voyant_types_ffi.hpp

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// Copyright (c) 2024-2025 Voyant Photonics, Inc.
// All rights reserved.
 
#pragma once
 
#include <cstdarg>
#include <cstdint>
#include <cstdlib>
#include <ostream>
#include <new>
#include <sdl_types_generated.hpp>
 
constexpr static const float REFL_CALIB_SCALE_FACTOR = 1e-3;

enum class ProductId : uint8_t {
  Unknown = 0,
  Lark = 1,
  Meadowlark = 2,
  CarbonBenchtop = 3,
  Carbon30 = 4,
  VivadoSimulator = 250,
  VerilatorSimulator = 251,
  XceliumSimulator = 252,
  IsaacSim = 253,
  SoftwareSimulator = 254,
};

enum class SdlStatus : uint8_t {
  Unknown = 0,
  Idle = 1,
  Pending = 2,
  Applied = 3,
  BadFovCenterCombo = 4,
  InvalidParameter = 5,
  InvalidStateTransition = 6,
  MissingCalibration = 7,
  UnableToCalibrate = 8,
  ParseError = 9,
  ApplicationError = 10,
  FovFpsError = 11,
  CommandBuildFailed = 12,
  PreviousCommandPending = 13,
  SendFailed = 14,
  Timeout = 15,
  MaxRetriesExceeded = 16,
  StreamReset = 17,
  MessageReadyForMcu = 18,
  ValidMessageParsed = 19,
  ObserverOnly = 20,
};

enum class SyncQuality : uint8_t {
  Unsynced,
  Poor,
  Fair,
  Good,
  Excellent,
};

struct SdlDeviceState {
  SdlState device_state;
  SdlStatus sdl_status;
  float frame_rate_fps;
  float hfov_deg;
  float hfov_center_deg;
  float ramp_bandwidth_ghz;
  SdlRampLength ramp_length;
};

struct HealthState {
  uint64_t error_word;
  uint32_t hardware_health;
  uint8_t power_health;
  float clarity_board_temp_c;
  float carat_board_temp_c;
  float pic_temp_c;
  float soa_temp_c;
  float adc_temp_c;
  float fpga_temp_c;
  uint16_t max_switch_resistance;
  uint16_t min_switch_resistance;
  uint16_t lo_power_mon;
};

struct CounterState {
  uint64_t total_frame_count;
  uint64_t total_ramp_count;
  uint32_t total_drops_count;
  uint8_t any_drops_sticky;
  uint32_t mcu_cycles_counter;
};

struct DeviceInfo {
  uint32_t serial_number;
  ProductId product_id;
  uint8_t fpga_version_major;
  uint8_t fpga_version_minor;
  uint8_t fpga_version_patch;
  uint8_t mcu_version_major;
  uint8_t mcu_version_minor;
  uint8_t mcu_version_patch;
};

struct CalibrationState {
  int16_t encoder_azimuth_offset;
  float doppler_calibration_mirror_bias;
  float doppler_calibration_mirror_offset;
  float chirp_bandwidth_hz;
  float datum_delta_x_m;
  float datum_delta_y_m;
  float datum_delta_z_m;
  float encoder_eccentricity_coeffs[6];
  float reflectance_poly_coeffs[4];
  float reflectance_channel_scales[7];
};

struct DspHeaderState {
  int64_t timestamp_seconds;
  int32_t timestamp_nanoseconds;
  DspFrameStartToggle frame_start_toggle;
};

struct SensorState {
  SdlDeviceState sdl;
  HealthState health;
  CounterState counters;
  DeviceInfo device;
  CalibrationState calibration;
  DspHeaderState dsp_header;
  uint32_t peaks_per_frame;
  uint64_t last_heartbeat_frame;
};

struct TimeSyncState {
  SyncQuality quality;
  uint8_t valid;
  int64_t offset_ns;
  int64_t round_trip_ns;
  int64_t jitter_ns;
  uint32_t sample_count;
  uint64_t age_ms;
};