VehicleIO Actuators Interface

Detailed Description

Defines the APIs to access the VehicleIO car controller box.

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

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	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...

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Data Structure Documentation

dwStateValueFloat

struct dwStateValueFloat

Data Fields
dwTime_t	timestamp
bool	valid
float32_t	value

dwVehicleIOAxleStatus

struct dwVehicleIOAxleStatus

Data Fields
dwStateValueFloat	driverLoad	Load on driver axle [kg].
dwStateValueFloat	frontLoad	Load on front axle [kg].
dwStateValueFloat	pusherLoad	Load on pusher axle [kg].
dwStateValueFloat	trailerLoad	Sum of load on all trailer axles [kg].

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	frontSteeringAngleLUT[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	frontSteeringAngleLUTSize	Size of the corresponding lookup table.
float32_t	frontSteeringSpeedLUT[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	frontSteeringSpeedLUTSize	Size of the corresponding lookup table.
float32_t	maxAccelerationLUT[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	maxAccelerationLUTSize	Size of the corresponding lookup table.
float32_t	minAccelerationLUT[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	minAccelerationLUTSize	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
dwStateValueFloat	frontWheelAngleMax	The maximum front wheel angle command that can be guaranteed.
dwStateValueFloat	lonAccelerationMax	The maximum longutidinal acceleration command that can be guaranteed.
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.
dwStateValueFloat	rearWheelAngleMax	The maximum rear wheel angle command that can be guaranteed.

dwVehicleIOCommand

struct dwVehicleIOCommand

Data Fields
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
dwVehicleIOCDWRequestType	cdwRequest	Request to activate CDW.
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.
float32_t	frontSteeringAngle	Desired front wheel steering angle (rad)
bool	frontSteeringValid	True if setting front wheel steering.
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	latAccelerationValid	True if setting lateral acceleration.
float32_t	latAccelerationValue	lateral acceleration (m/s^2)
dwVehicleIOLatMode	latMode
bool	latModeValid	True if setting lateral function.
bool	lonAccelerationValid	True if setting longitudinal acceleration.
float32_t	lonAccelerationValue	longitudinal acceleration (m/s^2)
dwVehicleIOLonMode	lonMode
bool	lonModeValid	True if setting longitudinal function.
float32_t	maxFrontSteeringSpeed	Maximum front wheel speed of the turning command (rad/s)
float32_t	maxSpeed	Maximum allowed speed to support remaining distance request (m/s)
bool	maxSpeedValid	True if setting speed request.
float32_t	maxSteeringWheelSpeed	Maximum steering wheel speed of the turning command rad/s.
bool	prefillRequest	Request to activate prefill.
bool	rearAxleCurvatureValid	True if setting rear axle curvature.
float32_t	rearAxleCurvatureValue	Path curvature request based on travelled distance (1/m)
float32_t	rearSteeringAngle	Desired rear wheel steering angle (rad)
bool	rearSteeringValid	True if setting rear wheel steering.
float32_t	remainingDistance	Desired longitudinal offset from current position (m)
bool	remainingDistanceValid	True if setting remaining distance.
float32_t	steeringWheelAngle	Desired steering wheel angle (rad)
float32_t	steeringWheelTorque	Additional steering wheel torque request (Nm). Does not affect vehicle steering, rather to be used as feedback for the driver
bool	steeringWheelTorqueValid	True if setting steering torque.
bool	steeringWheelValid	True if setting steering wheel steering.
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
float32_t	accSetSpeed	Current ACC Set Speed in m/s.
dwVehicleIOBSMRequest	bsmAudioRequest	Request corresponding to the audio warning.
dwVehicleIOBSMRequest	bsmLeftRequest	Request corresponding to the left visual warning.
dwVehicleIOBSMRequest	bsmRightRequest	Request corresponding to the right visual warning.
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.
float32_t	ldwSeverity	LDW Warning severity.
dwVehicleIOLaneDepartureWarningSide	ldwSide	LDW Warning side of ego lane- left/right.
dwVehicleIOLaneDepartureWarningState	ldwState	LDW Warning state- on/off.
bool	longitudinalTOR	True if an immediate takeover is needed.
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.
dwVehicleIOAxleStatus	axles
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
bool	buttonTimeGapCycle
dwVehicleIOCapabilityState	capability	Rear wheel angle on road.
bool	doorDriver
bool	doorHood
bool	doorPassenger
bool	doorRearLeft
bool	doorRearRight
bool	doorTrunk
dwVehicleIODrivingMode	drivingMode
bool	enabled
float32_t	engineSpeed	engine rpm speed [RPM]
dwTime_t	engineSpeedTimestamp	engine speed timestamp[us]
uint32_t	faults	Faults detected (0 = none). Flags defined in dwVehicleIOFaults.
float32_t	frontSteeringAngle	Same as inverseSteeringR described as an angle instead of radius [rad].
float32_t	frontSteeringAngleCmd	Last acknowledged front steering value from a command (-1.0 to 1.0 +- 0.01rad)
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	handsOnWheel
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.
dwVehicleIOLatMode	latMode
dwVehicleIOLonMode	lonMode
dwStateValueFloat	mass	Total mass of vehicle [kg].
dwStateValueFloat	outsideTemperature	outside temperature [degrees C]
uint32_t	overrides	Overrides in place (0 = none). Flags defined in dwVehicleIOOverrides.
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.
dwStateValueFloat	rearWheelAngle
float32_t	speed	Signed norm of velocity vector.
dwVehicleIOSignalQuality	speedQuality	Speed and velocity signal quality.
dwTime_t	speedTimestamp	Time at which speed was updated.
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	steeringWheelAngleCmd	Last acknowledged steering wheel value from a command (-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.
dwVehicleIOTrailerState	trailer
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

dwVehicleIOTrailerState

struct dwVehicleIOTrailerState

Data Fields
dwStateValueFloat	articulationAngle	Yaw articulation angle between truck and trailer measured at rear axle [rad] Angle measured as described by ISO8855. For example, 0 when driving in line, positive when turning left.
dwVehicleIOTrailerConnectedStatus	connected
dwStateValueFloat	mass	Total mass of trailer unit [kg].

Macro Definition Documentation

DW_VEHICLEIO_SPEED_LUT_MAX_ENTRIES

#define DW_VEHICLEIO_SPEED_LUT_MAX_ENTRIES   50

Definition at line 546 of file VehicleIO.h.

Typedef Documentation

dwVehicleIOHandle_t

typedef struct dwVehicleIOObject* dwVehicleIOHandle_t

Definition at line 64 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 173 of file VehicleIO.h.

dwVehicleIOBSMRequest

enum dwVehicleIOBSMRequest

Enumerator
DW_VEHICLEIO_BSM_REQUEST_UNKNOWN
DW_VEHICLEIO_BSM_REQUEST_NONE
DW_VEHICLEIO_BSM_REQUEST_CONTINUOUS
DW_VEHICLEIO_BSM_REQUEST_FLASHING

Definition at line 194 of file VehicleIO.h.

dwVehicleIOCDWRequestType

enum dwVehicleIOCDWRequestType

Enumerator
DW_VEHICLEIO_CDW_REQUEST_NONE
DW_VEHICLEIO_CDW_REQUEST_LEVEL_1
DW_VEHICLEIO_CDW_REQUEST_LEVEL_2

Definition at line 187 of file VehicleIO.h.

dwVehicleIODoorLock

enum dwVehicleIODoorLock

Enumerator
DW_VEHICLEIO_DOOR_UNKNOWN
DW_VEHICLEIO_DOOR_UNLOCK
DW_VEHICLEIO_DOOR_LOCK

Definition at line 144 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.
DW_VEHICLEIO_DRIVING_MODE_INVALID	Driving mode is not valid.

Definition at line 66 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
DW_VEHICLEIO_FAULT_MAX

Definition at line 94 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 180 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 113 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 164 of file VehicleIO.h.

dwVehicleIOLaneDepartureWarningSide

enum dwVehicleIOLaneDepartureWarningSide

Driveworks LDW sides with respect to the ego lane.

Enumerator
DW_VIO_LANE_DEPARTURE_WARNING_SIDE_NONE	No warning on any side.
DW_VIO_LANE_DEPARTURE_WARNING_SIDE_LEFT	Warning on the left side.
DW_VIO_LANE_DEPARTURE_WARNING_SIDE_RIGHT	Warning on the right side.
DW_VIO_LANE_DEPARTURE_WARNING_SIDE_COUNT	Count of LDW warning sides.

Definition at line 341 of file VehicleIO.h.

dwVehicleIOLaneDepartureWarningState

enum dwVehicleIOLaneDepartureWarningState

Driveworks Lane Departure Warning (LDW) activation states.

Enumerator
DW_VIO_LANE_DEPARTURE_WARNING_STATE_OFF	Warning not active.
DW_VIO_LANE_DEPARTURE_WARNING_STATE_ON	Warning active.
DW_VIO_LANE_DEPARTURE_WARNING_STATE_COUNT	Count of LDW states.

Definition at line 331 of file VehicleIO.h.

dwVehicleIOLateralActuatorInterface

enum dwVehicleIOLateralActuatorInterface

Enumerator
DW_VEHICLEIO_LATERAL_ACTUATOR_UNKNOWN
DW_VEHICLEIO_LATERAL_STEERING_WHEEL_ANGLE
DW_VEHICLEIO_LATERAL_FRONT_WHEEL_ANGLE
DW_VEHICLEIO_LATERAL_CURVATURE

Definition at line 201 of file VehicleIO.h.

dwVehicleIOLatMode

enum dwVehicleIOLatMode

Enumerator
DW_VEHICLEIO_LAT_MODE_UNKNOWN
DW_VEHICLEIO_LAT_MODE_IDLE
DW_VEHICLEIO_LAT_MODE_L2
DW_VEHICLEIO_LAT_MODE_L3
DW_VEHICLEIO_LAT_MODE_PARK
DW_VEHICLEIO_LAT_MODE_LSS

Definition at line 210 of file VehicleIO.h.

dwVehicleIOLonMode

enum dwVehicleIOLonMode

Enumerator
DW_VEHICLEIO_LON_MODE_UNKNOWN
DW_VEHICLEIO_LON_MODE_IDLE
DW_VEHICLEIO_LON_MODE_PARK
DW_VEHICLEIO_LON_MODE_CA
DW_VEHICLEIO_LON_MODE_DRIVE_L2
DW_VEHICLEIO_LON_MODE_DRIVE_L3

Definition at line 221 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 156 of file VehicleIO.h.

dwVehicleIOMoonroof

enum dwVehicleIOMoonroof

Enumerator
DW_VEHICLEIO_MOONROOF_UNKNOWN
DW_VEHICLEIO_MOONROOF_CLOSE
DW_VEHICLEIO_MOONROOF_OPEN

Definition at line 150 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
DW_VEHICLEIO_OVERRIDE_MAX

Definition at line 104 of file VehicleIO.h.

dwVehicleIOSignalQuality

enum dwVehicleIOSignalQuality

Enumerator
DW_VEHICLEIO_SIGNAL_QUALITY_NOT_OK
DW_VEHICLEIO_SIGNAL_QUALITY_OK

Definition at line 239 of file VehicleIO.h.

dwVehicleIOTrailerConnectedStatus

enum dwVehicleIOTrailerConnectedStatus

Enumerator
DW_VEHICLEIO_TRAILER_CONNECTED_UNKNOWN
DW_VEHICLEIO_TRAILER_CONNECTED_NO
DW_VEHICLEIO_TRAILER_CONNECTED_YES
DW_VEHICLEIO_TRAILER_CONNECTED_ERROR

Definition at line 231 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 136 of file VehicleIO.h.

dwVehicleIOType

enum dwVehicleIOType

Enumerator
DW_VEHICLEIO_DATASPEED
DW_VEHICLEIO_GENERIC
DW_VEHICLEIO_CUSTOM
DW_VEHICLEIO_DRIVER_COUNT

Definition at line 87 of file VehicleIO.h.

Function Documentation

dwVehicleIO_addCANSensor()

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.

Allows sending commands to multiple 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_addDataSensor()

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.

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

Parameters

[in]	vehicleIOId	Specifies ID of vehicle IO configuration.
[in]	sensorHandle	Specifies the underlying VehicleIO data 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	(	dwCANMessage const *const	msg,
		uint32_t const	sensorId,
		dwVehicleIOHandle_t const	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_consumeDataPacket()

DW_API_PUBLIC dwStatus dwVehicleIO_consumeDataPacket	(	const dwDataPacket *const	pkt,
		uint32_t const	sensorId,
		dwVehicleIOHandle_t const	obj
	)

Similar to dwVehicleIO_consumeCANFrame.

Expects a data packet generated by a data sensor. Used for socket based vehicle communication.

Parameters

[in]	pkt	data packet to be parsed by the controller.
[in]	sensorId	Specifies index of data 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 pkt is null
DW_SUCCESS - if the initialization is successful

dwVehicleIO_getCapabilities()

DW_API_PUBLIC dwStatus dwVehicleIO_getCapabilities	(	dwVehicleIOCapabilities *const	caps,
		dwVehicleIOHandle_t const	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 *const	state,
		dwVehicleIOHandle_t const	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 *const	obj,
		dwVehicleIOType const	type,
		const dwVehicle *const	properties,
		dwContextHandle_t const	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 *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.

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 *const	obj,
		dwConstRigHandle_t const	rig,
		dwContextHandle_t const	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 const

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 const

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 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.

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 *const	cmd,
		dwVehicleIOHandle_t const	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 *const	cmd,
		dwVehicleIOHandle_t const	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 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.

NOTE: Whether certain driving mode is actually supported and when/if it is taken into effect is highly dependent on the type of the actuation interface.

Use dwVehicleIO_getVehicleState call to determine which driving mode is in effect.

Use dwVehicleIO_getCapabilities call to determine which limits are supported when in DW_VEHICLEIO_DRIVING_LIMITED or DW_VEHICLEIO_DRIVING_LIMITED_ND modes.

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_NOT_SUPPORTED - if the mode is not supported DW_SUCCESS - if the call was successful

See also

dwVehicleIODrivingMode