491. DSP API
491.1 DSP RPCs
The following Remote Procedure Calls (RPCs) are defined in the Protobuf file dsp.proto.
| Method Name | Description |
|---|---|
| init | This RPC is used to initialize DSP This should always be the first message sent to DSP Request Type: init_req Response Type: init_resp |
| start_simulation | This RPC is used to start the DUT process. In case of external DUT server process, this function should also perform the connection to the server. It is expected to execute asynchronously Request Type: start_simulation_req Response Type: start_simulation_resp |
| wait_start_simulation | This RPC is used to wait till DSP finishes starting the DUT (including connection to the server if neccessary) Request Type: wait_start_simulation_req Response Type: wait_start_simulation_resp |
| end_simulation | This RPC is used to end the DUT process Request Type: end_simulation_req Response Type: end_simulation_resp |
| start_step | This RPC is used to signal DSP that it can start performing step Request Type: start_step_req Response Type: start_step_resp |
| wait_step | This RPC is used to wait till DSP finishes performing step Request Type: wait_step_req Response Type: wait_step_resp |
| set_ego_control | DEPRECATED. This RPC is used to change control of EGO Request Type: set_ego_control_req Response Type: set_ego_control_resp |
| get_ego_info | This RPC is used to get EGO information Request Type: get_ego_info_req Response Type: get_ego_info_resp |
| ego_command | This RPC is used to pass custom commands to DUT It can use the functionality that exists in the human driver interface of the Ego vehicle and any white box hooks that are exposed in the particular execution platform setup. Request Type: ego_command_req Response Type: ego_command_resp |
| set_ego_destination | This RPC is used to set target destination for EGO Request Type: set_ego_destination_req Response Type: set_ego_destination_resp |
| set_steer_and_pedals_move | DEPRECATED (use set_dynamic_move). This RPC is used to set a trajectory in the form of throttle/brake pedals and steering wheel commands to the vehicle actuators. The actuators commands expressed as polynomial functions in time Request Type: set_steer_and_pedals_move_req Response Type: set_steer_and_pedals_move_resp |
| set_dynamic_move | This RPC is used to set a trajectory in the form of throttle/brake pedals and steering wheel commands to the vehicle actuators. This messages replaces set_steer_and_pedals_move message Request Type: set_dynamic_move_req Response Type: set_dynamic_move_resp |
| set_actor_command | Sends a vehicle command such as gear shift or hand brake. Request Type: set_actor_command_req Response Type: set_actor_command_resp |
| send_messages | This RPC is used to send (publish) messages to the DUT by the Message Bridge, e.g. pub/sub (ROS) Request Type: send_messages_req Response Type: send_messages_resp |
| get_messages | This RPC is used to receive (subscribe) messages from the DUT by the Message Bridge, e.g. pub/sub (ROS) Request Type: get_messages_req Response Type: get_messages_resp |
| get_hlm_action | Gets an action (objective or trajectory) to be performed by the DUT, as produced by a High Level Model Request Type: get_hlm_action_req Response Type: get_hlm_action_resp |