Detailed Description

Defines the APIs to access the VehicleIO car controller box.

Note: SW Release Applicability: These APIs are available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

Data Structures
struct	dwVehicleIOCapabilities
	VehicleIO Capabilities. More...

struct	dwVehicleIOCapabilityState
	The capability state data. More...

struct	dwVehicleIOCommand
	The command data. More...

struct	dwVehicleIOMiscCommand

struct	dwVehicleIOState
	The state data. More...

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

Macros
#define	DW_VEHICLEIO_SPEED_LUT_MAX_ENTRIES 50

Typedefs
typedef struct dwVehicleIOObject *	dwVehicleIOHandle_t

Enumerations
enum	dwVehicleIOAEBState { DW_VEHICLEIO_AEB_STATE_UNKNOWN = 0, DW_VEHICLEIO_AEB_STATE_OFF = 1, DW_VEHICLEIO_AEB_STATE_READY = 2 }

enum	dwVehicleIODoorLock { DW_VEHICLEIO_DOOR_UNKNOWN = 0, DW_VEHICLEIO_DOOR_UNLOCK = 1, DW_VEHICLEIO_DOOR_LOCK = 2 }

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	dwVehicleIOFCWState { DW_VEHICLEIO_FCW_STATE_UNKNOWN = 0, DW_VEHICLEIO_FCW_STATE_OFF = 1, DW_VEHICLEIO_FCW_STATE_READY = 2 }

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	dwVehicleIOHeadlights { DW_VEHICLEIO_HEADLIGHTS_UNKNOWN = 0, DW_VEHICLEIO_HEADLIGHTS_OFF = 1, DW_VEHICLEIO_HEADLIGHTS_LOW_BEAM = 2, DW_VEHICLEIO_HEADLIGHTS_HIGH_BEAM = 3, DW_VEHICLEIO_HEADLIGHTS_DRL = 4 }

enum	dwVehicleIOMirror { DW_VEHICLEIO_MIRROR_UNKNOWN = 0, DW_VEHICLEIO_MIRROR_FOLD = 1, DW_VEHICLEIO_MIRROR_UNFOLD = 2, DW_VEHICLEIO_MIRROR_ADJUST_LEFT = 3, DW_VEHICLEIO_MIRROR_ADJUST_RIGHT = 4 }

enum	dwVehicleIOMoonroof { DW_VEHICLEIO_MOONROOF_UNKNOWN = 0, DW_VEHICLEIO_MOONROOF_CLOSE = 1, DW_VEHICLEIO_MOONROOF_OPEN = 2 }

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, DW_VEHICLEIO_SPACEDRIVE = 2, DW_VEHICLEIO_STARDRIVE = 3, DW_VEHICLEIO_CUSTOM = 4, DW_VEHICLEIO_AUDIHYPERION = 5, DW_VEHICLEIO_DRIVER_COUNT = 6 }

Functions
DW_API_PUBLIC dwStatus	dwVehicleIO_addCANSensor (uint32_t vehicleIOId, dwSensorHandle_t sensorHandle, dwVehicleIOHandle_t obj)
	Add CAN sensor handle and corresponding VehicleIO configuration ID. More...

DW_API_PUBLIC dwStatus	dwVehicleIO_consumeCANFrame (const dwCANMessage *msg, uint32_t sensorId, dwVehicleIOHandle_t obj)
	Parse a received event. More...

DW_API_PUBLIC dwStatus	dwVehicleIO_getCapabilities (dwVehicleIOCapabilities *caps, dwVehicleIOHandle_t obj)
	Retrieve current VehicleIO capabilities. 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_initializeFromDBC (dwVehicleIOHandle_t obj, dwVehicleIOType type, const dwVehicle properties, const char *dbcFilePath, dwContextHandle_t ctx)
	Initialize VehicleIO and prepare all internal structures from DBC File. More...

DW_API_PUBLIC dwStatus	dwVehicleIO_initializeFromRig (dwVehicleIOHandle_t *obj, dwRigHandle_t rig, dwContextHandle_t ctx)
	Initialize VehicleIO and prepare all internal structures from Rig Configuration. 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 (bool throttleOverride, bool steeringOverride, bool brakeOverride, bool gearOverride, dwVehicleIOHandle_t obj)
	Select the overrides that the driver can use to disable vehicle control. More...

DW_API_PUBLIC dwStatus	dwVehicleIO_sendCommand (const dwVehicleIOCommand *cmd, dwVehicleIOHandle_t obj)
	Send a vehicle command to the VehicleIO. More...

DW_API_PUBLIC dwStatus	dwVehicleIO_sendMiscCommand (const dwVehicleIOMiscCommand *cmd, 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...

Data Structure Documentation

◆ dwVehicleIOCapabilities

struct dwVehicleIOCapabilities

Data Fields
float32_t	brakeValueLUT[DW_VEHICLEIO_SPEED_LUT_MAX_ENTRIES]	Lookup Table indexed by speed (m/s), i.e. LUT[i] is the capability value at speed = i m/s.
int32_t	brakeValueLUTSize	Size of the corresponding lookup table.
float32_t	reverseSpeedLimit	Normally a negative value (m/s)
float32_t	steeringSpeedLUT[DW_VEHICLEIO_SPEED_LUT_MAX_ENTRIES]	Lookup Table indexed by speed (m/s), i.e. LUT[i] is the capability value at speed = i m/s.
int32_t	steeringSpeedLUTSize	Size of the corresponding lookup table.
float32_t	steeringWheelAngleLUT[DW_VEHICLEIO_SPEED_LUT_MAX_ENTRIES]	Lookup Table indexed by speed (m/s), i.e. LUT[i] is the capability value at speed = i m/s.
int32_t	steeringWheelAngleLUTSize	Size of the corresponding lookup table.
float32_t	throttleValueLUT[DW_VEHICLEIO_SPEED_LUT_MAX_ENTRIES]	Lookup Table indexed by speed (m/s), i.e. LUT[i] is the capability value at speed = i m/s.
int32_t	throttleValueLUTSize	Size of the corresponding lookup table.

◆ dwVehicleIOCapabilityState

struct dwVehicleIOCapabilityState

Data Fields
float32_t	longVelocityForwardMax	A maximum positive longitudinal vehicle speed that the vehicle is designed for.
dwTime_t	longVelocityForwardMaxTimestamp
float32_t	longVelocityForwardMin	A minimum positive longitudinal vehicle speed, when driving forward, to avoid burning the clutch.
dwTime_t	longVelocityForwardMinTimestamp
dwTime_t	rearAxleCurvatureCapabilityTimestamp
float32_t	rearAxleCurvatureMax	The tightest radius (left) that can be guaranteed.
float32_t	rearAxleCurvatureMin	The tightest radius (right) that can be guaranteed.

◆ dwVehicleIOCommand

struct dwVehicleIOCommand

Data Fields
bool	accelerationValid	True if setting acceleration.
float32_t	accelerationValue	acceleration m/s^2
bool	aebRequest	Request to activate AEB.
dwVehicleIOAEBState	aebState	AEB system status/state.
bool	brakeValid	True if setting break.
float32_t	brakeValue	range 0.0 to 1.0
bool	clearFaults	Setting > 0 clears any canbus faults/errors.
bool	decelerationValid	True if setting deceleration.
float32_t	decelerationValue	decleration m/s^2 - represented as a positive number
bool	enable	True if we are driving by wire. Has to always be set.
bool	fcwRequest	Request to activate FCW.
dwVehicleIOFCWState	fcwState	FCW system status/state.
dwVehicleIOGear	gear	Desired gear: 0=UNKNOWN, 1=PARK, 2=REVERSE, 3=NEUTRAL, 4=DRIVE.
bool	gearValid	True if setting gear.
uint64_t	heartbeatCounter	VIO command heartbeat.
bool	rearAxleCurvatureValid	True if setting rear axle curvature.
float32_t	rearAxleCurvatureValue	Path curvature request based on travelled distance (1/m)
bool	speedValid	True if setting speed.
float32_t	steeringSpeed	Desired speed of the turning command rad/s.
bool	steeringValid	True if setting steering.
float32_t	steeringWheelAngle	Desired steering wheel angle (rad)
bool	throttleValid	True if setting throttle.
float32_t	throttleValue	range 0.0 to 1.0
dwVehicleIOTurnSignal	turnSig	Turn signal value.
bool	turnSigValid	True if setting turn signal.

◆ dwVehicleIOMiscCommand

struct dwVehicleIOMiscCommand

Data Fields
bool	clearFaults
bool	displayBrightnessValid	True if setting display brightness.
uint8_t	displayBrightnessValue
dwVehicleIODoorLock	doorLock	basic lock or unlock
bool	doorLockValid	True if setting door locks.
bool	enable
dwVehicleIOHeadlights	headlights	ON/OFF, LOW_BEAM, HIGH_BEAM, DRL.
bool	headlightsValid	True if setting headlights.
bool	mirrorAdjustValid	True if setting mirror adjustment.
float32_t	mirrorAdjustX	float value 0-5.0 seconds
float32_t	mirrorAdjustY	float value 0-5.0 seconds
bool	mirrorFoldValid	True if setting mirror un/fold.
dwVehicleIOMirror	mirrors	FOLD, UNFOLD, ADJUST_LEFT, ADJUST_RIGHT.
dwVehicleIOMoonroof	moonroof	basic open or close
bool	moonroofValid	True if setting moonroof movement.
dwVehicleIOTurnSignal	turnSig	Turn signal - misc also wants this.
bool	turnSigValid	True if setting turn signal.

◆ dwVehicleIOState

struct dwVehicleIOState

Data Fields
dwVector2f	acceleration	Actual acceleration measured in m/s^2.
dwTime_t	accelerationTimestamp	Time at which acceleration was updated.
float32_t	brakeCmd	Last acknowledged brake value from a command (0..1 +- 0.01 fraction of max pedal depressed, unitless)
bool	brakeEnabled	Brake by-wire enablement reported by vehicle.
float32_t	brakeState	Brake value in effect (0..1 +- 0.01 fraction of max pedal depressed, unitless)
dwTime_t	brakeTimestamp	Time at which brake was updated.
float32_t	brakeTorqueActual	Actual applied brake torque value (Nm)
float32_t	brakeTorqueRequested	Requested value of brake torque (Nm)
float32_t	brakeValue	Current brake value as requested by a driver (0..1 +- 0.01 fraction of max pedal depressed, unitless)
bool	buckleDriver
bool	bucklePassenger
bool	buttonCruiseControlCancel
bool	buttonCruiseControlDecrement
bool	buttonCruiseControlGapDecrement
bool	buttonCruiseControlGapIncrement
bool	buttonCruiseControlIncrement
bool	buttonCruiseControlOnOff
bool	buttonCruiseControlReset
bool	buttonCruiseControlResetCancel
bool	buttonLaneAssistOnOff
bool	buttonLeftKeypadDown
bool	buttonLeftKeypadOk
bool	buttonLeftKeypadUp
dwVehicleIOCapabilityState	capability
bool	doorDriver
bool	doorHood
bool	doorPassenger
bool	doorRearLeft
bool	doorRearRight
bool	doorTrunk
dwVehicleIODrivingMode	drivingMode
bool	enabled
dwVehicleIOFaults	faults	Faults detected (0 = none)
float32_t	fuelLevel	(0 to 1 +- 0.01 fraction of tank volume, unitless)
dwVehicleIOGear	gear	Vehicle gear.
dwVehicleIOGear	gearCmd	Last acknowledged gear from a command.
bool	highBeamHeadlights
float32_t	inverseSteeringR	Inverse turning radius of the vehicle on the road. The radius depends on the vehicle wheel base, steering wheel angle, drivetrain properties and current speed.
dwVehicleIOOverrides	overrides	Overrides in place (0 = none)
bool	passengerAirbag
bool	passengerDetect
dwVector2f	radarVelocity	Reported velocity from radar unit(s)
dwTime_t	radarVelocityTimestamp
float32_t	rearAxleCurvature	Path curvature [1/m].
dwTime_t	rearAxleCurvatureTimestamp	Timestamp for all motion signals.
float32_t	speed	Signed norm of velocity vector.
dwTime_t	speedTimestamp	Time at which speed was updated.
float32_t	steeringAngle	Same as inverseSteeringR described as an angle instead of radius [rad].
float32_t	steeringCmd	Last acknowledged steering value from a command (-10.0 to 10.0 +- 0.01rad)
bool	steeringEnabled	Steering by-wire enablement reported by vehicle.
dwTime_t	steeringTimestamp	Time at which steering was updated.
float32_t	steeringWheelAngle	Steering wheel angle (-10.0 to 10.0 +- 0.01rad)
float32_t	steeringWheelTorque	Steering wheel torque (0 to 10.0 +- 0.01 Nm)
float32_t	suspension[DW_VEHICLE_NUM_WHEELS]	Vehicle Suspension data.
float32_t	throttleCmd	Last acknowledged throttle value from a command (0..1 +- 0.01 fraction of max pedal depressed, unitless)
bool	throttleEnabled	Throttle by-wire enablement reported by vehicle.
float32_t	throttleState	Throttle value in effect (0..1 +- 0.01 fraction of max pedal depressed, unitless)
dwTime_t	throttleTimestamp	Time at which throttle was updated.
float32_t	throttleValue	Current thottle value as requested by a driver (0..1 +- 0.01 fraction of max pedal depressed, unitless)
float32_t	tirePressure[DW_VEHICLE_NUM_WHEELS]	Vehicle tire pressure data.
dwVehicleIOTurnSignal	turnSignal	Turn signal value.
dwVector2f	velocity	Vehicle velocity (longitudinal, lateral) measured in m/s at the rear axle.
int16_t	wheelPosition[DW_VEHICLE_NUM_WHEELS]	Vehicle Wheel Position counters. The counters are subject to roll-over. Actual wheel travel distance depends on wheel radius, which requires calibration.
dwTime_t	wheelPositionTimestamp[DW_VEHICLE_NUM_WHEELS]	individual timestamps of wheel position readings
float32_t	wheelSpeed[DW_VEHICLE_NUM_WHEELS]	vehicle individual wheel speeds (rad/s)
dwTime_t	wheelSpeedTimestamp[DW_VEHICLE_NUM_WHEELS]	vehicle individual timestamps of wheel speeds readings
bool	wiper

Macro Definition Documentation

◆ DW_VEHICLEIO_SPEED_LUT_MAX_ENTRIES

#define DW_VEHICLEIO_SPEED_LUT_MAX_ENTRIES 50

Definition at line 383 of file VehicleIO.h.

Typedef Documentation

◆ dwVehicleIOHandle_t

typedef struct dwVehicleIOObject* dwVehicleIOHandle_t

Definition at line 65 of file VehicleIO.h.

Enumeration Type Documentation

◆ dwVehicleIOAEBState

enum dwVehicleIOAEBState

Enumerator
DW_VEHICLEIO_AEB_STATE_UNKNOWN
DW_VEHICLEIO_AEB_STATE_OFF
DW_VEHICLEIO_AEB_STATE_READY

Definition at line 172 of file VehicleIO.h.

◆ dwVehicleIODoorLock

enum dwVehicleIODoorLock

Enumerator
DW_VEHICLEIO_DOOR_UNKNOWN
DW_VEHICLEIO_DOOR_UNLOCK
DW_VEHICLEIO_DOOR_LOCK

Definition at line 143 of file VehicleIO.h.

◆ dwVehicleIODrivingMode

enum dwVehicleIODrivingMode

Enumerator
DW_VEHICLEIO_DRIVING_LIMITED	Comfortable driving is expected (most conservative). Commands that leave the comfort zone are treated as unsafe, which immediately leads to VehicleIO being disabled.
DW_VEHICLEIO_DRIVING_LIMITED_ND	Same as above, but unsafe commands are clamped to safe limits and warnings are isssued. VehicleIO stays enabled.
DW_VEHICLEIO_DRIVING_COLLISION_AVOIDANCE	Safety checks suitable for collision avoidance logic (right now same as NO_SAFETY below).
DW_VEHICLEIO_DRIVING_NO_SAFETY	VehicleIO will bypass all safety checks.

Definition at line 67 of file VehicleIO.h.

◆ dwVehicleIOFaults

enum dwVehicleIOFaults

Enumerator
DW_VEHICLEIO_FAULT_NONE
DW_VEHICLEIO_FAULT_BRAKE
DW_VEHICLEIO_FAULT_STEERING
DW_VEHICLEIO_FAULT_THROTTLE
DW_VEHICLEIO_FAULT_GEAR
DW_VEHICLEIO_FAULT_SAFETY

Definition at line 95 of file VehicleIO.h.

◆ dwVehicleIOFCWState

enum dwVehicleIOFCWState

Enumerator
DW_VEHICLEIO_FCW_STATE_UNKNOWN
DW_VEHICLEIO_FCW_STATE_OFF
DW_VEHICLEIO_FCW_STATE_READY

Definition at line 179 of file VehicleIO.h.

◆ dwVehicleIOGear

enum dwVehicleIOGear

Enumerator
DW_VEHICLEIO_GEAR_UNKNOWN
DW_VEHICLEIO_GEAR_PARK
DW_VEHICLEIO_GEAR_REVERSE
DW_VEHICLEIO_GEAR_NEUTRAL
DW_VEHICLEIO_GEAR_DRIVE
DW_VEHICLEIO_GEAR_LOW
DW_VEHICLEIO_GEAR_MANUAL_REVERSE
DW_VEHICLEIO_GEAR_1
DW_VEHICLEIO_GEAR_2
DW_VEHICLEIO_GEAR_3
DW_VEHICLEIO_GEAR_4
DW_VEHICLEIO_GEAR_5
DW_VEHICLEIO_GEAR_6
DW_VEHICLEIO_GEAR_7
DW_VEHICLEIO_GEAR_8
DW_VEHICLEIO_GEAR_9

Definition at line 112 of file VehicleIO.h.

◆ dwVehicleIOHeadlights

enum dwVehicleIOHeadlights

Enumerator
DW_VEHICLEIO_HEADLIGHTS_UNKNOWN
DW_VEHICLEIO_HEADLIGHTS_OFF
DW_VEHICLEIO_HEADLIGHTS_LOW_BEAM
DW_VEHICLEIO_HEADLIGHTS_HIGH_BEAM
DW_VEHICLEIO_HEADLIGHTS_DRL

Definition at line 163 of file VehicleIO.h.

◆ dwVehicleIOMirror

enum dwVehicleIOMirror

Enumerator
DW_VEHICLEIO_MIRROR_UNKNOWN
DW_VEHICLEIO_MIRROR_FOLD
DW_VEHICLEIO_MIRROR_UNFOLD
DW_VEHICLEIO_MIRROR_ADJUST_LEFT
DW_VEHICLEIO_MIRROR_ADJUST_RIGHT

Definition at line 155 of file VehicleIO.h.

◆ dwVehicleIOMoonroof

enum dwVehicleIOMoonroof

Enumerator
DW_VEHICLEIO_MOONROOF_UNKNOWN
DW_VEHICLEIO_MOONROOF_CLOSE
DW_VEHICLEIO_MOONROOF_OPEN

Definition at line 149 of file VehicleIO.h.

◆ dwVehicleIOOverrides

enum dwVehicleIOOverrides

Enumerator
DW_VEHICLEIO_OVERRIDE_NONE
DW_VEHICLEIO_OVERRIDE_BRAKE
DW_VEHICLEIO_OVERRIDE_STEERING
DW_VEHICLEIO_OVERRIDE_THROTTLE
DW_VEHICLEIO_OVERRIDE_GEAR

Definition at line 104 of file VehicleIO.h.

◆ dwVehicleIOTurnSignal

enum dwVehicleIOTurnSignal

Enumerator
DW_VEHICLEIO_TURNSIGNAL_UNKNOWN
DW_VEHICLEIO_TURNSIGNAL_OFF
DW_VEHICLEIO_TURNSIGNAL_LEFT
DW_VEHICLEIO_TURNSIGNAL_RIGHT
DW_VEHICLEIO_TURNSIGNAL_EMERGENCY

Definition at line 135 of file VehicleIO.h.

◆ dwVehicleIOType

enum dwVehicleIOType

Enumerator
DW_VEHICLEIO_DATASPEED
DW_VEHICLEIO_GENERIC
DW_VEHICLEIO_SPACEDRIVE
DW_VEHICLEIO_STARDRIVE
DW_VEHICLEIO_CUSTOM
DW_VEHICLEIO_AUDIHYPERION
DW_VEHICLEIO_DRIVER_COUNT

Definition at line 85 of file VehicleIO.h.

Function Documentation

◆ dwVehicleIO_addCANSensor()

DW_API_PUBLIC dwStatus dwVehicleIO_addCANSensor	(	uint32_t	vehicleIOId,
		dwSensorHandle_t	sensorHandle,
		dwVehicleIOHandle_t	obj
	)

Add CAN sensor handle and corresponding VehicleIO configuration ID.

Allows sending commands to multiple CAN sensors. For manual VehicleIO initialization with single CAN bus, a vehicleIO ID of 0 is expected.

Parameters

[in]	vehicleIOId	Specifies ID of vehicle IO configuration.
[in]	sensorHandle	Specifies the underlying VehicleIO CAN sensor.
[in]	obj	Specifies the car controller module handle.

Returns: DW_INVALID_HANDLE - if given obj handle or sensorHandle are invalid DW_SUCCESS - if the call was successful

◆ dwVehicleIO_consumeCANFrame()

DW_API_PUBLIC dwStatus dwVehicleIO_consumeCANFrame	(	const dwCANMessage *	msg,
		uint32_t	sensorId,
		dwVehicleIOHandle_t	obj
	)

Parse a received event.

A parsed messages will generate certain reports, which can be gathered using the according callbacks. A sensor ID not corresponding to the incoming message may cause incorrect behavior. For manual VehicleIO initialization with single can BUS, a sensor ID of 0 is expected.

Parameters

[in]	msg	CAN message to be parsed by the controller.
[in]	sensorId	Specifies index of CAN sensor that message came from.
[in]	obj	Specifies the car controller module handle.

Returns: DW_INVALID_HANDLE - if given obj handle is invalid
DW_INVALID_ARGUMENT - if given msg is null
DW_SUCCESS - if the initialization is successful

◆ dwVehicleIO_getCapabilities()

DW_API_PUBLIC dwStatus dwVehicleIO_getCapabilities	(	dwVehicleIOCapabilities *	caps,
		dwVehicleIOHandle_t	obj
	)

Retrieve current VehicleIO capabilities.

Parameters

[out]	caps	returned VehicleIO capabilities.
[in]	obj	Specifies the car controller module handle.

Returns: DW_INVALID_HANDLE - if given obj handle is invalid
DW_SUCCESS - if the call was successful

◆ dwVehicleIO_getVehicleState()

DW_API_PUBLIC dwStatus dwVehicleIO_getVehicleState	(	dwVehicleIOState *	state,
		dwVehicleIOHandle_t	obj
	)

Retrieve current vehicle state.

Note that if called immediately after sending a new command it might not be reflected in the status, as the command needs to be executed and reported back by the vehicle.

Parameters

[out]	state	returned vehicle state.
[in]	obj	Specifies the car controller module handle.

Returns: DW_INVALID_HANDLE - if given obj handle is invalid
DW_SUCCESS - if the initialization is successful

◆ dwVehicleIO_initialize()

DW_API_PUBLIC dwStatus dwVehicleIO_initialize	(	dwVehicleIOHandle_t *	obj,
		dwVehicleIOType	type,
		const dwVehicle *	properties,
		dwContextHandle_t	ctx
	)

Initialize VehicleIO and prepare all internal structures.

Parameters

[out]	obj	A pointer to the car controller handle for the created module.
[in]	type	Specifies the VehicleIO controller type.
[in]	properties	Vehicle properties as described by dwRig module.
[in]	ctx	Specifies the handler to the DriveWorks context.

Returns: DW_INVALID_ARGUMENT - if any of the given arguments are not valid
DW_NOT_IMPLEMENTED - if given type is not implemented
DW_SUCCESS - if the initialization is successful

◆ dwVehicleIO_initializeFromDBC()

DW_API_PUBLIC dwStatus dwVehicleIO_initializeFromDBC	(	dwVehicleIOHandle_t *	obj,
		dwVehicleIOType	type,
		const dwVehicle *	properties,
		const char *	dbcFilePath,
		dwContextHandle_t	ctx
	)

Initialize VehicleIO and prepare all internal structures from DBC File.

Parameters

[out]	obj	A pointer to the car controller handle for the created module.
[in]	type	Specifies the VehicleIO controller type.
[in]	properties	Specified Vehicle properties (from rig.json)
[in]	dbcFilePath	Speficifes path to the dbc file for initializing a DBC-based canbus interpreter
[in]	ctx	Specifies the handler to the DriveWorks context.

Returns: DW_INVALID_ARGUMENT - if any of the given arguments are not valid
DW_SUCCESS - if the initialization is successful

◆ dwVehicleIO_initializeFromRig()

DW_API_PUBLIC dwStatus dwVehicleIO_initializeFromRig	(	dwVehicleIOHandle_t *	obj,
		dwRigHandle_t	rig,
		dwContextHandle_t	ctx
	)

Initialize VehicleIO and prepare all internal structures from Rig Configuration.

Parameters

[out]	obj	A pointer to the car controller handle for the created module.
[in]	rig	Specifies the handler to the Rig Configuration.
[in]	ctx	Specifies the handler to the DriveWorks context.

Returns: DW_INVALID_ARGUMENT - if any of the given arguments are not valid
DW_NOT_IMPLEMENTED - if given type is not implemented
DW_SUCCESS - if the initialization is successful

◆ dwVehicleIO_release()

DW_API_PUBLIC dwStatus dwVehicleIO_release ( dwVehicleIOHandle_t obj )

Release used memory and close all modules.

Connection to VehicleIO will be closed. No more car commands can be accepted when module is released.

Parameters

[in] obj The car controller module handle.

Returns: DW_INVALID_HANDLE - if given obj handle is invalid
DW_SUCCESS - if the initialization is successful

◆ dwVehicleIO_reset()

DW_API_PUBLIC dwStatus dwVehicleIO_reset ( dwVehicleIOHandle_t obj )

Reset VehicleIO to default state.

Parameters

[in] obj Specifies the car controller module handle.

Returns: DW_INVALID_HANDLE - if given obj handle is invalid
DW_SUCCESS - if the initialization is successful

Note: This would not perform any changes regarding current vehicle state.

◆ dwVehicleIO_selectDriverOverrides()

DW_API_PUBLIC dwStatus dwVehicleIO_selectDriverOverrides	(	bool	throttleOverride,
		bool	steeringOverride,
		bool	brakeOverride,
		bool	gearOverride,
		dwVehicleIOHandle_t	obj
	)

Select the overrides that the driver can use to disable vehicle control.

Parameters

[in]	throttleOverride	Enables driver override by throttle application
[in]	steeringOverride	Enables driver override by steering application
[in]	brakeOverride	Enables driver override by brake application
[in]	gearOverride	Enables driver override by brake application
[in]	obj	A pointer to the car controller module handle.

Returns: DW_INVALID_HANDLE - if given obj handle is invalid
DW_SUCCESS - if the initialization is successful

◆ dwVehicleIO_sendCommand()

DW_API_PUBLIC dwStatus dwVehicleIO_sendCommand	(	const dwVehicleIOCommand *	cmd,
		dwVehicleIOHandle_t	obj
	)

Send a vehicle command to the VehicleIO.

Parameters

[in]	cmd	Command to be sent to the controller.
[in]	obj	Specifies the car controller module handle.

Returns: DW_INVALID_HANDLE - if given obj or sensor handle are invalid
DW_INVALID_ARGUMENT - if the command contains an invalid element given IO state DW_SUCCESS - if the message was sent successfully

◆ dwVehicleIO_sendMiscCommand()

DW_API_PUBLIC dwStatus dwVehicleIO_sendMiscCommand	(	const dwVehicleIOMiscCommand *	cmd,
		dwVehicleIOHandle_t	obj
	)

Send a vehicle command to the VehicleIO.

Parameters

[in]	cmd	Command to be sent to the controller.
[in]	obj	Specifies the car controller module handle.

Returns: DW_INVALID_HANDLE - if given obj or sensor handle are invalid
DW_INVALID_ARGUMENT - if the command contains an invalid element given IO state DW_SUCCESS - if the initialization is successful

◆ dwVehicleIO_setDrivingMode()

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.

Parameters

[in]	mode	specifies the mode of driving.
[in]	obj	Specifies the car controller module handle.

Returns: DW_INVALID_HANDLE - if given obj handle is invalid DW_SUCCESS - if the call was successful

See also: dwVehicleIODrivingMode

Detailed Description

Data Structures

Modules

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwVehicleIOCapabilities

◆ dwVehicleIOCapabilityState

◆ dwVehicleIOCommand

◆ dwVehicleIOMiscCommand

◆ dwVehicleIOState

Macro Definition Documentation

◆ DW_VEHICLEIO_SPEED_LUT_MAX_ENTRIES

Typedef Documentation

◆ dwVehicleIOHandle_t

Enumeration Type Documentation

◆ dwVehicleIOAEBState

◆ dwVehicleIODoorLock

◆ dwVehicleIODrivingMode

◆ dwVehicleIOFaults

◆ dwVehicleIOFCWState

◆ dwVehicleIOGear

◆ dwVehicleIOHeadlights

◆ dwVehicleIOMirror

◆ dwVehicleIOMoonroof

◆ dwVehicleIOOverrides

◆ dwVehicleIOTurnSignal

◆ dwVehicleIOType

Function Documentation

◆ dwVehicleIO_addCANSensor()

◆ dwVehicleIO_consumeCANFrame()

◆ dwVehicleIO_getCapabilities()

◆ dwVehicleIO_getVehicleState()

◆ dwVehicleIO_initialize()

◆ dwVehicleIO_initializeFromDBC()

◆ dwVehicleIO_initializeFromRig()

◆ dwVehicleIO_release()

◆ dwVehicleIO_reset()

◆ dwVehicleIO_selectDriverOverrides()

◆ dwVehicleIO_sendCommand()

◆ dwVehicleIO_sendMiscCommand()

◆ dwVehicleIO_setDrivingMode()