Drive.md

Drive Service

The Drive service comprises of the data flows and the interfaces defined for Automated and Assisted Driving (AD). Over time, the intention is to cover SAE levels 2 to 5. The data-centric approach allows the sotware system architectuture to include new data flows and component interfaces for increasing levels of autonomy, and evolve incrementally over time. Currently, the Drive service consists of the following artifacts.

• Common Data Model
  • data types (structure)
    • res/types/data/**/*_t.idl
  • qos of service (behavior)
    • Drive_qos.xml
    • Drive-default_qos.xml
• Micro Service and Component Interfaces
  • databus
    • Drive.xml
  • interfaces
    • Drive_*.xml
  • constants
    • Drive_t.idl
• Micro Service Environment
  • Drive.sh

The Drive service artifacts are organized as shown below, following the Data-Oriented Micro-Services Architecture (DOMA) approach.

.
├── bin
│   └── Drive
├── doc
│   └── Drive.md
├── if
│   ├── Drive.xml
│   ├── Drive_Actuator.xml
│   ├── Drive_CAN.xml
│   ├── Drive_Camera.xml
│   ├── Drive_HMI.xml
│   ├── Drive_Lidar.xml
│   ├── Drive_Perceptor.xml
│   └── Drive_Planner.xml
└── res
    ├── env
    │   └── Drive.sh
    ├── qos/services
    │   ├── Drive_qos.xml
    │   └── Drive-default_qos.xml
    └── types/services
        └── Drive_t.idl

For details on how to run an emulation of the Drive service, please refer to Run the Drive service emulation

To emulate a specific interface, say Drive::Camera, using the RTI Prototyper with Lua, use the common component launcher utility as follows:

$DATABUSHOME/bin/run Drive $NDDSHOME/bin/rtiddsprototyper -luaOnData 0 -luaFile src/utils/Publisher.lua -cfgName Drive::Camera

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