mpdproc.h

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#ifndef PRESENCE_DETECTION_H_
#define PRESENCE_DETECTION_H_
 
#define _USE_MATH_DEFINES
#include <stdint.h>
#include <stdlib.h>
#include <limits.h>
#include <stdbool.h>
//#include<gtrack.h>
//#include<gtrack_int.h>
#include <math.h>
#include "define.h"
#include <datapath/dpif/dp_error.h>
#include <datapath/dpif/dpif_pointcloud.h>
#include <kernel/dpl/SystemP.h>
#include <kernel/dpl/HeapP.h>
#include <alg/gtrack/gtrack.h>
#include <alg/gtrack/common/gtrack_int.h>
 
 
#define DPU_MPDPROC_EINVAL                  (DP_ERRNO_MPD_PROC_BASE-1)
 
#define DPU_MPDPROC_ENOMEM                  (DP_ERRNO_MPD_PROC_BASE-2)
 
#define DPU_MPDPROC_EINTERNAL               (DP_ERRNO_MPD_PROC_BASE-3)
 
typedef struct mpdProc_SceneryParams_t
{
    GTRACK_sensorPosition       sensorPosition;
    GTRACK_sensorOrientation    sensorOrientation;
    uint8_t             numBoundaryBoxes;
    GTRACK_boundaryBox  boundaryBox[MAX_ZONES];
} mpdProc_SceneryParams;
 
typedef struct mpdProc_ClusterParamCfg_t
{
    uint16_t        enabled;
 
    float           maxDistance;
 
    uint16_t        minPoints;
 
} mpdProc_ClusterParamCfg;
 
typedef struct mpdProc_MotionModeStateParamCfg_t
{
    uint16_t        pointThre1;
 
    uint16_t        pointThre2;
 
    float           snrThre2;
 
    uint16_t        pointHistThre1;
 
    uint16_t        pointHistThre2;
 
    float           snrHistThre2;
 
    uint16_t        histBufferSize;
 
    uint16_t        stateExitThre;
 
} mpdProc_MotionModeStateParamCfg;
 
typedef struct mpdProc_Histbuffer_t
{
    float buffer[MAX_HISTORY_BUFFER_SIZE];
    float sum;
    int latest;
    int oldest;
    int bufferSize;
} mpdProc_Histbuffer;
 
typedef struct mpdProc_MotionTracker_t
{
    int state;
    int major2minorCount;
    int minor2emptyCount;
    
    mpdProc_Histbuffer pointHistBufferMajor;
    mpdProc_Histbuffer snrHistBufferMajor; 
 
    mpdProc_Histbuffer pointHistBufferMinor;
    mpdProc_Histbuffer snrHistBufferMinor;
 
} mpdProc_MotionTracker;
 
typedef struct DPU_MpdProc_OutParams_t
{
    uint8_t         *mpdZoneState;
 
    float         minMpdCentroid;
 
}DPU_MpdProc_OutParams;
 
typedef struct DPU_MpdProc_StaticConfig_t
{
    uint8_t                         motionMode;
    mpdProc_SceneryParams           sceneryParams;
    mpdProc_ClusterParamCfg         clusterParams;
    mpdProc_MotionModeStateParamCfg majorStateParamCfg;
    mpdProc_MotionModeStateParamCfg minorStateParamCfg;
}DPU_MpdProc_StaticConfig; 
 
typedef struct DPU_MpdProc_HW_Resources_t
{
 
    uint16_t                    *numDetMajor;
 
    uint16_t                    *numDetMinor;
 
    DPIF_PointCloudCartesianExt *detObjMajor;
 
    DPIF_PointCloudCartesianExt *detObjMinor;
 
    mpdProc_MotionTracker       *zones;
} DPU_MpdProc_HW_Resources;
 
typedef struct DPU_MpdProc_Config_t
{
    DPU_MpdProc_StaticConfig    staticCfg;
 
    DPU_MpdProc_HW_Resources    res;
 
    /*@TODO: If needed*/
}DPU_MpdProc_Config;
 
typedef struct MPDProcObj_t
{
    DPU_MpdProc_StaticConfig    staticCfg;
 
    DPU_MpdProc_HW_Resources    res;
}MPDProcObj;
 
typedef void* DPU_MpdProc_Handle ;
 
void gtrack_censor2world(GTRACK_cartesian_position *c_in, GTRACK_worldTransformParams *wt, GTRACK_cartesian_position *c_out);
 
/*================================================================
               mpdproc DPU exposed APIs            
 ================================================================*/
 
DPU_MpdProc_Handle DPU_MpdProc_init (int32_t*    errCode);
 
int32_t DPU_MpdProc_config
(
    DPU_MpdProc_Handle  handle,
    DPU_MpdProc_Config  *pConfigIn
);
 
int32_t DPU_MpdProc_process
(
    DPU_MpdProc_Handle      handle,
    DPU_MpdProc_OutParams   *outParams
);
 
int32_t DPU_MpdProc_deinit
(
    DPU_MpdProc_Handle handle
);
 
#endif