VehicleIO Driver Interface

Detailed Description

Defines the VehicleIO Driver module for accessing a custom VehicleIO backend.

Functions
dwStatus	_dwVehicleIODriver_clearFaults (dwSensorHandle_t sensor, const dwVehicleIOState *state)
	Clear faults in current vehicle state. More...
dwStatus	_dwVehicleIODriver_clearFaults_new (dwSensorHandle_t const sensorHandle, dwVehicleIOSafetyState const *vioSafetyState, dwVehicleIONonSafetyState const *vioNonSafetyState, dwVehicleIOActuationFeedback const *vioActuationFeedback)
	Clear any outstanding faults based on incoming VIO state structures. More...
dwStatus	_dwVehicleIODriver_consume (const dwCANMessage *msg, dwVehicleIOState *state)
	Consume a received CAN message and update the vehicle state. More...
dwStatus	_dwVehicleIODriver_consumeDataExt (dwDataPacket const *dataPacket)
	Extract VehicleIO signals from incoming data packet. More...
dwStatus	_dwVehicleIODriver_consumeDataForActuationFeedback (dwDataPacket const *dataPacket, dwVehicleIOActuationFeedback *actuationFeedback)
	Extract dwVehicleIOActuationFeedback from incoming data packet. More...
dwStatus	_dwVehicleIODriver_consumeDataForNonSafeState (dwDataPacket const *dataPacket, dwVehicleIONonSafetyState *nonSafetyState)
	Extract dwVehicleIONonSafetyState from incoming data packet. More...
dwStatus	_dwVehicleIODriver_consumeDataForSafeState (dwDataPacket const *dataPacket, dwVehicleIOSafetyState *safetyState)
	Extract dwVehicleIOSafetyState from incoming data packet. More...
dwStatus	_dwVehicleIODriver_consumeExt (dwCANMessage const *canMessage)
	Extract VehicleIO signals from incoming CAN message. More...
dwStatus	_dwVehicleIODriver_consumeForActuationFeedback (dwCANMessage const *canMessage, dwVehicleIOActuationFeedback *actuationFeedback)
	Extract dwVehicleIOActuationFeedback from incoming CAN message. More...
dwStatus	_dwVehicleIODriver_consumeForNonSafeState (dwCANMessage const *canMessage, dwVehicleIONonSafetyState *nonSafetyState)
	Extract dwVehicleIONonSafetyState from incoming CAN message. More...
dwStatus	_dwVehicleIODriver_consumeForSafeState (dwCANMessage const *canMessage, dwVehicleIOSafetyState *safetyState)
	Extract dwVehicleIOSafetyState from incoming CAN message. More...
dwStatus	_dwVehicleIODriver_initialize ()
	Initializes the VehicleIO Driver. More...
dwStatus	_dwVehicleIODriver_initialize_V2 (dwContextHandle_t context, char8_t const *vehicleTypeString, dwVehicle const *vehicleProperties, dwVehicleIOCapabilities *vehicleIOCapabilities, char8_t const *dbcFilepath, dwVehicleIOState *vioState, dwVehicleIOSafetyState *vioSafetyState, dwVehicleIONonSafetyState *vioNonSafetyState, dwVehicleIOActuationFeedback *vioActuationFeedback)
	Initialize Plugin VIO Driver. More...
dwStatus	_dwVehicleIODriver_initialize_V3 (dwContextHandle_t context, dwVehicle const *vehicleProperties, dwVehicleIOCapabilities *vehicleIOCapabilities, char8_t const *dbcFilepath, dwVehicleIOASILStateE2EWrapper *vioAsilState, dwVehicleIOQMState *vioQmState)
	Initialize Plugin VIO Driver. More...
dwStatus	_dwVehicleIODriver_release ()
	Releases the VehicleIO Driver. More...
dwStatus	_dwVehicleIODriver_reset ()
	Reset driver to default state. More...
dwStatus	_dwVehicleIODriver_sendASILCommand (dwVehicleIOASILCommandE2EWrapper const *asilCommand, dwSensorHandle_t sensorHandle)
	Send dwVehicleIOASILCommandE2EWrapper over specified sensor. More...
dwStatus	_dwVehicleIODriver_sendCommand (const dwVehicleIOCommand *cmd, dwSensorHandle_t sensor)
	Send a vehicle command to the given CAN sensor. More...
dwStatus	_dwVehicleIODriver_sendEgomotion (dwValEgomotion const *egomotion, dwSensorHandle_t sensorHandle)
	Send dwValEgomotion over specified sensor. More...
dwStatus	_dwVehicleIODriver_sendMiscCommand (const dwVehicleIOMiscCommand *cmd, dwSensorHandle_t sensor)
	Send misc vehicle command to the given CAN sensor. More...
dwStatus	_dwVehicleIODriver_sendNonSafetyCommand (dwVehicleIONonSafetyCommand const *nonSafetyCommand, dwSensorHandle_t sensorHandle)
	Send dwVehicleIONonSafetyCommand over specified sensor. More...
dwStatus	_dwVehicleIODriver_sendQMCommand (dwVehicleIOQMCommand const *qmCommand, dwSensorHandle_t sensorHandle)
	Send dwVehicleIOQMCommand over specified sensor. More...
dwStatus	_dwVehicleIODriver_sendSafetyCommand (dwVehicleIOSafetyCommand const *safetyCommand, dwSensorHandle_t sensorHandle)
	Send dwVehicleIOSafetyCommand over specified sensor. More...
dwStatus	_dwVehicleIODriver_sendSensorCalibration (dwValSensorCalibration const *calibration, dwSensorHandle_t sensorHandle)
	Send dwValSensorCalibration over specified sensor. More...
dwStatus	_dwVehicleIODriver_setDrivingMode (const dwVehicleIODrivingMode mode)
	Set driving mode. More...

Function Documentation

_dwVehicleIODriver_clearFaults()

dwStatus _dwVehicleIODriver_clearFaults	(	dwSensorHandle_t	sensor,
		const dwVehicleIOState *	state
	)

Clear faults in current vehicle state.

Parameters

[in]	sensor	CAN sensor to send CAN messages.
[in]	state	Structure specifying overrides or faults.

Returns

DW_FAILURE, DW_SUCCESS

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

_dwVehicleIODriver_clearFaults_new()

dwStatus _dwVehicleIODriver_clearFaults_new	(	dwSensorHandle_t const	sensorHandle,
		dwVehicleIOSafetyState const *	vioSafetyState,
		dwVehicleIONonSafetyState const *	vioNonSafetyState,
		dwVehicleIOActuationFeedback const *	vioActuationFeedback
	)

Clear any outstanding faults based on incoming VIO state structures.

NOTE: This function will be deprecated in a future release.

Parameters

[in]	sensorHandle	Sensor handle
[in]	vioSafetyState	dwVehicleIOSafetyState
[in]	vioNonSafetyState	dwVehicleIONonSafetyState
[in]	vioActuationFeedback	dwVehicleIOActuationFeedback

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_consume()

dwStatus _dwVehicleIODriver_consume	(	const dwCANMessage *	msg,
		dwVehicleIOState *	state
	)

Consume a received CAN message and update the vehicle state.

Parameters

[in]	msg	CAN message to be consumed.
[in]	state	Structure updated with data from CAN message.

Returns

DW_FAILURE, DW_SUCCESS

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

_dwVehicleIODriver_consumeDataExt()

dwStatus _dwVehicleIODriver_consumeDataExt

(

dwDataPacket const *

dataPacket

)

Extract VehicleIO signals from incoming data packet.

Parameters

[in]

dataPacket

Incoming data-packet.

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_consumeDataForActuationFeedback()

dwStatus _dwVehicleIODriver_consumeDataForActuationFeedback	(	dwDataPacket const *	dataPacket,
		dwVehicleIOActuationFeedback *	actuationFeedback
	)

Extract dwVehicleIOActuationFeedback from incoming data packet.

Parameters

[in]	dataPacket	Incoming data-packet.
[out]	actuationFeedback	Extracted dwVehicleIOActuationFeedback.

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_consumeDataForNonSafeState()

dwStatus _dwVehicleIODriver_consumeDataForNonSafeState	(	dwDataPacket const *	dataPacket,
		dwVehicleIONonSafetyState *	nonSafetyState
	)

Extract dwVehicleIONonSafetyState from incoming data packet.

Parameters

[in]	dataPacket	Incoming data-packet.
[out]	nonSafetyState	Extracted dwVehicleIONonSafetyState.

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_consumeDataForSafeState()

dwStatus _dwVehicleIODriver_consumeDataForSafeState	(	dwDataPacket const *	dataPacket,
		dwVehicleIOSafetyState *	safetyState
	)

Extract dwVehicleIOSafetyState from incoming data packet.

Parameters

[in]	dataPacket	Incoming data-packet.
[out]	safetyState	Extracted dwVehicleIOSafetyState.

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_consumeExt()

dwStatus _dwVehicleIODriver_consumeExt

(

dwCANMessage const *

canMessage

)

Extract VehicleIO signals from incoming CAN message.

Parameters

[in]

canMessage

CAN message

Returns

dwStatus DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_consumeForActuationFeedback()

dwStatus _dwVehicleIODriver_consumeForActuationFeedback	(	dwCANMessage const *	canMessage,
		dwVehicleIOActuationFeedback *	actuationFeedback
	)

Extract dwVehicleIOActuationFeedback from incoming CAN message.

Parameters

[in]	canMessage	CAN message
[out]	actuationFeedback	Extracted dwVehicleIOActuationFeedback

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_consumeForNonSafeState()

dwStatus _dwVehicleIODriver_consumeForNonSafeState	(	dwCANMessage const *	canMessage,
		dwVehicleIONonSafetyState *	nonSafetyState
	)

Extract dwVehicleIONonSafetyState from incoming CAN message.

Parameters

[in]	canMessage	CAN message
[out]	nonSafetyState	Extracted dwVehicleIONonSafetyState

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_consumeForSafeState()

dwStatus _dwVehicleIODriver_consumeForSafeState	(	dwCANMessage const *	canMessage,
		dwVehicleIOSafetyState *	safetyState
	)

Extract dwVehicleIOSafetyState from incoming CAN message.

Parameters

[in]	canMessage	CAN message
[out]	safetyState	Extracted dwVehicleIOSafetyState

Returns

dwStatus DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_initialize()

dwStatus _dwVehicleIODriver_initialize

(

)

Initializes the VehicleIO Driver.

Returns

DW_FAILURE, DW_SUCCESS

API Group

• Init: Yes
• Runtime: No
• De-Init: No

_dwVehicleIODriver_initialize_V2()

dwStatus _dwVehicleIODriver_initialize_V2	(	dwContextHandle_t	context,
		char8_t const *	vehicleTypeString,
		dwVehicle const *	vehicleProperties,
		dwVehicleIOCapabilities *	vehicleIOCapabilities,
		char8_t const *	dbcFilepath,
		dwVehicleIOState *	vioState,
		dwVehicleIOSafetyState *	vioSafetyState,
		dwVehicleIONonSafetyState *	vioNonSafetyState,
		dwVehicleIOActuationFeedback *	vioActuationFeedback
	)

Initialize Plugin VIO Driver.

NOTE: This function will be deprecated in a future release. Please use use _dwVehicleIODriver_initialize_V3 instead.

Parameters

[in]	context	Driveworks context
[in]	vehicleTypeString	The string to specify the type of partner VehicleIO driver to create
[in]	vehicleProperties	Specified Vehicle properties (from rig.json).
[in]	vehicleIOCapabilities	Specifies VehicleIO capabilities.
[in]	dbcFilepath	Speficifes path to the dbc file for initializing a DBC-based canbus interpreter
[in]	vioState	Vehicle IO State.
[in]	vioSafetyState	Vehicle IO Safety State.
[in]	vioNonSafetyState	Vehicle IO Non-Safety State.
[in]	vioActuationFeedback	Vehicle IO Actuation Feedback State.

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_initialize_V3()

dwStatus _dwVehicleIODriver_initialize_V3	(	dwContextHandle_t	context,
		dwVehicle const *	vehicleProperties,
		dwVehicleIOCapabilities *	vehicleIOCapabilities,
		char8_t const *	dbcFilepath,
		dwVehicleIOASILStateE2EWrapper *	vioAsilState,
		dwVehicleIOQMState *	vioQmState
	)

Initialize Plugin VIO Driver.

Parameters

[in]	context	Driveworks context
[in]	vehicleProperties	Specified Vehicle properties (from rig.json).
[in]	vehicleIOCapabilities	Specifies VehicleIO capabilities.
[in]	dbcFilepath	Speficifes path to the dbc file for initializing a DBC-based canbus interpreter
[in]	vioAsilState	Vehicle IO ASIL State.
[in]	vioQmState	Vehicle IO QM State.

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_release()

dwStatus _dwVehicleIODriver_release

(

)

Releases the VehicleIO Driver.

Returns

DW_FAILURE, DW_SUCCESS

API Group

• Init: Yes
• Runtime: No
• De-Init: Yes

_dwVehicleIODriver_reset()

dwStatus _dwVehicleIODriver_reset

(

)

Reset driver to default state.

Returns

DW_FAILURE, DW_SUCCESS

Note

This would not perform any changes regarding current vehicle state.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

_dwVehicleIODriver_sendASILCommand()

dwStatus _dwVehicleIODriver_sendASILCommand	(	dwVehicleIOASILCommandE2EWrapper const *	asilCommand,
		dwSensorHandle_t	sensorHandle
	)

Send dwVehicleIOASILCommandE2EWrapper over specified sensor.

Parameters

[in]	asilCommand	dwVehicleIOASILCommandE2EWrapper to send
[in]	sensorHandle	Sensor handle

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_sendCommand()

dwStatus _dwVehicleIODriver_sendCommand	(	const dwVehicleIOCommand *	cmd,
		dwSensorHandle_t	sensor
	)

Send a vehicle command to the given CAN sensor.

Parameters

[in]	cmd	Command with parameters to be sent.
[in]	sensor	CAN sensor to send CAN messages.

Returns

DW_FAILURE, DW_SUCCESS

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

_dwVehicleIODriver_sendEgomotion()

dwStatus _dwVehicleIODriver_sendEgomotion	(	dwValEgomotion const *	egomotion,
		dwSensorHandle_t	sensorHandle
	)

Send dwValEgomotion over specified sensor.

Parameters

[in]	egomotion	dwValEgomotion to send
[in]	sensorHandle	Sensor handle

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_sendMiscCommand()

dwStatus _dwVehicleIODriver_sendMiscCommand	(	const dwVehicleIOMiscCommand *	cmd,
		dwSensorHandle_t	sensor
	)

Send misc vehicle command to the given CAN sensor.

Parameters

[in]	cmd	Command with parameters to be sent.
[in]	sensor	CAN sensor to send CAN messages.

Returns

DW_FAILURE, DW_SUCCESS

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

_dwVehicleIODriver_sendNonSafetyCommand()

dwStatus _dwVehicleIODriver_sendNonSafetyCommand	(	dwVehicleIONonSafetyCommand const *	nonSafetyCommand,
		dwSensorHandle_t	sensorHandle
	)

Send dwVehicleIONonSafetyCommand over specified sensor.

NOTE: This function will be deprecated in a future release. Please use use _dwVehicleIODriver_sendASILCommand, _dwVehicleIODriver_sendQMCommand, _dwVehicleIODriver_sendEgomotion or _dwVehicleIODriver_sendSensorCalibration instead.

Parameters

[in]	nonSafetyCommand	dwVehicleIONonSafetyCommand to send
[in]	sensorHandle	Sensor handle

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_sendQMCommand()

dwStatus _dwVehicleIODriver_sendQMCommand	(	dwVehicleIOQMCommand const *	qmCommand,
		dwSensorHandle_t	sensorHandle
	)

Send dwVehicleIOQMCommand over specified sensor.

Parameters

[in]	qmCommand	dwVehicleIOQMCommand to send
[in]	sensorHandle	Sensor handle

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_sendSafetyCommand()

dwStatus _dwVehicleIODriver_sendSafetyCommand	(	dwVehicleIOSafetyCommand const *	safetyCommand,
		dwSensorHandle_t	sensorHandle
	)

Send dwVehicleIOSafetyCommand over specified sensor.

NOTE: This function will be deprecated in a future release. Please use use _dwVehicleIODriver_sendASILCommand, _dwVehicleIODriver_sendQMCommand, _dwVehicleIODriver_sendEgomotion or _dwVehicleIODriver_sendSensorCalibration instead.

Parameters

[in]	safetyCommand	dwVehicleIOSafetyCommand to send
[in]	sensorHandle	Sensor handle

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_sendSensorCalibration()

dwStatus _dwVehicleIODriver_sendSensorCalibration	(	dwValSensorCalibration const *	calibration,
		dwSensorHandle_t	sensorHandle
	)

Send dwValSensorCalibration over specified sensor.

Parameters

[in]	calibration	dwValSensorCalibration to send
[in]	sensorHandle	Sensor handle

Returns

DW_FAILURE, DW_SUCCESS

_dwVehicleIODriver_setDrivingMode()

dwStatus _dwVehicleIODriver_setDrivingMode

(

const dwVehicleIODrivingMode

mode

)

Set driving mode.

Parameters

[in]

mode

specifies the mode of driving.

Returns

DW_NOT_SUPPORTED - if the mode is not supported. DW_SUCCESS - if the new mode has been accepted.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes