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	dwStateValueFloat
	Generic state field structure capturing data validity and timestamp. More...
struct	dwVehicleIOAxleStatus
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...
struct	dwVehicleIOTrailerState

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	dwVehicleIOBSMRequest {   DW_VEHICLEIO_BSM_REQUEST_UNKNOWN = 0,   DW_VEHICLEIO_BSM_REQUEST_NONE = 1,   DW_VEHICLEIO_BSM_REQUEST_CONTINUOUS = 2,   DW_VEHICLEIO_BSM_REQUEST_FLASHING = 3 }
enum	dwVehicleIOCDWRequestType {   DW_VEHICLEIO_CDW_REQUEST_NONE = 0,   DW_VEHICLEIO_CDW_REQUEST_LEVEL_1 = 1,   DW_VEHICLEIO_CDW_REQUEST_LEVEL_2 = 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,   DW_VEHICLEIO_DRIVING_MODE_INVALID = 0x400 }
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,   DW_VEHICLEIO_FAULT_MAX = UINT32_MAX }
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	dwVehicleIOLaneDepartureWarningSide {   DW_VIO_LANE_DEPARTURE_WARNING_SIDE_NONE = 0,   DW_VIO_LANE_DEPARTURE_WARNING_SIDE_LEFT = 1,   DW_VIO_LANE_DEPARTURE_WARNING_SIDE_RIGHT = 2,   DW_VIO_LANE_DEPARTURE_WARNING_SIDE_COUNT }
	Driveworks LDW sides with respect to the ego lane. More...
enum	dwVehicleIOLaneDepartureWarningState {   DW_VIO_LANE_DEPARTURE_WARNING_STATE_OFF = 0,   DW_VIO_LANE_DEPARTURE_WARNING_STATE_ON = 1,   DW_VIO_LANE_DEPARTURE_WARNING_STATE_COUNT }
	Driveworks Lane Departure Warning (LDW) activation states. More...
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	dwVehicleIOLatMode {   DW_VEHICLEIO_LAT_MODE_UNKNOWN = 0,   DW_VEHICLEIO_LAT_MODE_IDLE = 1,   DW_VEHICLEIO_LAT_MODE_L2 = 2,   DW_VEHICLEIO_LAT_MODE_L3 = 3,   DW_VEHICLEIO_LAT_MODE_PARK = 4,   DW_VEHICLEIO_LAT_MODE_LSS = 5 }
enum	dwVehicleIOLonMode {   DW_VEHICLEIO_LON_MODE_UNKNOWN = 0,   DW_VEHICLEIO_LON_MODE_IDLE = 1,   DW_VEHICLEIO_LON_MODE_PARK = 2,   DW_VEHICLEIO_LON_MODE_CA = 3,   DW_VEHICLEIO_LON_MODE_DRIVE_L2 = 4,   DW_VEHICLEIO_LON_MODE_DRIVE_L3 = 5 }
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,   DW_VEHICLEIO_OVERRIDE_MAX = UINT32_MAX }
enum	dwVehicleIOSignalQuality {   DW_VEHICLEIO_SIGNAL_QUALITY_NOT_OK = 0,   DW_VEHICLEIO_SIGNAL_QUALITY_OK = 1 }
enum	dwVehicleIOTrailerConnectedStatus {   DW_VEHICLEIO_TRAILER_CONNECTED_UNKNOWN = 0,   DW_VEHICLEIO_TRAILER_CONNECTED_NO = 1,   DW_VEHICLEIO_TRAILER_CONNECTED_YES = 2,   DW_VEHICLEIO_TRAILER_CONNECTED_ERROR = 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_CUSTOM = 2,   DW_VEHICLEIO_DRIVER_COUNT = 3 }

Functions
DW_API_PUBLIC dwStatus	dwVehicleIO_addCANSensor (uint32_t const vehicleIOId, dwSensorHandle_t const sensorHandle, dwVehicleIOHandle_t const obj)
	Add CAN sensor handle and corresponding VehicleIO configuration ID. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_addDataSensor (uint32_t const vehicleIOId, dwSensorHandle_t const sensorHandle, dwVehicleIOHandle_t const obj)
	Add data sensor handle and corresponding VehicleIO configuration ID. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_consumeCANFrame (dwCANMessage const *const msg, uint32_t const sensorId, dwVehicleIOHandle_t const obj)
	Parse a received event. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_consumeDataPacket (const dwDataPacket *const pkt, uint32_t const sensorId, dwVehicleIOHandle_t const obj)
	Similar to dwVehicleIO_consumeCANFrame. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_getCapabilities (dwVehicleIOCapabilities *const caps, dwVehicleIOHandle_t const obj)
	Retrieve current VehicleIO capabilities. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_getVehicleState (dwVehicleIOState *const state, dwVehicleIOHandle_t const obj)
	Retrieve current vehicle state. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_initialize (dwVehicleIOHandle_t *const obj, dwVehicleIOType const type, const dwVehicle *const properties, dwContextHandle_t const ctx)
	Initialize VehicleIO and prepare all internal structures. More...
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)
	Initialize VehicleIO and prepare all internal structures from DBC File. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_initializeFromRig (dwVehicleIOHandle_t *const obj, dwConstRigHandle_t const rig, dwContextHandle_t const ctx)
	Initialize VehicleIO and prepare all internal structures from Rig Configuration. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_release (dwVehicleIOHandle_t const obj)
	Release used memory and close all modules. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_reset (dwVehicleIOHandle_t const obj)
	Reset VehicleIO to default state. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_selectDriverOverrides (bool const throttleOverride, bool const steeringOverride, bool const brakeOverride, bool const gearOverride, dwVehicleIOHandle_t const obj)
	Select the overrides that the driver can use to disable vehicle control. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_sendCommand (const dwVehicleIOCommand *const cmd, dwVehicleIOHandle_t const obj)
	Send a vehicle command to the VehicleIO. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_sendMiscCommand (const dwVehicleIOMiscCommand *const cmd, dwVehicleIOHandle_t const obj)
	Send a vehicle command to the VehicleIO. More...
DW_API_PUBLIC dwStatus	dwVehicleIO_setDrivingMode (dwVehicleIODrivingMode const mode, dwVehicleIOHandle_t const 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...