VehicleIO.h File Reference

Detailed Description

NVIDIA DriveWorks API: VehicleIO car controller

Description: API to access car controller box

Definition in file VehicleIO.h.

Go to the source code of this file.

Data Structures
struct	dwVehicleIOCommand
	The command data. More...
struct	dwVehicleIOState
	The state data. More...

Typedefs
typedef struct dwVehicleIOObject *	dwVehicleIOHandle_t

Enumerations
enum	dwVehicleIODrivingMode {   DW_VEHICLEIO_DRIVING_LIMITED = 0x000,   DW_VEHICLEIO_DRIVING_LIMITED_ND = 0x100,   DW_VEHICLEIO_DRIVING_COLLISION_AVOIDANCE = 0x200,   DW_VEHICLEIO_DRIVING_NO_SAFETY = 0x300 }
enum	dwVehicleIOFaults {   DW_VEHICLEIO_FAULT_NONE = 0,   DW_VEHICLEIO_FAULT_BRAKE = 1 << 0,   DW_VEHICLEIO_FAULT_STEERING = 1 << 1,   DW_VEHICLEIO_FAULT_THROTTLE = 1 << 2,   DW_VEHICLEIO_FAULT_GEAR = 1 << 3,   DW_VEHICLEIO_FAULT_SAFETY = 1 << 4 }
enum	dwVehicleIOGear {   DW_VEHICLEIO_GEAR_UNKNOWN = 0,   DW_VEHICLEIO_GEAR_PARK = 1,   DW_VEHICLEIO_GEAR_REVERSE = 2,   DW_VEHICLEIO_GEAR_NEUTRAL = 3,   DW_VEHICLEIO_GEAR_DRIVE = 4,   DW_VEHICLEIO_GEAR_LOW = 5,   DW_VEHICLEIO_GEAR_MANUAL_REVERSE = 100,   DW_VEHICLEIO_GEAR_1 = 101,   DW_VEHICLEIO_GEAR_2 = 102,   DW_VEHICLEIO_GEAR_3 = 103,   DW_VEHICLEIO_GEAR_4 = 104,   DW_VEHICLEIO_GEAR_5 = 105,   DW_VEHICLEIO_GEAR_6 = 106,   DW_VEHICLEIO_GEAR_7 = 107,   DW_VEHICLEIO_GEAR_8 = 108,   DW_VEHICLEIO_GEAR_9 = 109 }
enum	dwVehicleIOOverrides {   DW_VEHICLEIO_OVERRIDE_NONE = 0,   DW_VEHICLEIO_OVERRIDE_BRAKE = 1 << 0,   DW_VEHICLEIO_OVERRIDE_STEERING = 1 << 1,   DW_VEHICLEIO_OVERRIDE_THROTTLE = 1 << 2,   DW_VEHICLEIO_OVERRIDE_GEAR = 1 << 3 }
enum	dwVehicleIOTurnSignal {   DW_VEHICLEIO_TURNSIGNAL_UNKNOWN = 0,   DW_VEHICLEIO_TURNSIGNAL_OFF = 1,   DW_VEHICLEIO_TURNSIGNAL_LEFT = 2,   DW_VEHICLEIO_TURNSIGNAL_RIGHT = 3,   DW_VEHICLEIO_TURNSIGNAL_EMERGENCY = 4 }
enum	dwVehicleIOType {   DW_VEHICLEIO_DATASPEED = 0,   DW_VEHICLEIO_GENERIC = 1 }
enum	dwVehicleIOWheels {   DW_VEHICLEIO_WHEELS_FRONT_LEFT = 0,   DW_VEHICLEIO_WHEELS_FRONT_RIGHT = 1,   DW_VEHICLEIO_WHEELS_REAR_LEFT = 2,   DW_VEHICLEIO_WHEELS_REAR_RIGHT = 3,   DW_VEHICLE_NUM_WHEELS = 4 }
	Define index for each of the wheels on a 4 wheel vehicle. More...

Functions
DW_API_PUBLIC dwStatus	dwVehicleIO_consume (const dwCANMessage *msg, dwVehicleIOHandle_t obj)
	Parse a received CAN message. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_getVehicleState (dwVehicleIOState *state, dwVehicleIOHandle_t obj)
	Retrieve current vehicle state. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_initialize (dwVehicleIOHandle_t *obj, dwVehicleIOType type, const dwVehicle *properties, dwContextHandle_t ctx)
	Initialize VehicleIO and prepare all internal structures. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_release (dwVehicleIOHandle_t *obj)
	Release used memory and close all modules. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_reset (dwVehicleIOHandle_t obj)
	Reset VehicleIO to default state. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_selectDriverOverrides (dwBool throttleOverride, dwBool steeringOverride, dwBool brakeOverride, dwBool gearOverride, dwVehicleIOHandle_t obj)
	Select the overrides that the driver can use to disable vehicle control. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_sendVehicleCommand (const dwVehicleIOCommand *cmd, dwSensorHandle_t hsensor, dwVehicleIOHandle_t obj)
	Send a vehicle command to the VehicleIO. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_setDrivingMode (dwVehicleIODrivingMode mode, dwVehicleIOHandle_t obj)
	Setting driving mode allows to control the behaviour of VehicleIO module with regards to the permitted commands and number of safety checks performed. More...