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API Documentation

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The development packages, psf-desktop-dev and psf-tegra-dev, install the Safety Core headers that an integrator builds against in /opt/nvidia/psf/include. This page describes what each header declares.

Each header published in this repository’s safety-core/ directory has a generated reference page in this section, with every function, type, constant and macro it declares. The pages are regenerated from the headers whenever a change to them is merged. Headers the repository does not publish yet are described on this page only.

SEI client interface

HeaderContentsUsed in
pss_daemon.hThe client API of libnvpssd_interface: register with the SEI daemon, send heartbeats, report safety events and trust verdicts, and terminate. The development package at this release does not install it.Custom event sources
pss_protocol.hThe safety messages and their vocabulary: SafetyEvent, DecisionRequest, event types, event causes, presence bits and the protocol schema version.Custom event sources, Writing a decision maker
pss_message_validate.hCRC-32 integrity and field-range validation of SafetyEvent and DecisionRequest.Writing a decision maker

NvPSD Gateway interface

HeaderContentsUsed in
NvPSDGatewayProtocol.hThe gateway wire format: registration (REGR), registration refusal (RGNK) and its reasons, and the envelope that carries each decision request to an SDM.Writing a decision maker, NvPSD Gateway
NvPSDGatewayContract.hppThe gateway’s contract with an SDM: subscribable and mandatory event types, the request-ID range and the records the gateway synthesises. C++.NvPSD Gateway

Transport

HeaderContentsUsed in
nvpsf_transport.hThe message-oriented AF_UNIX SOCK_SEQPACKET transport that every Safety Core link uses: endpoint configuration, socket paths under /run/nvpsf, the peer group check and the socket-buffer sizing.Transports, Writing a decision maker

FSI error reporting

These headers carry fault reports from a decision maker to the Functional Safety Island through fsicom-agent.

HeaderContents
epl_proxy_wire_contract.hThe 16-byte report payload and the default socket path of the error-report proxy.
fsicom_epl_proxy_wire.hThe proxy wire protocol between a client and fsicom-agent.
fsicom_epl_proxy.hThe proxy listener inside fsicom-agent.
atl_epl_proxy_send.hThe function the forklift safety function’s decision maker uses to send a report.
atl_epl_attr.hThe layout of the error_attr field in the forklift safety function’s reports.
oisf_error_codes.hThe error codes reported to the FSI.
oisf_error_report.hThe FSI-side error-report library.