VehicleIO.h

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#ifndef DW_VEHICLEIO_H_
#define DW_VEHICLEIO_H_
 
#include <dw/control/vehicleio/VehicleIOLegacyStructures.h>
#include <dw/control/vehicleio/VehicleIOValStructures.h>
#include <dw/core/base/Config.h>
#include <dw/core/base/Exports.h>
#include <dw/core/context/Context.h>
#include <dw/core/base/Types.h>
#include <dw/sensors/Sensors.h>
#include <dw/sensors/canbus/CAN.h>
#include <dw/sensors/data/Data.h>
#include <dw/rig/Rig.h>
 
#include <stdint.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwVehicleIOObject* dwVehicleIOHandle_t;
 
DW_API_PUBLIC
dwStatus dwVehicleIO_initialize(dwVehicleIOHandle_t* const obj, dwVehicleIOType const type, const dwVehicle* const properties,
                                dwContextHandle_t const ctx);
DW_API_PUBLIC
dwStatus dwVehicleIO_initializeFromDBC(dwVehicleIOHandle_t* const obj, dwVehicleIOType const type, const dwVehicle* const properties,
                                       const char* const dbcFilePath, dwContextHandle_t const ctx);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_initializeFromRig(dwVehicleIOHandle_t* const obj,
                                       dwConstRigHandle_t const rig,
                                       dwContextHandle_t const ctx);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_reset(dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_release(dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_selectDriverOverrides(bool const throttleOverride, bool const steeringOverride,
                                           bool const brakeOverride, bool const gearOverride,
                                           dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_consumeCANFrame(dwCANMessage const* const msg, uint32_t const sensorId, dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_consumeDataPacket(const dwDataPacket* const pkt, uint32_t const sensorId, dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
DW_DEPRECATED("dwVehicleIO_sendCommand is deprecated and will be removed in the next major release. Use either dwVehicleIO_sendNonSafetyCommand or dwVehicleIO_sendSafetyCommand instead.")
dwStatus dwVehicleIO_sendCommand(const dwVehicleIOCommand* const cmd,
                                 dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
DW_DEPRECATED("dwVehicleIO_sendMiscCommand is deprecated and will be removed in the next major release. Use either dwVehicleIO_sendNonSafetyCommand or dwVehicleIO_sendSafetyCommand instead.")
dwStatus dwVehicleIO_sendMiscCommand(const dwVehicleIOMiscCommand* const cmd,
                                     dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
 
DW_DEPRECATED("dwVehicleIO_getVehicleState is deprecated and will be removed in the next major release. Use either dwVehicleIO_getVehicleSafetyState, dwVehicleIO_getVehicleNonSafetyState, or dwVehicleIO_getVehicleActuationFeedback instead.")
dwStatus dwVehicleIO_getVehicleState(dwVehicleIOState* const state, dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_getCapabilities(dwVehicleIOCapabilities* const caps, dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_sendSafetyCommand(const dwVehicleIOSafetyCommand* const safeCmd,
                                       dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_sendNonSafetyCommand(const dwVehicleIONonSafetyCommand* const nonSafeCmd,
                                          dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_getVehicleSafetyState(dwVehicleIOSafetyState* const safeState,
                                           dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_getVehicleNonSafetyState(dwVehicleIONonSafetyState* const nonSafeState,
                                              dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_getVehicleActuationFeedback(dwVehicleIOActuationFeedback* const actuationFeedback,
                                                 dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_setDrivingMode(dwVehicleIODrivingMode const mode, dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_addCANSensor(uint32_t const vehicleIOId, dwSensorHandle_t const sensorHandle, dwVehicleIOHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwVehicleIO_addDataSensor(uint32_t const vehicleIOId, dwSensorHandle_t const sensorHandle, dwVehicleIOHandle_t const obj);
 
#ifdef __cplusplus
}
#endif
#endif // DW_VEHICLEIO_H_