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comfort-service.yml
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comfort-service.yml
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#
# Copyright 2022, Robert Bosch GmbH
# Copyright 2020, Jaguar Land Rover
#
# This Source Code Form is subject to the terms of the Mozilla Public
# License, v. 2.0. If a copy of the MPL was not distributed with this
# file, You can obtain one at https://mozilla.org/MPL/2.0/.
#
# Namespace
#
# A namespace is a collection of datatypes, methods, properties,
# events, and other namespaces.
#
#
# TODO:
# + Define error semantics for methods to align with FrancaIDL
#
# + Add array arguments.
#
# + How do we import namespaces, datatypes, etc from other service files?
# Importing datatypes used by multiple services make sense, but it
# will put a strain on the build pipeline since we now will have to
# search for and assemble a library of interdependent services.
#
#
---
name: comfort
major_version: 3
minor_version: 0
description: A collection of interfaces pertaining to cabin comfort, intended to be aligned with corresponding VSS signals.
# Include another VSC file into the current "comfort" namespace
#
includes:
- description: Include all error codes used by this namespace
file: vsc-error.yml
# Create a separate namespace for movement-related datatypes and methods.
# We can create additional namespaces for HVAC, ambient lighting, etc.
#
namespaces:
- name: seats
description: Seat interface and datatypes.
# Defines all structs hosted by the `seats` namespace.
# Standard structs can be defind, using either native types, typedefs,
# or other (nested) structs.
#
structs:
#
# Position of seat
#
- name: position_t
description: |
The position of the entire seat
members:
- name: position
datatype: uint16
description: |
Seat position on vehicle x-axis. Position is in millimeters relative to the frontmost position supported by the seat.
0 = Frontmost position supported.
- name: height
datatype: uint16
description: |
Seat position on vehicle z-axis. Position is in millimeters relative within available movable range of the seating.
0 = Lowermost position supported.
- name: tilt
datatype: float
description: |
Tilting of seat in degrees relative to vehicle z-axis. 0 = seating is flat, seat and vehicle z-axis are parallel.
Positive degrees = seat tilted backwards, seat z-axis is tilted backward.
- name: backrest_recline
datatype: float
description: |
Backrest recline in degrees compared to seat z-axis (seat vertical axis).
0 degrees = Upright/Vertical backrest.
Negative degrees for forward recline. Positive degrees for backward recline.
- name: backrest_lumbar_support
datatype: percent_float_t
description: |
Lumbar support (in/out position) in percent. 0 = Innermost position. 100 = Outermost position.
- name: backrest_lumbar_height
datatype: uint8
description: |
Height of lumbar support in millimeters. Position is relative within available movable range of the lumbar support.
0 = Lowermost position supported.
- name: backrest_sidebolster_support
datatype: percent_float_t
description: |
Side bolster support in percent. 0 = Minimum support (widest side bolster setting).
100 = Maximum support.
- name: seating_length
datatype: uint16
description: |
Length adjustment of seating in millimeters. 0 = Adjustable part of seating in rearmost position
(Shortest length of seating).
- name: headrest_height
datatype: uint8
description: |
Position of headrest in millimeters relative to movable range of the head rest. 0 = Bottommost position supported.
- name: headrest_angle
datatype: float
description: |
Headrest angle in degrees, relative to backrest, 0 degrees if parallel to backrest, Positive degrees = tilted forward.
#
# Seat location
#
- name: seat_location_t
description: |
The location of the seat in the vehicle
members:
- name: row
datatype: uint8
description: |
The row, front 1 and +1 toward rear
- name: index
datatype: uint8
description: |
The index within the row, 1 left most (as seen looking forward), +1 toward right
- name: seat_t
type: struct
description: |
The structure used to describe the seat's position in the vehicle
members:
- name: location
datatype: seat_location_t
description: |
The location of the seat in the vehicle
- name: position
datatype: position_t
description: |
The various aspects of the seat
# Typedefs
#
# Standard redefinition of native types are supported.
# Min/max intervals can be optionally specified
#
typedefs:
- name: movement_t
datatype: float
description: |
The movement of a seat component. Limits and resolution varies depending on aspect changed,
and typically is vehicle dependent.
# We can also redefine an existing type,
# effectively giving it a new name.
- name: relative_movement_t
datatype: movement_t
description: |
The relative movement of a seat component
- name: percent_float_t
datatype: float
min: 0
max: 100
description: |
Percent represented as float with range restricted from 0 to 100.
enumerations:
# Enums
#
# TODO:
# + Decide if we need to move enum_type (uint8) to a separate deployment
# file, one per target (python, C++, etc).
# The upside is a cleaner, more service-oriented catalog.
# The downside is it inter-target operability is harder to
# define an over-the-wire payload format since one target
# can define uint16_t while another has uint8_t.
#
- name: seat_component_t
datatype: uint8 # Should probably be moved to deployment file
options:
- name: position
value: 0
- name: height
value: 1
- name: tilt
value: 2
- name: backrest_recline
value: 3
- name: backrest_lumbar_support
value: 4
- name: backrest_lumbar_height
value: 5
- name: backrest_sidebolster_support
value: 6
- name: seating_length
value: 7
- name: headrest_height
value: 8
- name: headrest_angle
value: 9
description: |
Current seat component
# METHODS
#
# This section defines all methods for the given namespace.
#
# A method invokes a command for a given service that may optionally
# return a value.
#
# Only one service instance will execute a call. The service discovery
# and invocation mechanism is up to the implementation to resolve (possibly
# with the help of deployment files).
#
methods:
- name: move
description: |
Set the desired seat position
input:
- name: seat
description: |
The desired seat position
datatype: seat_t
error:
- description: |
"ok" - requested seat movement has been executed successfully
"invalid_argument" - any argument out of range supported by vehicle
"not_found" - addressed seat not available/existing
"interrupted" - operation interrupted
"busy" - seat service is currently busy
"other" - internal error in implementation
datatype: .stdvsc.error_t
range: $ in_set("ok", "invalid_argument", "not_found", "interrupted", "busy", "other")
- name: move_component
description: |
Set a seat component position
# Arguments
#
# Argument can be of any native type, enum, struct, or typedef.
#
input:
- name: seat
description: |
The seat location to change
datatype: seat_location_t
- name: component
description: |
The component position to change
datatype: seat_component_t
- name: position
description: |
The desired position to move the component to
datatype: movement_t
error:
- description: |
"ok" - requested seat movement has been executed successfully
"invalid_argument" - any argument out of range supported by vehicle
"not_found" - addressed seat not available/existing
"interrupted" - operation interrupted
"busy" - seat service is currently busy
"other" - internal error in implementation
datatype: .stdvsc.error_t
range: $ in_set("ok", "invalid_argument", "not_found", "interrupted", "busy", "other")
- name: current_position
description: |
Get the current position of the seat
input:
- name: row
description: |
The desired seat row to query, front 1 and +1 toward rear
datatype: uint8
- name: index
description: |
The desired seat index to query, 1 left most (as seen looking forward), +1 toward right
datatype: uint8
output:
- name: seat
description: |
The seat state that was requested
datatype: seat_t
error:
- description: |
"ok" - current position of selected seat has been returned
"invalid_argument" - any argument out of range supported by vehicle
"not_found" - addressed seat not available/existing
"other" - internal error in implementation
It is assumed that this operation does not need unique resources and returns immediately,
so no need to support "interrupted" and "busy" as errors.
datatype: .stdvsc.error_t
range: $ in_set("ok", "invalid_argument", "not_found", "other")
# EVENTS
#
# This section defines all events for the given namespace.
#
# Events are non-returning commands with multiple subscribers,
# much like SOME/IP events.
# Unlike signals an event retains no state (value) after it has
# been called; once it has been sent it is forgotten.
#
# TODO:
# + FrancaIDL may lack semantics to cover this. We need to
# create appropriate transformation rules.
#
events:
- name: seat_moving
description: |
The event of a seat beginning movement
input:
- name: status
description: |
The movement status, moving (1), not moving (0)
datatype: uint8
- name: row
description: |
The row of the seat, front 1 and +1 toward rear
datatype: uint8
- name: index
description: |
The index of the seat position in the row, 1 left most (as seen looking forward), +1 toward right
datatype: uint8
- name: component
description: |
The seat component that is moving
datatype: seat_component_t
- name: passenger_present
description: |
When the seat passenger status changes
input:
- name: status
description: |
The status of seat passenger, passenger (1), no passenger (0)
datatype: boolean
- name: row
description: |
The row of the seat, front 1 and +1 toward rear
datatype: uint8
- name: index
description: |
The index of the seat position in the row, 1 left most (as seen looking forward), +1 toward right
datatype: uint8
# PROPERTIES
#
# This section defines properties for the given namespace.
#
# Properties are service data elements that are distributed
# across one or more subscribers. They are equivalent to
# MQTT topics or SOME/IP fields.
#
# In VSC all properties are considered to be read/write
#
# TODO: Define relationship, rules, and semantics
# between properties and VSS signals.
# See vss_integration_proposal.yml for one solution.
#
properties:
- name: a_property
description: A signal
datatype: uint8