_createHandle) (dwSensorPluginSensorHandle_t *handle, dwSensorPluginProperties *properties, char const *params, dwContextHandle_t ctx)

Creates a new handle to the sensor managed by the plugin module.

Parameters

[out]	handle	A pointer to sensor handle.
[out]	properties	Sensor-specific properties & constants returned by the plugin.
[in]	params	Specifies the parameters for the sensor.
[in]	ctx	context handle.

Returns: DW_INVALID_ARGUMENT - if pointer to the sensor handle is NULL.
DW_SUCCESS

Definition at line 139 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_createSensor

typedef dwStatus(* dwSensorPlugin_createSensor) (char const *params, dwSALHandle_t sal, dwSensorPluginSensorHandle_t handle)

Creates and initializes a new sensor managed by the plugin.

The created sensor will be released using the 'dwSensorPlugin_releaseSensor' interface.

Parameters

[in]	params	Specifies the parameters for sensor creation.
[in]	sal	SAL handle.
[in]	handle	A sensor handle previously created w/ the 'dwSensorPlugin_createHandle' interface.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during sensor creation.
DW_SUCCESS

Definition at line 169 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_getRawPackets

typedef dwStatus(* dwSensorPlugin_getRawPackets) (uint8_t const *const rawData, size_t *const size, dwSensorPlugin_rawDataLevel level, int32_t groupNum, uint8_t const **const data, dwSensorPluginSensorHandle_t handle)

Reads RAW data from different level.

Parameters

[in]	rawData	A pointer to the pointer to data that is populated with the RAW data.
[out]	size	A pointer to the size of the data array.
[in]	level	Specify which raw data level to be read from.
[in]	groupNum	Additonal param to specify the group to read from since there may be different groups of data per level, for example, we can pass service ID(soda/ssi) to specify the service group to read from for a LEVEL_TWO raw data.
[out]	data	A pointer to the size of the data array.
[in]	handle	Specifies the sensor handle to read from.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_NOT_SUPPORTED - if sensor does not implement this functionality.
DW_NOT_READY - if sensor cannot generate a combine raw packet for a sepcific level.
DW_CALL_NOT_ALLOWED - if sensor cannot execute the call, for example, due to decoding data.
DW_INVALID_ARGUMENT - if one of the given arguments is invalid.
DW_TIME_OUT - if the requested timed out.
DW_SAL_SENSOR_ERROR - if there was an unrecoverable i/o error.
DW_SUCCESS

Definition at line 320 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_getSensorInformation

typedef dwStatus(* dwSensorPlugin_getSensorInformation) (dwSensorPlugin_information *information, dwSensorPluginSensorHandle_t sensor)

Gets information of this sensor.

Parameters

[out]	information	Information struct for this sensor.
[in]	sensor	Specifies the sensor to which the constants are related.

Returns: DW_FAILURE, DW_SUCCESS

Definition at line 296 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_pushData

typedef dwStatus(* dwSensorPlugin_pushData) (size_t *lenPushed, uint8_t const *data, size_t const size, dwSensorPluginSensorHandle_t handle)

Pushes raw data obtained from a previous 'dwSensorPlugin_readRawData' call for decoding.

Depending on the sensor implementation, actual decoding may happen synchronously on this call, or on a subsequently 'dwSensorPlugin_pushData' call when enough raw data has been received.

Parameters

[out]	lenPushed	A pointer to the amount of data that was successfully pushed to the plugin
[in]	data	A pointer to data that was populated with the RAW data.
[in]	size	Size of the data to be pushed
[in]	handle	Specifies the sensor the data came from.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_CALL_NOT_ALLOWED - if sensor cannot execute the call, for example, due to decoding data.
DW_NOT_SUPPORTED - if sensor does not implement this functionality.
DW_INVALID_ARGUMENT - if given data pointer is invalid.
DW_SUCCESS

Note: CAN sensor plugins do not need to provide this method, as decoding happens by DriveWorks sensor layer. The corresponding entry in 'dwSensorCommonPluginFunctions' can be null.

Definition at line 285 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_rawDataReadyForDecode

typedef dwStatus(* dwSensorPlugin_rawDataReadyForDecode) (size_t *offset, size_t *size, uint8_t const *const data, dwSensorPluginSensorHandle_t ctx)

API for sensor that raw data and decoded packet are many to one relationship.

Push raw data segments to sensor plugin and check if the raw data is ready for decode.

Parameters

[out]	offset	for a packet
[out]	size	for a complete packet
[in]	data	raw TP segment data.
[in]	ctx	context handle.

Returns: DW_INVALID_ARGUMENT - if pointer to the sensor handle is NULL.
DW_NOT_READY - if sensor cannot generate a combine raw packet.
DW_SUCCESS

Definition at line 336 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_readRawData

typedef dwStatus(* dwSensorPlugin_readRawData) (uint8_t const **data, size_t *size, dwTime_t *timestamp, dwTime_t timeout_us, dwSensorPluginSensorHandle_t handle)

Reads RAW data for one single message from the sensor as byte array.

This should be the raw unprocessed data received from the sensor. Generally this is the entrypoint to perform a read operation on the sensor.

For each raw "message" from the sensor, data must be packed in the following memory layout:

Payload Size (uint32_t) | Timestamp (dwTime_t) | Payload

It is the responsiblility of the plugin author to do perform the memory allocation for the memory buffer that will be given out via this API.

Please note the following considerations on the behavior of this API:

1. This API may be called several times before a call to 'dwSensorPlugin_returnRawData',
   which means your plugin implementation must support multiple "raw data" buffers in flight.
2. The buffer given out by this API will be returned by a call to '_dwSensorPlugin_returnRawData()'
3. The size reported as the output of this API shall include the header shown above

Note: To support the multiple buffers in flight behavior described again, a reference BufferPool data structure implementation is released with the plugin samples.

Parameters

[out]	data	A pointer to the pointer to data that is populated with the RAW data.
[out]	size	A pointer to the size of the data array.
[out]	timestamp	Specifies the host timestamp of raw data message.
[in]	timeout_us	Specifies the timeout in us to wait before unblocking.
[in]	handle	Specifies the sensor handle to read from.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_NOT_SUPPORTED - if sensor does not implement this functionality.
DW_CALL_NOT_ALLOWED - if sensor cannot execute the call, for example, due to decoding data.
DW_INVALID_ARGUMENT - if one of the given arguments is invalid.
DW_TIME_OUT - if the requested timed out.
DW_SAL_SENSOR_ERROR - if there was an unrecoverable i/o error.
DW_SUCCESS

Definition at line 247 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_release

typedef dwStatus(* dwSensorPlugin_release) (dwSensorPluginSensorHandle_t handle)

Releases a sensor managed by the plugin module.

Note: This method renders the sensor handle unusable.

Parameters

[in] handle The handle to a sensor created previously with the 'dwSensorPlugin_createHandle' interface.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_SUCCESS

Definition at line 154 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_reset

typedef dwStatus(* dwSensorPlugin_reset) (dwSensorPluginSensorHandle_t handle)

Resets the sensor.

The method shall block while the sensor is reset.

Note: It is guarunteed that all outstanding references to sensor data will be returned prior to this call.

Parameters

[in] handle A sensor handle previously created w/ the 'dwSensorPlugin_createHandle' interface.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during sensor reset.
DW_SUCCESS

Definition at line 207 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_returnRawData

typedef dwStatus(* dwSensorPlugin_returnRawData) (uint8_t const *data, dwSensorPluginSensorHandle_t handle)

Returns RAW data to sensor as a byte array.

The returned pointer must have been previously obtained by a call to the 'dwSensorPlugin_readRawData' interface.

Parameters

[in]	data	A pointer to data that was populated with the RAW data.
[in]	handle	Specifies the sensor the data came from.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_CALL_NOT_ALLOWED - if sensor cannot execute the call, for example, due to decoding data.
DW_NOT_SUPPORTED - if sensor does not implement this functionality.
DW_INVALID_ARGUMENT - if given data pointer is invalid.
DW_SUCCESS

Definition at line 263 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_start

typedef dwStatus(* dwSensorPlugin_start) (dwSensorPluginSensorHandle_t handle)

Starts the sensor previously successfully created with 'dwSensorPlugin_createSensor' interface.

Sensor data should ready to be received using the '_dwSensorPlugin_readRawData()' API after the execution of this call.

Parameters

[in] handle A sensor handle previously created w/ the 'dwSensorPlugin_createHandle' interface.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during sensor start.
DW_SUCCESS

Definition at line 183 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_stop

typedef dwStatus(* dwSensorPlugin_stop) (dwSensorPluginSensorHandle_t handle)

Stops the sensor.

This method shall block while the sensor is stopped.

Parameters

[in] handle A sensor handle previously created w/ the 'dwSensorPlugin_createHandle' interface.

Returns: DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_SAL_SENSOR_ERROR - if a non recoverable error happens during sensor stop.
DW_SUCCESS

Definition at line 194 of file SensorCommonPlugin.h.

◆ dwSensorPluginSensorHandle_t

typedef void* dwSensorPluginSensorHandle_t

Definition at line 71 of file SensorCommonPlugin.h.

Enumeration Type Documentation

◆ dwSensorPlugin_rawDataLevel

enum dwSensorPlugin_rawDataLevel

Enumerator
DW_SENSORS_RAW_DATA_LEVEL_ZERO
DW_SENSORS_RAW_DATA_LEVEL_ONE
DW_SENSORS_RAW_DATA_LEVEL_TWO
DW_SENSORS_RAW_DATA_LEVEL_COUNT

Definition at line 120 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_rawToDecMap

enum dwSensorPlugin_rawToDecMap

Enumerator
DW_SENSORS_RAW_DEC_ONE_TO_ONE	1-1 map between raw data and decoded packet
DW_SENSORS_RAW_DEC_MANY_TO_ONE	N-1(N>1) map between raw data and decoded packet.
DW_SENSORS_RAW_DEC_NOT_SUPPORTED	Not supported.

Definition at line 74 of file SensorCommonPlugin.h.

◆ dwSensorPlugin_timeDomain

enum dwSensorPlugin_timeDomain

Enumerator
DW_SENSORS_PLUGIN_TIME_DOMAIN_HOST	Host Clock, as given by DW TimeSource.
DW_SENSORS_PLUGIN_TIME_DOMAIN_TSC	Tegra Timestamp System Counter.
DW_SENSORS_PLUGIN_TIME_DOMAIN_PTP	Precision Time Protocol.
DW_SENSORS_PLUGIN_TIME_DOMAIN_UTC	Coordinated Universal Time.
DW_SENSORS_PLUGIN_TIME_DOMAIN_UTCTOH	Top of Hour in Coordinated Universal Time.
DW_SENSORS_PLUGIN_TIME_DOMAIN_MISC	Any other timestamp.
DW_SENSORS_PLUGIN_TIME_DOMAIN_COUNT	Number of time domains in this enum (leave at end)

Definition at line 84 of file SensorCommonPlugin.h.

Detailed Description

Data Structures

Typedefs

Enumerations

Data Structure Documentation

◆ dwSensorCommonPluginFunctions

◆ dwSensorPlugin_firmwareVersion

◆ dwSensorPlugin_information

◆ dwSensorPluginProperties

Typedef Documentation

◆ dwSensorPlugin_createHandle

◆ dwSensorPlugin_createSensor

◆ dwSensorPlugin_getRawPackets

◆ dwSensorPlugin_getSensorInformation

◆ dwSensorPlugin_pushData

◆ dwSensorPlugin_rawDataReadyForDecode

◆ dwSensorPlugin_readRawData

◆ dwSensorPlugin_release

◆ dwSensorPlugin_reset

◆ dwSensorPlugin_returnRawData

◆ dwSensorPlugin_start

◆ dwSensorPlugin_stop

◆ dwSensorPluginSensorHandle_t

Enumeration Type Documentation

◆ dwSensorPlugin_rawDataLevel

◆ dwSensorPlugin_rawToDecMap

◆ dwSensorPlugin_timeDomain