Ars548Dll.h

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/*
 *                   Copyright 2023 ADAS Engineering
 *
 *                   Website: http://www.adas-engineering.de
 *
 * This software is furnished under a license and may be used and copied
 * only in accordance with the terms of such license.
 *
 */
 
#pragma once
 
#ifdef _WIN32
    #ifdef ARS548DLL_EXPORTS
        #define ARS548DLL_API extern "C" __declspec(dllexport)
    #else
        #define ARS548DLL_API extern "C" __declspec(dllimport)
    #endif
 
    #include <windows.h>
 
#else
    #ifdef ARS548DLL_EXPORTS
        #define ARS548DLL_API __attribute__((visibility("default")))
    #else
        #define ARS548DLL_API
    #endif
 
    #define WINAPI
    #define CALLBACK
 
    #include <unistd.h>
    #include <stdint.h>
 
    typedef uint8_t         BYTE;
    typedef int8_t          INT8;
    typedef uint8_t         UINT8;
    typedef uint16_t        UINT16;
    typedef uint32_t        UINT32;
    typedef uint32_t        DWORD;
    typedef uint64_t        UINT64;
    typedef float           FLOAT32;
 
    typedef int             BOOL;
    typedef void*           HINSTANCE;
    typedef void*           LPVOID;
    typedef int             SOCKET;
 
#endif
 
 
const int ARS548_OK = 0;                                        
const int ARS548_ERROR_STATE = 40001;                           
const int ARS548_ERROR_RESOURCE_CREATION = 40002;               
const int ARS548_ERROR_NETWORK_INIT_FAILED = 40003;             
const int ARS548_ERROR_NETWORK_BIND_FAILED = 40004;             
const int ARS548_ERROR_NETWORK_MULTICAST_INIT_FAILED = 40005;   
const int ARS548_ERROR_NETWORK_INVALID_MULTICAST_IP = 40006;    
const int ARS548_ERROR_NOT_IMPLEMENTED = 40007;                 
const int ARS548_ERROR_SEND_FAILED = 40008;                     
const int ARS548_ERROR_FILE_NOT_EXIST = 40009;                  
const int ARS548_ERROR_FILE_READ_FAILED = 40010;                
const int ARS548_ERROR_DIRECTORY_CREATION_FAILED = 40011;       
const int ARS548_ERROR_FILE_CREATION_FAILED = 40012;            
const int ARS548_ERROR_FILE_WRITE_FAILED = 40013;               
const int ARS548_ERROR_RECORD_ALREADY_LOAD = 40014;             
 
//--------------------------------
// Type Definition
//--------------------------------
typedef float FLOAT32;
 
 
#define METHOD_ID_DETECTION_LIST                336
#define METHOD_ID_OBJECT_LIST                   329
#define METHOD_ID_SENSOR_STATUS                 380
#define METHOD_ID_FILTER_STATUS                 396
 
#define METHOD_ID_SENSOR_CONFIG                 390
#define METHOD_ID_FILTER_CONFIG                 395
#define METHOD_ID_ACCELERATION_LATERAL_COG      321
#define METHOD_ID_ACCELERATION_LONGITUDINAL_COG 322
#define METHOD_ID_VELOCITY_VEHICLE              323
#define METHOD_ID_DRIVING_DIRECTION             325
#define METHOD_ID_YAW_RATE                      326
#define METHOD_ID_STEERING_ANGLE_FRONT_AXLE     327
#define METHOD_ID_CHARACTERISTIC_SPEED          328
 
#define MSG_ID_DETECTION_LIST       METHOD_ID_DETECTION_LIST    
#define MSG_ID_OBJECT_LIST          METHOD_ID_OBJECT_LIST       
#define MSG_ID_SENSOR_STATUS        METHOD_ID_SENSOR_STATUS     
#define MSG_ID_FILTER_STATUS        METHOD_ID_FILTER_STATUS     
// Save the current alignment settings and set the alignment to 1-byte alignment.
#pragma pack(push, 1)
 
struct SomeIPHeader1stPart
{
    UINT16 service_id;
    UINT16 method_id;
    UINT32 length;                              
};
 
struct SomeIPHeader2ndPart
{
    UINT16 client_id;
    UINT16 session_id;
    BYTE protocol_version;
    BYTE interface_version;
    BYTE message_type;
    BYTE return_code;
};
 
struct E2eP07Header
{
    UINT64 CRC;                                
    UINT32 Length;                             
    UINT32 SQC;                                
    UINT32 DataID;                             
};
 
struct Ars548Msg
{
};
 
struct SomeIPPackage
{
    SomeIPHeader1stPart header_part1;
    SomeIPHeader2ndPart header_part2;          
    E2eP07Header headerE2E;                    
    Ars548Msg *pPayload;
};
 
struct Ars548SensorStatusOlder : Ars548Msg
{
    FLOAT32 Longitudinal;                      
    FLOAT32 Lateral;                           
    FLOAT32 Vertical;                          
    FLOAT32 Yaw;                               
    FLOAT32 Pitch;                             
    UINT8 PlugOrientation;                     
    FLOAT32 Length;                            
    FLOAT32 Width;                             
    FLOAT32 Height;                            
    FLOAT32 Wheelbase;                         
    UINT16 MaximumDistance;                    
    UINT8 FrequencySlot;                       
    UINT8 CycleTime;                           
    UINT8 TimeSlot;                            
    UINT8 HCC;                                 
    UINT8 Powersave_Standstill;                
    UINT32 SensorIPAddress_0;                  
    UINT32 SensorIPAddress_1;                  
    UINT8 Configuration_counter;               
    UINT8 Status_LongitudinalVelocity;         
    UINT8 Status_LongitudinalAcceleration;     
    UINT8 Status_LateralAcceleration;          
    UINT8 Status_YawRate;                      
    UINT8 Status_SteeringAngle;                
    UINT8 Status_DrivingDirection;             
    UINT8 Status_CharacteristicSpeed;          
    UINT8 Status_Radar;                        
};
 
struct Ars548SensorStatus : Ars548Msg
{
    UINT32 Timestamp_Nanoseconds;              
    UINT32 Timestamp_Seconds;                  
    UINT8 Timestamp_SyncStatus;                
    UINT8 SWVersion_Major;                     
    UINT8 SWVersion_Minor;                     
    UINT8 SWVersion_Patch;                     
    FLOAT32 Longitudinal;                      
    FLOAT32 Lateral;                           
    FLOAT32 Vertical;                          
    FLOAT32 Yaw;                               
    FLOAT32 Pitch;                             
    UINT8 PlugOrientation;                     
    FLOAT32 Length;                            
    FLOAT32 Width;                             
    FLOAT32 Height;                            
    FLOAT32 Wheelbase;                         
    UINT16 MaximumDistance;                    
    UINT8 FrequencySlot;                       
    UINT8 CycleTime;                           
    UINT8 TimeSlot;                            
    UINT8 HCC;                                 
    UINT8 Powersave_Standstill;                
    UINT32 SensorIPAddress_0;                  
    UINT32 SensorIPAddress_1;                  
    UINT8 Configuration_counter;               
    UINT8 Status_LongitudinalVelocity;         
    UINT8 Status_LongitudinalAcceleration;     
    UINT8 Status_LateralAcceleration;          
    UINT8 Status_YawRate;                      
    UINT8 Status_SteeringAngle;                
    UINT8 Status_DrivingDirection;             
    UINT8 Status_CharacteristicSpeed;          
    UINT8 Status_Radar;                        
    UINT8 Status_VoltageStatus;                
    UINT8 Status_TemperatureStatus;            
    UINT8 Status_BlockageStatus;               
};
 
 
struct Ars548FilterStatusEntry
{
    UINT8 Active;                               
    UINT8 FilterID;                             
    FLOAT32 MinimumValue;                       
    FLOAT32 MaximumValue;                       
};
 
struct Ars548FilterStatus : Ars548Msg
{
    UINT32 Timestamp_Nanoseconds;               
    UINT32 Timestamp_Seconds;                   
    UINT8 Timestamp_SyncStatus;                 
    UINT8 FilterConfigurationCounter;           
    UINT8 DetectionSortIndex;                   
    UINT8 ObjectSortIndex;                      
    Ars548FilterStatusEntry DetectionFilter[7]; 
    Ars548FilterStatusEntry ObjectFilter[24];   
};
 
struct Ars548Detection
{
    FLOAT32 f_AzimuthAngle;                    
    FLOAT32 f_AzimuthAngleSTD;                 
    UINT8 u_InvalidFlags;                      
    FLOAT32 f_ElevationAngle;                  
    FLOAT32 f_ElevationAngleSTD;               
    FLOAT32 f_Range;                           
    FLOAT32 f_RangeSTD;                        
    FLOAT32 f_RangeRate;                       
    FLOAT32 f_RangeRateSTD;                    
    INT8 s_RCS;                                
    UINT16 u_MeasurementID;                    
    UINT8 u_PositivePredictiveValue;           
    UINT8 u_Classification;                    
    UINT8 u_MultiTargetProbability;            
    UINT16 u_ObjectID;                         
    UINT8 u_AmbiguityFlag;                     
    UINT16 u_SortIndex;                        
};
 
 
struct Ars548DetectionList : Ars548Msg
{
    UINT64 CRC;                                
    UINT32 Length;                             
    UINT32 SQC;                                
    UINT32 DataID;                             
    UINT32 Timestamp_Nanoseconds;              
    UINT32 Timestamp_Seconds;                  
    UINT8 Timestamp_SyncStatus;                
    UINT32 EventDataQualifier;                 
    UINT8 ExtendedQualifier;                   
    UINT16 Origin_InvalidFlags;                
    FLOAT32 Origin_Xpos;                       
    FLOAT32 Origin_Xstd;                       
    FLOAT32 Origin_Ypos;                       
    FLOAT32 Origin_Ystd;                       
    FLOAT32 Origin_Zpos;                       
    FLOAT32 Origin_Zstd;                       
    FLOAT32 Origin_Roll;                       
    FLOAT32 Origin_Rollstd;                    
    FLOAT32 Origin_Pitch;                      
    FLOAT32 Origin_Pitchstd;                   
    FLOAT32 Origin_Yaw;                        
    FLOAT32 Origin_Yawstd;                     
    UINT8 List_InvalidFlags;                   
    Ars548Detection Detections[800];
    FLOAT32 List_RadVelDomain_Min;             
    FLOAT32 List_RadVelDomain_Max;             
    UINT32 List_NumOfDetections;               
    FLOAT32 Aln_AzimuthCorrection;             
    FLOAT32 Aln_ElevationCorrection;           
    UINT8 Aln_Status;                          
};
 
 
struct Ars548Object
{
    UINT16 u_StatusSensor;                     
    UINT32 u_ID;                               
    UINT16 u_Age;                              
    UINT8 u_StatusMeasurement;                 
    UINT8 u_StatusMovement;                    
    UINT16 u_Position_InvalidFlags;            
    UINT8 u_Position_Reference;                
    FLOAT32 f_Position_X;                      
    FLOAT32 f_Position_X_STD;                  
    FLOAT32 f_Position_Y;                      
    FLOAT32 f_Position_Y_STD;                  
    FLOAT32 f_Position_Z;                      
    FLOAT32 f_Position_Z_STD;                  
    FLOAT32 f_Position_CovarianceXY;           
    FLOAT32 f_Position_Orientation;            
    FLOAT32 f_Position_Orientation_STD;        
    UINT8 u_Existence_InvalidFlags;
    FLOAT32 f_Existence_Probability;           
    FLOAT32 f_RCS;                             
    UINT8 u_Classification_Car;                
    UINT8 u_Classification_Truck;              
    UINT8 u_Classification_Motorcycle;         
    UINT8 u_Classification_Bicycle;            
    UINT8 u_Classification_Pedestrian;         
    UINT8 u_Classification_Animal;             
    UINT8 u_Classification_Hazard;             
    UINT8 u_Classification_Unknown;            
    UINT8 u_Classification_Overdrivable;       
    UINT8 u_Classification_Underdrivable;      
    UINT8 u_Dynamics_AbsVel_InvalidFlags;      
    FLOAT32 f_Dynamics_AbsVel_X;               
    FLOAT32 f_Dynamics_AbsVel_X_STD;           
    FLOAT32 f_Dynamics_AbsVel_Y;               
    FLOAT32 f_Dynamics_AbsVel_Y_STD;           
    FLOAT32 f_Dynamics_AbsVel_CovarianceXY;    
    UINT8 u_Dynamics_RelVel_InvalidFlags;      
    FLOAT32 f_Dynamics_RelVel_X;               
    FLOAT32 f_Dynamics_RelVel_X_STD;           
    FLOAT32 f_Dynamics_RelVel_Y;               
    FLOAT32 f_Dynamics_RelVel_Y_STD;           
    FLOAT32 f_Dynamics_RelVel_CovarianceXY;    
    UINT8 u_Dynamics_AbsAccel_InvalidFlags;    
    FLOAT32 f_Dynamics_AbsAccel_X;             
    FLOAT32 f_Dynamics_AbsAccel_X_STD;         
    FLOAT32 f_Dynamics_AbsAccel_Y;             
    FLOAT32 f_Dynamics_AbsAccel_Y_STD;         
    FLOAT32 f_Dynamics_AbsAccel_CovarianceXY;  
    UINT8 u_Dynamics_RelAccel_InvalidFlags;    
    FLOAT32 f_Dynamics_RelAccel_X;             
    FLOAT32 f_Dynamics_RelAccel_X_STD;         
    FLOAT32 f_Dynamics_RelAccel_Y;             
    FLOAT32 f_Dynamics_RelAccel_Y_STD;         
    FLOAT32 f_Dynamics_RelAccel_CovarianceXY;  
    UINT8 u_Dynamics_Orientation_InvalidFlags; 
    FLOAT32 u_Dynamics_Orientation_Rate_Mean;  
    FLOAT32 u_Dynamics_Orientation_Rate_STD;   
    UINT32 u_Shape_Length_Status;              
    UINT8 u_Shape_Length_Edge_InvalidFlags;    
    FLOAT32 u_Shape_Length_Edge_Mean;          
    FLOAT32 u_Shape_Length_Edge_STD;           
    UINT32 u_Shape_Width_Status;               
    UINT8 u_Shape_Width_Edge_InvalidFlags;     
    FLOAT32 u_Shape_Width_Edge_Mean;           
    FLOAT32 u_Shape_Width_Edge_STD;            
};
 
struct Ars548ObjectList : Ars548Msg
{
    UINT64 CRC;                                
    UINT32 Length;                             
    UINT32 SQC;                                
    UINT32 DataID;                             
    UINT32 Timestamp_Nanoseconds;              
    UINT32 Timestamp_Seconds;                  
    UINT8 Timestamp_SyncStatus;                
    UINT32 EventDataQualifier;                 
    UINT8 ExtendedQualifier;                   
    UINT8 ObjectList_NumOfObjects;             
    Ars548Object Objects[50];
};
 
 
struct Ars548SensorConfiguration : Ars548Msg
{
    FLOAT32 Longitudinal;                      
    FLOAT32 Lateral;                           
    FLOAT32 Vertical;                          
    FLOAT32 Yaw;                               
    FLOAT32 Pitch;                             
    UINT8 PlugOrientation;                     
    FLOAT32 Length;                            
    FLOAT32 Width;                             
    FLOAT32 Height;                            
    FLOAT32 Wheelbase;                         
    UINT16 MaximumDistance;                    
    UINT8 FrequencySlot;                       
    UINT8 CycleTime;                           
    UINT8 TimeSlot;                            
    UINT8 HCC;                                 
    UINT8 Powersave_Standstill;                
    UINT32 SensorIPAddress_0;                  
    UINT32 SensorIPAddress_1;                  
    UINT8 NewSensorMounting;                   
    UINT8 NewVehicleParameters;                
    UINT8 NewRadarParameters;                  
    UINT8 NewNetworkConfiguration;             
};
 
struct Ars548FilterConfigEntry
{
    UINT8 Active;                               
    UINT8 FilterID;                             
    UINT8 FilterType;                           
    FLOAT32 MinimumValue;                       
    FLOAT32 MaximumValue;                       
};
 
struct Ars548FilterConfiguration : Ars548Msg
{
    UINT8 DetectionSortIndex;                   
    UINT8 ObjectSortIndex;                      
    UINT8 FilterReset;                          
    UINT8 NumberOfFilters;                      
    Ars548FilterConfigEntry Filter[7+24];
};
 
struct AccelerationLateralCog : Ars548Msg
{
    FLOAT32 AccelerationLateralErrAmp;                  
    UINT8 AccelerationLateralErrAmp_InvalidFlag;        
    UINT8 QualifierAccelerationLateral;                 
    FLOAT32 AccelerationLateral;                        
    UINT8 AccelerationLateral_InvalidFlag;              
    UINT8 AccelerationLateralEventDataQualifier;        
    char Reserved[20];
};
 
struct AccelerationLongitudinalCog : Ars548Msg
{
    FLOAT32 AccelerationLongitudinalErrAmp;             
    UINT8 AccelerationLongitudinalErrAmp_InvalidFlag;   
    UINT8 QuaifierAccelerationLongitudinal;             
    FLOAT32 AccelerationLongitudinal;                   
    UINT8 AccelerationLongitudinal_InvalidFlag;         
    UINT8 AccelerationLongitudinalEventDataQualifier;   
    char Reserved[20];
};
 
struct VelocityVehicle : Ars548Msg
{
    UINT8 StatusVelocityNearStandstill;                 
    UINT8 QualifierVelocityVehicle;                     
    UINT8 VelocityVehicleEventDataQualifier;            
    FLOAT32 VelocityVehicle;                            
    UINT8 VelocityVehicle_InvalidFlag;                  
    char Reserved[20];
};
 
struct DrivingDirection : Ars548Msg
{
    UINT8 DrivingDirectionUnconfirmed;                  
    UINT8 DrivingDirectionConfirmed;                    
    char Reserved[20];
};
 
struct YawRate : Ars548Msg
{
    FLOAT32 YawRateErrAmp;                              
    UINT8 YawRateErrAmp_Invalid_Flag;                   
    UINT8 QualifierYawRate;                             
    FLOAT32 YawRate;                                    
    UINT8 YawRate_InvalidFlag;                          
    UINT8 YawRateEventDataQualifier;                    
    char Reserved[20];
};
 
struct SteeringAngleFrontAxle : Ars548Msg
{
    UINT8 QualifierSteeringAngleFrontAxle;              
    FLOAT32 SteeringAngleFrontAxleErrAmp;               
    UINT8 SteeringAngleFrontAxleErrAmp_InvalidFlag;     
    FLOAT32 SteeringAngleFrontAxle;                     
    UINT8 SteeringAngleFrontAxle_InvalidFlag;           
    UINT8 SteeringAngleFrontAxleEventDataQualifier;     
    char Reserved[20];
};
 
struct CharacteristicSpeed : Ars548Msg
{
    UINT8 CharacteristicSpeedErrAmp;                    
    UINT8 QualifierCharacteristicSpeed;                 
    UINT8 CharacteristicSpeed;                          
    char Reserved[8];
};
 
#define TARGET_TYPE_DETECTION   0
#define TARGET_TYPE_OBJECT      1
 
struct Target
{
    UINT32 ID;                          
    FLOAT32 Distance;                   
    FLOAT32 Position;                   
    FLOAT32 Height;                     
    FLOAT32 Degrees;                    
    FLOAT32 Kmph;                       
    FLOAT32 RCS;                        
    Ars548Detection *pRelatedDetection; 
    Ars548Object *pRelatedObject;       
};
 
struct TargetList
{
    BYTE TargetType;                    
    Target Targets[800];                
    UINT32 NumOfTargets;                
};
struct VehicleDynamicParams
{
    FLOAT32 AccelerationLateral;        
    FLOAT32 AccelerationLongitudinal;   
    FLOAT32 VelocityVehicle;            
    BYTE DrivingDirectionConfirmed;     
    FLOAT32 YawRate;                    
    FLOAT32 SteeringAngleFrontAxle;     
    BYTE CharacteristicSpeed;           
};
 
 
struct Ars548MsgRecord
{
    UINT64 nTimeStamp;                  
    UINT32 nMsgId;                      
    Ars548Msg *pMsg;                    
    const char *pszImageFile;           
};
 
struct Ars548TargetRecord
{
    Ars548MsgRecord *pMsgRecord;        
    TargetList *pTargetList;            
};
 
// Restore previous alignment settings
#pragma pack(pop)
 
 
//--------------------------------
// Function Definition
//--------------------------------
 
typedef void (CALLBACK *RadarMessageCallback)(int nMsgId, const Ars548Msg *pMsg);
 
typedef void (CALLBACK *TargetListCallback)(const TargetList *pTargetList);
 
 
ARS548DLL_API HINSTANCE WINAPI Ars548_Init();
 
ARS548DLL_API int WINAPI Ars548_StartReceive(HINSTANCE hInst, const char *lpszBindIP, const char *lpszRadarIP);
 
ARS548DLL_API int WINAPI Ars548_StopReceive(HINSTANCE hInst);
 
ARS548DLL_API void WINAPI Ars548_SetRadarMessageCallback(HINSTANCE hInst, const RadarMessageCallback pCallback);
 
ARS548DLL_API void WINAPI Ars548_SetTargetListCallback(HINSTANCE hInst, const TargetListCallback pCallback);
 
ARS548DLL_API int WINAPI Ars548_SetSensorConfig(HINSTANCE hInst, const Ars548SensorConfiguration *pConfig);
 
ARS548DLL_API int WINAPI Ars548_SetFilterConfig(HINSTANCE hInst, const Ars548FilterConfiguration *pConfig);
 
ARS548DLL_API int WINAPI Ars548_ResetFilterConfig(HINSTANCE hInst);
 
ARS548DLL_API int WINAPI Ars548_SendVehicleDynamicParams(HINSTANCE hInst, const VehicleDynamicParams *pParam);
 
ARS548DLL_API void WINAPI Ars548_UnInit(HINSTANCE hInst);
 
ARS548DLL_API int WINAPI Ars548_LoadRecord(HINSTANCE *pRecordInst, const char *lpszFileOrDirectory);
 
ARS548DLL_API int WINAPI Ars548_GetMsgRecords(HINSTANCE hRecordInst, const Ars548MsgRecord **pMsgRecords, UINT32 *pMsgRecordCount);
 
ARS548DLL_API int WINAPI Ars548_GetTargetRecords(HINSTANCE hRecordInst, const Ars548TargetRecord **pTargetRecords, UINT32 *pTargetRecordCount);
 
ARS548DLL_API void WINAPI Ars548_FreeRecord(HINSTANCE hRecordInst);
 
ARS548DLL_API int WINAPI Ars548_StartRecord(HINSTANCE hInst);
 
ARS548DLL_API int WINAPI Ars548_GetRecordingFileName(HINSTANCE hInst, char **pszFileName);
 
ARS548DLL_API int WINAPI Ars548_StopRecord(HINSTANCE hInst);