493. Custom simulator and SUT (Ego) commands

The API mentioned in this section offers a group of structured messages. Often during testing, users may want to pass additional data without the need to extend the API.

The messages below allow this flexibility by providing all sides—Foretify, SSP and DSP—with a method to pass additional data in the form of string fields.

493.1 sim_command

Enable passing arbitrary string commands to and from the simulator. Each sim_command RPC allows Foretify to send a command to the simulator and receive a command response.

493.2 ego_command

Enables passing arbitrary string commands to the SUT.

It can be used to set the functionality that exists in the human driver interface of the Ego vehicle and to expose any white box hooks available in the SUT implementation.

493.3 get_ego_info

Enables reading the status of the Ego vehicle. This RPC is sent to the DSP once on each step. The DSP can reply to the RPC with a list of key-value string pairs.

Based on data received from the DSP, the user can collect coverage, run checks, etc.