| Sensor Input Processing Pipeline (SIPP) | Not part of the Safety Core | The perception stack, for example VSS. It publishes detections and alerts to Kafka. | SIPP |
| MDX client | mdx_client | Reads perception messages from Kafka, maps them to safety events with an event-mapping file, and reports them to the SEI. | SIPP |
| Safety AI Monitor (SAIM) | safety_monitor | Watches each camera stream and reports SENSOR_INVALID or SENSOR_VALID per camera. | SAIM |
| Perception Container Monitor (PCM) | nv_perception_monitor | Watches the perception containers and their output, and reports AI_PIPELINE_INVALID or AI_PIPELINE_VALID. | PCM |
| Safety Event Integrator (SEI) | nvpss_daemon | Validates every report, applies the trust verdicts, fuses events, supervises its sources, and produces decision requests. | SEI |
| NvPSD Gateway | nvpsd_gateway | Admits decision makers, filters each request to what each one subscribed to, numbers the stream, and reports faults on its own link to the SEI. | NvPSD Gateway |
| Safety Decision Maker (SDM) | atl_sdm, proximity_sdm, atl_proximity_sdm, or your own | Decides what the machine may do, latches a safe state on any fault, and commands the PLC. | SDM |
| FSI bridge | fsicom-agent | Connects an SDM running on the Functional Safety Island (FSI) of IGX Thor to the gateway and the PLC. | Writing a decision maker |
| Command receiver | atl_sdm_cmd_receiver, proximity_sdm_cmd_receiver | Reference stand-in for the PLC. | Writing a decision maker |
| Safety Black Box (SBB) | libnvpsb.so | The syslog-based record library used by the SEI daemon, the gateway, the MDX client and the SEI client library. The SDMs and the monitors write their own log files. | SBB |
| Safety User Interface (SUI) | — | Not implemented. | SUI |
