trackerproc.h

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/*
 * Copyright (C) 2022 Texas Instruments Incorporated
 *
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 * modification, are permitted provided that the following conditions
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 *
 *   Redistributions in binary form must reproduce the above copyright
 *   notice, this list of conditions and the following disclaimer in the
 *   documentation and/or other materials provided with the
 *   distribution.
 *
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 *   its contributors may be used to endorse or promote products derived
 *   from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
/**************************************************************************
 *************************** Include Files ********************************
 **************************************************************************/
#ifndef TRACKERPROC_H
#define TRACKERPROC_H
 
/* Standard Include Files. */
#include <stdint.h>
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
 
/* mmWave SDK Data Path Include Files */
#include <common/mmwave_error.h>
#include <datapath/dpif/dpif_pointcloud.h>
#include <alg/gtrack/gtrack.h>
 
#define DPU_TRACKERPROC_POINT_CLOUD_CARTESIAN_BYTE_ALIGNMENT  DPIF_POINT_CLOUD_CARTESIAN_CPU_BYTE_ALIGNMENT
 
#define DPU_TRACKERPROC_POINT_CLOUD_SIDE_INFO_BYTE_ALIGNMENT  DPIF_POINT_CLOUD_SIDE_INFO_CPU_BYTE_ALIGNMENT
 
 
 
#ifdef __cplusplus
extern "C" {
#endif
 
//#define  TRACKER_MAX_NUM_TR                    (5U)
 
#define  DPU_TRACKERPROC_MAX_NUM_TRACKS         TRACKER_MAX_NUM_TR
 
#define DP_ERRNO_TRACKER_PROC_BASE              (MMWAVE_ERRNO_DPU_BASE -900)
 
#define DPU_TRACKERPROC_EINVAL                  (DP_ERRNO_TRACKER_PROC_BASE-1)
 
#define DPU_TRACKERPROC_ENOMEM                  (DP_ERRNO_TRACKER_PROC_BASE-2)
 
#define DPU_TRACKERPROC_EINTERNAL               (DP_ERRNO_TRACKER_PROC_BASE-3)
 
#define DPU_TRACKERPROC_ENOTIMPL                (DP_ERRNO_TRACKER_PROC_BASE-4)
 
#define DPU_TRACKERPROC_EINPROGRESS             (DP_ERRNO_TRACKER_PROC_BASE-5)
 
#define DPU_TRACKERPROC_ECMD                    (DP_ERRNO_TRACKER_PROC_BASE-6)
 
#define DPU_TRACKERPROC_EMAX_NUM_TRACKS_EXCEEDED (DP_ERRNO_TRACKER_PROC_BASE-7)
 
/* @TODO: Remove this hardcoding and define these correctly in the DPC or elsewhere.
 */
 
#define TRACKERPROC_OUTPUT_TARGET_LIST 7
#define TRACKERPROC_OUTPUT_TARGET_INDEX 8
 
#define TRACKERPROC_ACCEL_PARAMS_NUM_ELEMENTS 3
 
typedef struct DPU_TrackerProc_StaticConfig_t
{
    uint8_t                     trackerEnabled;         
    float                       sensorAzimuthTilt;
    float                       sensorElevationTilt;
    float                       sensorHeight;
    GTRACK_allocationParams     allocationParams;
    GTRACK_gatingParams         gatingParams;
    GTRACK_stateParams          stateParams;
    //GTRACK_varParams            variationParams;
    GTRACK_sceneryParams        sceneryParams;
    GTRACK_presenceParams       presenceParams;
    float                       accelerationParams[TRACKERPROC_ACCEL_PARAMS_NUM_ELEMENTS];
    uint32_t                    trackingParamSet;                     
    GTRACK_moduleConfig         gtrackModuleConfig;
    uint8_t         isCliCmdMaxAccelParamReceived;
}DPU_TrackerProc_StaticConfig; 
 
 
typedef struct DPU_TrackerProc_Resources_t
{
 
    uint32_t                    numDetObjIn;
 
} DPU_TrackerProc_HW_Resources;
 
typedef struct DPU_TrackerProc_Config_t
{
    DPU_TrackerProc_StaticConfig    staticCfg;
 
}DPU_TrackerProc_Config;
 
typedef uint8_t trackerProc_TargetIndex;
 
typedef enum DPU_TrackerProc_Cmd_e
{
    DPU_TrackerProc_Cmd_sensorTiltCfg
}DPU_TrackerProc_Cmd;
 
typedef struct trackerProc_Target_t
{
#if defined (GTRACK_2D)
 
    uint32_t    tid;
    float        posX;
    float        posY;
    float        velX;
    float        velY;
    float        accX;
    float        accY;
 
    float       ec[9];
    float       g;
    //float      dim[3];
    //float      mCenter[3];
    float       confidenceLevel;
 
#elif defined (GTRACK_3D)
 
    uint32_t     tid;
    float        posX;
    float        posY;
    float        posZ;
    float        velX;
    float        velY;
    float        velZ;
    float        accX;
    float        accY;
    float        accZ;
    float        ec[16];
    float        g;
    float        confidenceLevel;
#endif
} trackerProc_Target;
 
typedef struct trackerProc_TargetDescrHandle_t
{
    trackerProc_Target  *tList;
 
    trackerProc_TargetIndex *tIndex;
    uint32_t     uartProcessingTime;
 
    uint32_t     trackProcessingTime;
} trackerProc_TargetDescrHandle;
 
typedef struct DPU_TrackerProc_OutParams_t
{
    uint32_t                numTargets;
    uint32_t                numIndices;
 
    uint8_t                 presenceInd;
 
    trackerProc_Target      *tList;
 
    trackerProc_TargetIndex *targetIndex;
}DPU_TrackerProc_OutParams;
 
/* Compatible with GTRACK_measurementPoint */
typedef struct trackerProc_Point_t
{
    float   range;
    float   azimuth;
#ifdef GTRACK_3D
    float   elevation;
#endif
    float   doppler;
    float   snr;
 
} trackerProc_Point;
#if 0
typedef struct trackerProc_PointCloud_t
{
    trackerProc_Tl        header;
    trackerProc_Point     point[];
} trackerProc_PointCloud;
#endif
 
typedef void* DPU_TrackerProc_Handle;
 
typedef struct trackerProcObj_t
{
    DPU_TrackerProc_Handle          gtrackHandle;
    
    uint32_t                        pointCloudSize; 
    
    trackerProc_Point               *pointCloud;
#if 0
 
    trackerProc_OutputPointCloud    *pointCloudTlv;
#endif
 
    trackerProc_TargetDescrHandle   *targetDescrHandle;
 
    DPU_TrackerProc_Config          pDpuCfg;    
 
    bool                            inProgress;
 
} trackerProcObjType;
 
/**************************************************************************
 ************************TrackerProc External APIs **************************
 **************************************************************************/
 
DPU_TrackerProc_Handle DPU_TrackerProc_init
(
    int32_t*    errCode
);
 
int32_t DPU_TrackerProc_config
(
    DPU_TrackerProc_Handle  handle,
    DPU_TrackerProc_Config  *pConfigIn
);
 
int32_t DPU_TrackerProc_process
(
    DPU_TrackerProc_Handle      handle,
    uint32_t                    numObjsIn,
    DPIF_PointCloudCartesianExt *cfarDetObjList,
    DPU_TrackerProc_OutParams   *outParams
);
 
int32_t DPU_TrackerProc_control
(
    DPU_TrackerProc_Handle     handle,
    DPU_TrackerProc_Cmd        cmd,
    void*                      arg,
    uint32_t                   argSize
);
 
int32_t DPU_TrackerProc_deinit
(
    DPU_TrackerProc_Handle handle
);
 
int32_t DPU_TrackerProc_CartesianToSpherical
(
    uint16_t                    numPoints,
    DPIF_PointCloudCartesianExt *objCartExtIn,
    trackerProc_Point           *detObjSphericalOut
);
 
#ifdef __cplusplus
}
#endif
 
#endif