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_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_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_release ()
	Releases the VehicleIO Driver. More...

dwStatus	_dwVehicleIODriver_reset ()
	Reset driver to default state. More...

dwStatus	_dwVehicleIODriver_sendCommand (const dwVehicleIOCommand *cmd, dwSensorHandle_t sensor)
	Send a vehicle command to the given CAN 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_sendSafetyCommand (dwVehicleIOSafetyCommand const *safetyCommand, dwSensorHandle_t sensorHandle)
	Send dwVehicleIOSafetyCommand 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

◆ _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.

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

◆ _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_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

◆ _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.

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_release()

dwStatus _dwVehicleIODriver_release ( )

Releases the VehicleIO Driver.

Returns: DW_FAILURE, DW_SUCCESS

◆ _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.

◆ _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

◆ _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

◆ _dwVehicleIODriver_sendNonSafetyCommand()

dwStatus _dwVehicleIODriver_sendNonSafetyCommand	(	dwVehicleIONonSafetyCommand const *	nonSafetyCommand,
		dwSensorHandle_t	sensorHandle
	)

Send dwVehicleIONonSafetyCommand over specified sensor.

Parameters

[in]	nonSafetyCommand	dwVehicleIONonSafetyCommand 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.

Parameters

[in]	safetyCommand	dwVehicleIOSafetyCommand 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.

Detailed Description

Functions

Function Documentation

◆ _dwVehicleIODriver_clearFaults()

◆ _dwVehicleIODriver_clearFaults_new()

◆ _dwVehicleIODriver_consume()

◆ _dwVehicleIODriver_consumeDataForActuationFeedback()

◆ _dwVehicleIODriver_consumeDataForNonSafeState()

◆ _dwVehicleIODriver_consumeDataForSafeState()

◆ _dwVehicleIODriver_consumeForActuationFeedback()

◆ _dwVehicleIODriver_consumeForNonSafeState()

◆ _dwVehicleIODriver_consumeForSafeState()

◆ _dwVehicleIODriver_initialize()

◆ _dwVehicleIODriver_initialize_V2()

◆ _dwVehicleIODriver_release()

◆ _dwVehicleIODriver_reset()

◆ _dwVehicleIODriver_sendCommand()

◆ _dwVehicleIODriver_sendMiscCommand()

◆ _dwVehicleIODriver_sendNonSafetyCommand()

◆ _dwVehicleIODriver_sendSafetyCommand()

◆ _dwVehicleIODriver_setDrivingMode()