Lidar Plugin

Detailed Description

Provides an interface for non-standard Lidar sensors.

Data Structures
struct	_dwSensorLidarDecoder_constants
	Holds constants for a given lidar. More...
struct	dwSensorLidarPluginFunctionTable
	Holds the list of exported functions implemented by the vendor-provided library. More...

Typedefs
typedef dwStatus(*	dwSensorLidarPlugin_getDecoderConstants) (_dwSensorLidarDecoder_constants *constants, dwSensorPluginSensorHandle_t sensor)
	Gets constants associated with this lidar sensor. More...
typedef dwStatus(*	dwSensorLidarPlugin_parseDataBuffer) (dwLidarDecodedPacket *output, const dwTime_t hostTimeStamp, dwSensorPluginSensorHandle_t sensor)
	Processes the data previously passed via the 'dwSensorPlugin_pushData' interface. More...
typedef dwStatus(*	dwSensorLidarPlugin_sendMessage) (uint32_t const cmd, uint8_t const *const data, size_t const size, dwSensorPluginSensorHandle_t sensor)
	Send message to lidar sensor. More...

Functions
dwStatus	dwSensorLidarPlugin_getFunctionTable (dwSensorLidarPluginFunctionTable *functions)
	Returns the table of functions that are provided by the vendor-provided library for the sensor. More...

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Data Structure Documentation

_dwSensorLidarDecoder_constants

struct _dwSensorLidarDecoder_constants

Data Fields
size_t	maxPayloadSize	Packet max payload size, in bytes.
dwLidarProperties	properties	Lidar properties.

dwSensorLidarPluginFunctionTable

struct dwSensorLidarPluginFunctionTable

Data Fields
dwSensorCommonPluginFunctions	common
dwSensorLidarPlugin_getDecoderConstants	getDecoderConstants
dwSensorLidarPlugin_parseDataBuffer	parseDataBuffer
dwSensorLidarPlugin_sendMessage	sendMessage

Typedef Documentation

dwSensorLidarPlugin_getDecoderConstants

typedef dwStatus(* dwSensorLidarPlugin_getDecoderConstants) (_dwSensorLidarDecoder_constants *constants, dwSensorPluginSensorHandle_t sensor)

Gets constants associated with this lidar sensor.

Parameters

[out]	constants	Constant parameters for this sensor are written here.
[in]	sensor	Specifies the sensor to which the constants are related.

Returns

DW_FAILURE, DW_SUCCESS

Definition at line 94 of file LidarPlugin.h.

dwSensorLidarPlugin_parseDataBuffer

typedef dwStatus(* dwSensorLidarPlugin_parseDataBuffer) (dwLidarDecodedPacket *output, const dwTime_t hostTimeStamp, dwSensorPluginSensorHandle_t sensor)

Processes the data previously passed via the 'dwSensorPlugin_pushData' interface.

The interpreted memory buffer outputted from this API is owned by the plugin. The plugin shall support multiple buffers in flight via this API.

Parameters

[out]	output	Pointer to decoded lidar point cloud
[in]	hostTimeStamp	Specifies the host timeStamp when raw data was received.
[in]	sensor	Specifies the sensor the data came from.

Returns

DW_INVALID_HANDLE - if the sensor handle is NULL or invalid
DW_NOT_AVAILABLE - if no frame is ready for consumption DW_SUCCESS

Definition at line 81 of file LidarPlugin.h.

dwSensorLidarPlugin_sendMessage

typedef dwStatus(* dwSensorLidarPlugin_sendMessage) (uint32_t const cmd, uint8_t const *const data, size_t const size, dwSensorPluginSensorHandle_t sensor)

Send message to lidar sensor.

Parameters

[in]	cmd	Identification of the message.
[in]	data	Raw payload of the message.
[in]	size	Raw payload size of the message.
[in]	sensor	Specifies the sensor to send the message data.

Returns

DW_INVALID_ARGUMENT - if the data is invalid
DW_NOT_SUPPORTED - if the sensor handle is NULL or invalid, or specified sensor doesn't support cmd or the output connection is not set
DW_FAILURE - if not able to send data out successfully
DW_SUCCESS - if send the message out to the sensor successfully

Definition at line 110 of file LidarPlugin.h.

Function Documentation

dwSensorLidarPlugin_getFunctionTable()

dwStatus dwSensorLidarPlugin_getFunctionTable

(

dwSensorLidarPluginFunctionTable *

functions

)

Returns the table of functions that are provided by the vendor-provided library for the sensor.

Parameters

[out]

functions

Function table exported by the library

Returns

DW_FAILURE - unspecified failure while getting the function table.
DW_SUCCESS