Workflow

Before we can instantiate Sensor Manager, we need to declare and instantiate NVIDIA^® DriveWorks Context , Sensor Abstration Layer and Rig Configuration :

dwContextHandle_t          ctx = DW_NULL_HANDLE;
dwSALHandle_t              sal = DW_NULL_HANDLE;
dwRigHandle_t  rc = DW_NULL_HANDLE;
dwSensorManagerHandle_t     sm = DW_NULL_HANDLE;
 
dwContextParameters     ctxParams = {};
constexpr size_t        POOL_SIZE  = 16;
const dwSensorEvent *   event     = nullptr;
dwStatus                ret       = DW_SUCCESS;
 
ret = dwInitialize(&ctx, DW_VERSION, &ctxParams);
checkError(ret);
 
ret = dwSAL_initialize(&sal, ctx);
checkError(ret);
 
ret = dwRig_initializeFromFile(&rc, ctx, "rig.json");
checkError(ret);

Now we can initialize Sensor Manager and start the underlying sensors:

ret = dwSensorManager_initializeFromRig(&sm, rc, POOL_SIZE, sal);
checkError(ret);
 
ret = dwSensorManager_start(sm);
checkError(ret);

Once Sensor Manager object initialized and sensors are started, it is possible to read events in a loop:

while (ret == DW_SUCCESS) {
    ret = dwSensorManager_acquireNextEvent(&event, 0, sm);
    checkError(ret);
 
    switch (event->type) {
    case DW_SENSOR_RADAR:  /* Process Event */ break;
    case DW_SENSOR_LIDAR:  /* Process Event */ break;
    case DW_SENSOR_CAN:    /* Process Event */ break;
    case DW_SENSOR_GPS:    /* Process Event */ break;
    case DW_SENSOR_IMU:    /* Process Event */ break;
    case DW_SENSOR_CAMERA: /* Process Event */ break;
    }
 
    ret = dwSensorManager_releaseAcquiredEvent(event, sm);
    checkError(ret);
}

Clean-up procedure consists of stopping Sensor Manager and releasing the memory:

ret = dwSensorManager_stop(sm);
checkError(ret);
 
ret = dwSensorManager_release(&sm);
checkError(ret);

Similarly, DriveWorks Context, SAL and Rig Configuration objects must be released at the end.

Sensor Manager is used in multiple samples: