Detailed Description

NVIDIA DriveWorks API: VehicleIO car controller

Description: API to access car controller box

Definition in file VehicleIO.h.

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...

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	dwVehicleIOLateralActuatorInterface { DW_VEHICLEIO_LATERAL_ACTUATOR_UNKNOWN = 0, DW_VEHICLEIO_LATERAL_STEERING_WHEEL_ANGLE = 1, DW_VEHICLEIO_LATERAL_FRONT_WHEEL_ANGLE = 2, DW_VEHICLEIO_LATERAL_CURVATURE = 3 }

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_addDataSensor (uint32_t vehicleIOId, dwSensorHandle_t sensorHandle, dwVehicleIOHandle_t obj)
	Add data 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_consumeDataPacket (const dwDataPacket *pkt, uint32_t sensorId, dwVehicleIOHandle_t obj)
	Similar to dwVehicleIO_consumeCANFrame. 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, dwConstRigHandle_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...

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions