public/driveworks-nvsdk/time_usecase1.html

dwSAL_initialize(&sal, sdk);


dwSensorHandle_t timeSensor  = DW_NULL_HANDLE;

dwSensorHandle_t lidarSensor = DW_NULL_HANDLE;


dwSensorParams lidarParams;

lidarParams.parameters = "ip=192.168.3.43,port=2368,device=VELO_HDL64E,scan-frequency=10.0";

lidarParams.protocol = "lidar.socket";

dwSAL_createSensor(&lidarSensor, lidarParams, sal);


dwSensorParams timeParams;

timeParams.parameters = "nvpps-device=/dev/nvpps0,reference-type=NOVATEL_CAN,can-device=can0";

timeParams.protocol = "time.nvpps";

dwSAL_createSensor(&timeSensor, timeParams, sal);


dwSensor_start(timeSensor);

dwSensor_start(lidarSensor);


while(loop) {

    dwSensorLidar_readPacket(...);


    // CODE: use the time synchronized lidar packets for other tasks


    dwSensorLidar_returnPacket(...);

}

dwSensor_stop(...);


dwSAL_releaseSensor(&timeSensor);

dwSAL_releaseSensor(&lidarSensor);

DW_NULL_HANDLE
#define DW_NULL_HANDLE
Definition: Types.h:83

dwSensorLidar_returnPacket
DW_API_PUBLIC dwStatus dwSensorLidar_returnPacket(dwLidarDecodedPacket const *const data, dwSensorHandle_t const sensor)
Returns the data read to the internal pool.

dwSensorLidar_readPacket
DW_API_PUBLIC dwStatus dwSensorLidar_readPacket(dwLidarDecodedPacket const **const data, dwTime_t const timeoutUs, dwSensorHandle_t const sensor)
Reads one scan packet.

dwSensorParams::parameters
const char8_t * parameters
Array of additional parameters provided to sensor creation.
Definition: Sensors.h:106

dwSensorParams::protocol
const char8_t * protocol
Name of the protocol.
Definition: Sensors.h:99

dwSAL_createSensor
DW_API_PUBLIC dwStatus dwSAL_createSensor(dwSensorHandle_t *const sensor, dwSensorParams const params, dwSALHandle_t const sal)
Creates a new sensor managed by the SAL module with the given parameters.

dwSensor_start
DW_API_PUBLIC dwStatus dwSensor_start(dwSensorHandle_t const sensor)
Starts the sensor previously successfully created with 'dwSAL_createSensor()'.

dwSensor_stop
DW_API_PUBLIC dwStatus dwSensor_stop(dwSensorHandle_t const sensor)
Stops the sensor.

dwSAL_initialize
DW_API_PUBLIC dwStatus dwSAL_initialize(dwSALHandle_t *const sal, dwContextHandle_t const context)
Creates and initializes a SAL (sensor abstraction layer) module.

dwSAL_releaseSensor
DW_API_PUBLIC dwStatus dwSAL_releaseSensor(dwSensorHandle_t const sensor)
Releases a sensor managed by the SAL module.

dwSensorHandle_t
struct dwSensorObject * dwSensorHandle_t
Handle representing a sensor.
Definition: Sensors.h:86

dwSensorParams
Holds sets of parameters for sensor creation.
Definition: Sensors.h:95