Radar.h

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#ifndef DW_SENSORS_RADAR_RADAR_H_
#define DW_SENSORS_RADAR_RADAR_H_
 
#include <dw/core/base/Config.h>
#include <dw/sensors/Sensors.h>
#include <dw/sensors/radar/RadarScan.h>
#include <dw/sensors/radar/RadarTypes.h>
 
#define DW_RADARSCAN_MINIMUM_PAYLOAD_SIZE 1744
 
// The structs below are serialized in binary and the layout is assummed to be packed
#pragma pack(push, 1)
 
typedef struct _dwRadarScanSSI dwRadarScanSSI;
 
typedef struct dwRadarScan
{
    uint32_t scanIndex;
 
    dwTime_t sensorTimestamp;
 
    dwTime_t hostTimestamp;
 
    dwRadarScanType scanType;
 
    uint32_t numReturns;
 
    float32_t dopplerAmbiguity;
 
    dwRadarScanValidity scanValidity;
 
    dwRadarScanMisc radarScanMisc;
 
    dwRadarScanAmbiguity radarScanAmbiguity;
 
    void* data;
 
    dwRadarDetectionMisc const* detectionMisc;
 
    dwRadarDetectionStdDev const* detectionStdDev;
 
    dwRadarDetectionQuality const* detectionQuality;
 
    dwRadarDetectionProbability const* detectionProbability;
 
    dwRadarDetectionFFTPatch const* detectionFFTPatch;
 
    dwRadarScanSSI const* radarSSI;
} dwRadarScan;
 
#pragma pack(pop)
 
#ifdef __cplusplus
extern "C" {
#endif
 
DW_API_PUBLIC
dwStatus dwSensorRadar_toggleScanType(bool const enable, dwRadarScanType const scanType, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_setDataDecoding(bool const enable, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_readData(const dwRadarScan** const data, const dwRadarScanType type,
                                const dwTime_t timeoutUs, dwSensorHandle_t const sensor);
DW_API_PUBLIC
dwStatus dwSensorRadar_returnData(const dwRadarScan* const scan, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_readScan(const dwRadarScan** const data,
                                const dwTime_t timeoutUs, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_returnScan(const dwRadarScan* const scan, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_processRawData(const dwRadarScan** const data,
                                      const uint8_t* const rawData, size_t const size, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_getProperties(dwRadarProperties* const radarProperties, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_setVehicleState(dwRadarVehicleState* const data, dwSensorHandle_t const sensor);
 
DW_API_PUBLIC
dwStatus dwSensorRadar_setMountPosition(dwRadarMountPosition* const data, dwSensorHandle_t const sensor);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_SENSORS_RADAR_RADAR_H_