========================================= Rte ========================================= 文档信息(Document Information) ======================================= 版本历史(Version History) ----------------------------------- .. list-table:: :widths: 10 10 10 10 20 :header-rows: 1 * - 日期(Date) - 作者(Author) - 版本(Version) - 状态(Status) - 说明(Description) * - 2024/12/10 - Haiyun.Lian、Enjing.Cui、Lianru.Hong、Chunhui.Wang - V0.1 - 发布(Release) - 首次发布(First release) * - 2025/04/04 - Haiyun.Lian、Enjing.Cui、Lianru.Hong、Chunhui.Wang - V1.0 - 发布(Release) - 正式发布(Official release) 参考文档(References) ---------------------------------- .. list-table:: :widths: 10 15 25 10 :header-rows: 1 * - 编号(Number) - 分类(Classification) - 标题(Title) - 版本(Version) * - 1 - Autosar - AUTOSAR_CP_TPS_SystemTemplate.pdf - R23-11 * - 2 - Autosar - AUTOSAR_CP_TPS_SoftwareComponentTemplate.pdf - R23-11 * - 3 - Autosar - AUTOSAR_CP_SWS_RTE.pdf - R23-11 * - 4 - Autosar - AUTOSAR_CP_SRS_RTE.pdf - R23-11 * - 5 - Autosar - AUTOSAR_CP_EXP_LayeredSoftwareArchitecture.pdf - R23-11 * - 6 - Autosar - AUTOSAR_CP_SWS_OS.pdf - R23-11 * - 7 - Autosar - AUTOSAR_CP_TR_Methodology.pdf - R23-11 * - 8 - Autosar - AUTOSAR_CP_EXP_VFB.pdf - R23-11 * - 9 - Autosar - AUTOSAR_CP_SWS_COM.pdf - R23-11 * - 10 - Autosar - AUTOSAR_CP_SWS_LargeDataCOM.pdf - R23-11 术语与简写(Terms and Abbreviations) ======================================== 术语(Terms) ---------------- .. list-table:: :widths: 25 35 :header-rows: 1 * - 术语(Term) - 解释(Explanation) * - RunnableEntity - SWC运行实体(SWC runnable entity) * - BswSchduleEntity - BSW模块调度实体(BSW module scheduling entity) * - ExecutableEntity - 运行实体，RunnableEntity与BswSchduleEntity的统称(Executable entity - collective term for RunnableEntity and BswSchduleEntity) * - Client-server Communication - CS通信(Client-server communication) * - Sender-receiver Communication - SR通信(Sender-receiver communication) * - Trigger Communication - 内外部触发(Internal and external trigger communication) * - Mode Switch Notification - 模式切换通知(Mode switch notification) * - Inter-ECU communication - ECU间通信(Inter-ECU communication) * - Inter-Partition communication - 分区间通信(Inter-partition communication) * - Intra-ECU communication - ECU内通信(Intra-ECU communication) * - Intra-Partition communication - 分区内通信(Intra-partition communication) * - Implicit Read - 隐式读(Implicit read) * - Implicit Write - 隐式写(Implicit write) * - Explicit Read - 显式读(Explicit read) * - Explicit Write - 显式写(Explicit write) * - Unconnected Port - 端口未连接(Unconnected port) * - Initialization Task - 初始化Task，即自启动Task(Initialization task - auto-start OS task) * - iSoft Initialization Task - 由ORIENTAIS自动创建的初始化Task(iSoft initialization task - auto-created by ORIENTAIS) 简写(Abbreviations) -------------------------- .. list-table:: :widths: 15 25 20 :header-rows: 1 * - 简写(Abbreviation) - 全称(Full name) - 解释(Explanation) * - RTE - Runtime Environment - 运行时环境 * - SWC - Software Component - 软件组件 * - BSW - Basic Software - 基础软件 * - BSWMD - Basic Software Module Description - 基础软件模块描述 * - COM - Communication - 通信 * - ECU - Electronic Control Unit - 电子控制单元 * - AUTOSAR - Automotive Open System Architecture - 汽车开放系统架构 * - C/S - Client-server communication - 客户端服务器通信 * - ECUC - AUTOSAR ECU Configuration - AUTOSAR ECU配置 * - IOC - Inter-OsApplication Communication - 跨Os应用通信 * - S/R - Sender-receiver communication - 发送方接收方通信 * - VFB - Virtual Function Bus - 虚拟功能总线 * - API - Application Programming Interface - 应用程序编程接口 * - NVM - Non-volatile Memory Manager - 非易失性存储管理 * - SchM - Schedule Manager - 调度管理 简介(Introduction) ============================== RTE 是 AUTOSAR 虚拟功能总线 (VFB) 基于特定 ECU 的实现，分解为针对Application的Rte和针对BSW的SchM功能。Rte 为整个AUTOSAR基础软件的接口层，为整个ECU提供了运行时环境： RTE implements the AUTOSAR Virtual Function Bus (VFB) for specific ECUs, comprising Rte for Applications and SchM for BSW modules. As the interface layer for AUTOSAR basic software, RTE provides a runtime environment for the entire ECU: - 生成TASK函数，负责映射到Task的RunnableEntity的运行调度； Generates TASK functions responsible for scheduling RunnableEntities mapped to Tasks; - 为SWC实例与SWC实例间，SWC实例与BSW实例间提供基于S/R(包括NVM读写)、C/S的通信接口； Provides S/R (including NVM read/write) and C/S communication interfaces between SWC instances and between SWC and BSW instances; - 为SWC实例提供标定数据读取接口，模式切换接口，独占区接口，内外部触发接口； Provides calibration data access, mode switch notification, exclusive area, and internal/external trigger interfaces for SWC instances; - 为SWC实例内部提供IRV通信接口； Provides IRV communication interfaces within SWC instances; - 为每个SWC实例提供PIM接口； Provides PIM interfaces for each SWC instance; SchM 作为简化版"Rte"，实现BSW间C/S通信，实现BswEntity的运行调度，为BSW数据一致性保护提供独占区接口。 SchM serves as a simplified "Rte", implementing BSW C/S communication, scheduling BswEntities, and providing exclusive area interfaces for BSW data consistency protection. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_1_1.png :name: RTE_architecture :align: center :width: 800 图 1-1 AUTOSAR 体系结构(Figure 1-1 AUTOSAR Architecture) 功能描述(Functional Description) ========================================== 详细描述面向应用Application的Rte功能，SchM功能适配BSW实现需求进行简要描述。 Describes Rte functions for the application layer in detail, and briefly outlines SchM functions adapted to BSW requirements. Rte特性(Rte Features) --------------------------------------- Rte实现Application RunnableEntity的调度，SWC内部通信，SWC与SWC间基于Port的通信，SWC与BSW服务间基于Port的通信。 Rte功能描述分为通用功能和具体功能点(如SR通信、CS通信等)，具体功能点为面向Application直接使用的功能描述，通用功能为支撑具体功能点实现的基础功能。 Rte schedules Application RunnableEntities, handles SWC internal communication, port-based communication between SWCs, and port-based communication between SWCs and BSW services. Rte functionality is categorized into general functions and specific features (e.g., SR communication, CS communication). Specific features are directly used by applications, while general functions provide foundational support. 通用功能(General Functions) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - 数据类型：实现数据类型的定义； Data types: Implements data type definitions; - TASK调度：调度所有映射到Task的Application RunnableEntity； TASK scheduling: Schedules all Application RunnableEntities mapped to Tasks; - CTS实例化：SwComponentType支持多实例化； CTS instantiation: Supports multiple instantiations of SwComponentType; - 序列化：实现ECU间通信序列化SomeIpXf、ComXf、E2EXf； Serialization: Implements inter-ECU communication serialization (SomeIpXf, ComXf, E2EXf); - 生命周期：实现Rte模块的Start和Stop； Lifecycle: Implements Rte module Start and Stop; 数据类型(Data Types) ******************************************* +-----------------+--------------------------------------------------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +-----------------+--------------------------------------------------------------------------------------------+ | | | | 基础数据类型 | 支持基础数据类型: | | | | | | boolean、float32、float64、sint8、sint16、sint32、sint64、uint8、uint16、uint32、uint64 | +-----------------+--------------------------------------------------------------------------------------------+ | | | | 实现数据类型 | VALUE：基于基础数据类型来定义实现数据类型 | | +--------------------------------------------------------------------------------------------+ | | | | | TYPE_REFERENCE：基于另一个实现数据类型来定义当前实现数据类型 | | +--------------------------------------------------------------------------------------------+ | | | | | DATA_REFERENCE：基于基础数据类型/实现数据类型定义的指针类型 | | +--------------------------------------------------------------------------------------------+ | | | | | ARRAY：数组数据类型 | | +--------------------------------------------------------------------------------------------+ | | | | | STRUCTURE：结构体数据类型 | | +--------------------------------------------------------------------------------------------+ | | | | | UNION：联合体数据类型 | +-----------------+--------------------------------------------------------------------------------------------+ | | | | 动长数据类型 | 支持动长应用数据类型，映射的实现数据类型为结构体（数组+数据长度） | +-----------------+--------------------------------------------------------------------------------------------+ +-------------------------+--------------------------------------------------------------------------------------------+ | | | | Function Category | Function Point Description | +-------------------------+--------------------------------------------------------------------------------------------+ | | | | BaseType | Supports BaseType: | | | | | | boolean, float32, float64, sint8, sint16, sint32, sint64, uint8, uint16, uint32, uint64 | +-------------------------+--------------------------------------------------------------------------------------------+ | | | | ImplementationDataType | VALUE: Defines the implementation data type based on BaseType | | +--------------------------------------------------------------------------------------------+ | | | | | TYPE_REFERENCE: Redefines another Implementation data type | | +--------------------------------------------------------------------------------------------+ | | | | | DATA_REFERENCE: Pointer to a BaseType/Implementation data types | | +--------------------------------------------------------------------------------------------+ | | | | | ARRAY: Array data type | | +--------------------------------------------------------------------------------------------+ | | | | | STRUCTURE: Structure data type | | +--------------------------------------------------------------------------------------------+ | | | | | UNION: Union data type | +-------------------------+--------------------------------------------------------------------------------------------+ | | | | Variable-Size Data | Supports variable-size application data types, and the mapped implementation data type | | Types | is a structure (size indicator + array(payload)) | +-------------------------+--------------------------------------------------------------------------------------------+ TASK调度(TASK Scheduling) *********************************** +-----------------------+-------------------------------------------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +=======================+=====================================================================================+ | | | | RunnableEntity调度 | 除了CS/Trigger直接调用、模式管理、初始化事件外，均由TASK进行RunnableEntity的调度 | | +-------------------------------------------------------------------------------------+ | | | | | 支持RunnableEntity在TASK里执行位置的配置 | | +-------------------------------------------------------------------------------------+ | | | | | 支持RunnableEntity整体运行在独占区内 | +-----------------------+-------------------------------------------------------------------------------------+ | | | | RteEvent | TimingEvent | | +-------------------------------------------------------------------------------------+ | | | | | BackgroundEvent | | +-------------------------------------------------------------------------------------+ | | | | | AsynchronousServerCallReturnsEvent | | +-------------------------------------------------------------------------------------+ | | | | | DataReceiveErrorEvent | | +-------------------------------------------------------------------------------------+ | | | | | OperationInvokedEvent | | +-------------------------------------------------------------------------------------+ | | | | | DataReceivedEvent | | +-------------------------------------------------------------------------------------+ | | | | | DataSendCompletedEvent | | +-------------------------------------------------------------------------------------+ | | | | | ExternalTriggerOccurredEvent | | +-------------------------------------------------------------------------------------+ | | | | | InternalTriggerOccurredEvent | | +-------------------------------------------------------------------------------------+ | | | | | DataWriteCompletedEvent | | +-------------------------------------------------------------------------------------+ | | | | | InitEvent | | +-------------------------------------------------------------------------------------+ | | | | | SwcModeSwitchEvent | | +-------------------------------------------------------------------------------------+ | | | | | ModeSwitchedAckEvent | +-----------------------+-------------------------------------------------------------------------------------+ +-------------------------+-------------------------------------------------------------------------------------+ | | | | Function Category | Function Point Description | +=========================+=====================================================================================+ | | | |RunnableEntity Scheduling| All RunnableEntities are scheduled by TASK, except those directly called by | | | CS/Trigger, mode switch, and InitEvent | | +-------------------------------------------------------------------------------------+ | | | | | Supports the definition of RunnableEntity execution order within the TASK | | +-------------------------------------------------------------------------------------+ | | | | | Supports RunnableEntity running entirely within an exclusive area | +-------------------------+-------------------------------------------------------------------------------------+ | | | | RteEvent | TimingEvent | | +-------------------------------------------------------------------------------------+ | | | | | BackgroundEvent | | +-------------------------------------------------------------------------------------+ | | | | | AsynchronousServerCallReturnsEvent | | +-------------------------------------------------------------------------------------+ | | | | | DataReceiveErrorEvent | | +-------------------------------------------------------------------------------------+ | | | | | OperationInvokedEvent | | +-------------------------------------------------------------------------------------+ | | | | | DataReceivedEvent | | +-------------------------------------------------------------------------------------+ | | | | | DataSendCompletedEvent | | +-------------------------------------------------------------------------------------+ | | | | | ExternalTriggerOccurredEvent | | +-------------------------------------------------------------------------------------+ | | | | | InternalTriggerOccurredEvent | | +-------------------------------------------------------------------------------------+ | | | | | DataWriteCompletedEvent | | +-------------------------------------------------------------------------------------+ | | | | | InitEvent | | +-------------------------------------------------------------------------------------+ | | | | | SwcModeSwitchEvent | | +-------------------------------------------------------------------------------------+ | | | | | ModeSwitchedAckEvent | +-------------------------+-------------------------------------------------------------------------------------+ CTS实例化(CTS Instantiation) **************************************************** +------------------------+------------------------------+ | | | | 功能分类 | 功能点描述 | +------------------------+------------------------------+ | | | | ComponentType实例化 | 支持ComponentType单实例化 | | +------------------------------+ | | | | | 支持ComponentType多实例化 | +------------------------+------------------------------+ +-----------------------------+---------------------------------------------------+ | | | | Function Category | Function Point Description | +-----------------------------+---------------------------------------------------+ | | | | ComponentType Instantiation | Supports single instantiation of ComponentType | | +---------------------------------------------------+ | | | | | Supports multiple instantiations of ComponentType | +-----------------------------+---------------------------------------------------+ 序列化(Serialization) ***************************************** 序列化功能仅支持ECU间通信(CS和SR)。 The serialization function only supports inter-ECU communication (CS and SR). +----------------------+---------------------------------------------------------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +----------------------+---------------------------------------------------------------------------------------------------+ | | | | 数据类型 | 支持除Union外所有类型，包括动长数据类型 | +----------------------+---------------------------------------------------------------------------------------------------+ | | | | XfrmChain串联场景 | ComXf | | +---------------------------------------------------------------------------------------------------+ | | | | | SomeIpXf | | +---------------------------------------------------------------------------------------------------+ | | | | | ComXf+E2EXf | | +---------------------------------------------------------------------------------------------------+ | | | | | SomeIpXf+E2EXf | +----------------------+---------------------------------------------------------------------------------------------------+ | | | | E2E profile类型 | PROFILE_01、PROFILE_02、PROFILE_04、PROFILE_05、PROFILE_06、PROFILE_07、PROFILE_11、PROFILE_22 | +----------------------+---------------------------------------------------------------------------------------------------+ | | | | placeType | 支持inpalce和outOfPlace | +----------------------+---------------------------------------------------------------------------------------------------+ | | | | SomeIpXf消息类型 | 支持REQUEST和RESPONSE | +----------------------+---------------------------------------------------------------------------------------------------+ +-------------------------+---------------------------------------------------------------------------------------------------+ | Function Category | Function Point Description | +-------------------------+---------------------------------------------------------------------------------------------------+ | Data Types | Supports all types except Union, including variable-size data types | +-------------------------+---------------------------------------------------------------------------------------------------+ | XfrmChain Chaining | ComXf | | Scenarios +---------------------------------------------------------------------------------------------------+ | | SomeIpXf | | +---------------------------------------------------------------------------------------------------+ | | ComXf+E2EXf | | +---------------------------------------------------------------------------------------------------+ | | SomeIpXf+E2EXf | +-------------------------+---------------------------------------------------------------------------------------------------+ | E2E profile Types | PROFILE_01, PROFILE_02, PROFILE_04, PROFILE_05, PROFILE_06, PROFILE_07, PROFILE_11, PROFILE_22 | +-------------------------+---------------------------------------------------------------------------------------------------+ | placeType | Supports inplace and outOfPlace | +-------------------------+---------------------------------------------------------------------------------------------------+ | SomeIpXf Message Types | Supports REQUEST and RESPONSE | +-------------------------+---------------------------------------------------------------------------------------------------+ 生命周期(Lifecycle) ************************************* +-----------------+---------------------------------------------------------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +-----------------+---------------------------------------------------------------------------------------------------+ | | | | 支持多分区 | 支持对每个分区（可信/不可信）开启/关闭 | +-----------------+---------------------------------------------------------------------------------------------------+ | | | | 初始化 | 对每个分区变量进行初始化，更新分区状态，设置Alarm，激活Task，激活调度表，初始化RunnableEntity等 | +-----------------+---------------------------------------------------------------------------------------------------+ | | | | 分区开启/关闭 | Rte_Start：分区开启，可信分区由BswM调度，不可信分区由默认初始化Task进行调度 | | +---------------------------------------------------------------------------------------------------+ | | | | | Rte_Stop：分区关闭 | +-----------------+---------------------------------------------------------------------------------------------------+ | | | | 分区同步 | 保证每个分区初始化同步 | +-----------------+---------------------------------------------------------------------------------------------------+ +---------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Function Category | Function Point Description | +---------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Support for Multiple Partitions | Supports enable/disable each partition (including trusted/untrusted partition) | +---------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Initialization | Initializes variables, updates partition status, sets OsAlarm, activates OsTask, activates OsScheduleTable, initializes RunnableEntity, etc. | +---------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Partition Enable/Disable | Rte_Start: Partition enable; scheduled by BswM in trusted partitions, and scheduled by the default initialization Task in untrusted partitions | | +------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | Rte_Stop: Partition disable | +---------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Partition Synchronization | Ensures initialization synchronization of each partition | +---------------------------------+------------------------------------------------------------------------------------------------------------------------------------------------------------+ SR通信(SR Communication) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SR通信负责组件实例间基于Port进行数据传输。 SR communication is responsible for data transmission between component instances based on Port. +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 收发通信组数目 | 支持1：N，N：1 | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 通信域划分 | 分区内通信 | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | 分区间通信（同核/不同核，可信/不可信） | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | ECU间通信，组件实例与Signal/SignalGroup同分区 | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | ECU间通信，组件实例与Signal/SignalGroup不同分区 | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 序列化 | 支持ECU间ComXf,ComXf+E2EXf,SomeIpXf序列化，支持序列化错误检测 | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | ECU间信号 | 支持关联Com模块的Signal/SignalGroup，支持关联LdCom模块的Signal，支持动长信号UINT8_DYN | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 计算方法（ECU间） | 未配置或者IDENTICAL | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | BITFIELD_TEXTTABLE | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | TEXTTABLE | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | LINEAR | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | SCALE_LINEAR_AND_TEXTTABLE | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | SCALE_LINEAR | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 接收超时（ECU间） | 接收超时机制（Signal/SignalGroup关联的所有RPorts接收超时机制需完全一致），超时操作支持NONE和REPLACE 、REPLACE_BY_TIMEOUT_SUBSTITUTION_VALUE三种模式 | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 队列通信 | SR支持显式队列通信 | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 隐式通信 | SR支持隐式非队列通信 | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | 隐式接收数据状态：不带状态、带状态、带扩展状态 | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 显式通信 | SR支持显式非队列通信 | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | 接收方式支持dataReceivePointByValue和dataReceivePointByArgument两种方式 | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | 支持接收Update机制 | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | 支持handleNeverReceived机制 | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 无效值机制 | 无效值发送：支持隐式非队列无效值发送，显式非队列无效值发送 | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | 无效值接收：支持DONT-INVALIDATE、KEEP、REPLACE | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 接收过滤 | 无接收过滤/ALWAYS | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | NEVER | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | MaskedNewEqualsX | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | MaskedNewDiffersX | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | MaskedNewDiffersMaskedOld | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | NewIsWithin | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | NewIsOutside | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | OneEveryN | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | 发送确认机制 | 支持发送超时机制，支持DataWriteCompletedEvent（隐式），DataSendCompletedEvent（显式队列/显式非队列） | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | WaitPoint机制 | DataReceivedEvent（队列接收） | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | DataSendCompletedEvent（显式队列/显式非队列） | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | Port连接 | 支持Port连接，也支持Port不连接 | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | Port类型 | 支持PPort、RPort、PRPort | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | RteEvent | DataReceiveErrorEvent | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | DataReceivedEvent | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | DataWriteCompletedEvent | | +--------------------------------------------------------------------------------------------------------------------------------------------------------+ | | | | | DataSendCompletedEvent | +----------------------+--------------------------------------------------------------------------------------------------------------------------------------------------------+ +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Function Category | Function Point Description | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Number of Transmit/Receive Communication Groups | Supports 1:N and N:1 | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Communication Domain Division | Intra-partition communication | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | Inter-partition communication (same core/different cores, trusted/untrusted) | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | Inter-ECU communication, where component instances and Signal/SignalGroup are in the same partition | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | Inter-ECU communication, where component instances and Signal/SignalGroup are in different partitions | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Serialization | Supports serialization for inter-ECU ComXf, ComXf+E2EXf, and SomeIpXf, and supports serialization error detection | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Inter-ECU Signals | Supports association with Com module's Signal/SignalGroup, LdCom module's Signal, and variable-size signal UINT8_DYN | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Calculation Methods (Inter-ECU) | Unconfigured or IDENTICAL | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | BITFIELD_TEXTTABLE | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | TEXTTABLE | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | LINEAR | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | SCALE_LINEAR_AND_TEXTTABLE | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | SCALE_LINEAR | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Receive Timeout (Inter-ECU) | Receive timeout mechanism (the receive timeout mechanism for all RPorts associated with a Signal/SignalGroup must be completely consistent); timeout operations support three modes: NONE, REPLACE, and REPLACE_BY_TIMEOUT_SUBSTITUTION_VALUE | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Queue Communication | SR supports explicit queue communication | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Implicit Communication | SR supports implicit non-queue communication | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | Implicit received data status: without status, with status, with extended status | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Explicit Communication | SR supports explicit non-queue communication | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | Supports two receiving methods: dataReceivePointByValue and dataReceivePointByArgument | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | Supports receive Update mechanism | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | Supports handleNeverReceived mechanism | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Invalid Value Mechanism | Invalid value transmission: supports implicit non-queue invalid value transmission and explicit non-queue invalid value transmission | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | Invalid value reception: supports DONT-INVALIDATE, KEEP, REPLACE | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Receive Filtering | No receive filtering / ALWAYS | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | NEVER | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | MaskedNewEqualsX | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | MaskedNewDiffersX | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | MaskedNewDiffersMaskedOld | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | NewIsWithin | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | NewIsOutside | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | OneEveryN | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Transmission Confirmation Mechanism | Supports transmission timeout mechanism, and supports DataWriteCompletedEvent (implicit) and DataSendCompletedEvent (explicit queue/explicit non-queue) | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | WaitPoint Mechanism | DataReceivedEvent (queue reception) | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | DataSendCompletedEvent (explicit queue/explicit non-queue) | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Port Connection | Supports connected Port and unconnected Port | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | Port Types | Supports PPort, RPort, PRPort | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | RteEvent | DataReceiveErrorEvent | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | DataReceivedEvent | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | DataWriteCompletedEvent | | +-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ | | DataSendCompletedEvent | +-------------------------------------------------+-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+ CS通信(CS Communication) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ CS通信负责组件实例间基于Port进行函数调用。 CS communication is responsible for function calls between component instances based on Port. +-----------------------------+---------------------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +=============================+===============================================================+ | | | | 收发通信组数目 | 支持N：1 | +-----------------------------+---------------------------------------------------------------+ | | | | 通信域划分 | 分区内通信 | | +---------------------------------------------------------------+ | | | | | 分区间通信（同核/不同核，可信/不可信） | | +---------------------------------------------------------------+ | | | | | ECU间通信，组件实例与Signal同分区 | | +---------------------------------------------------------------+ | | | | | ECU间通信，组件实例与Signal不同分区 | +-----------------------------+---------------------------------------------------------------+ | | | | Port类型 | 支持PPort、RPort、PRPort | +-----------------------------+---------------------------------------------------------------+ | | | | RteEvent | OperationInvokedEvent | | +---------------------------------------------------------------+ | | | | | AsynchronousServerCallReturnEvent | +-----------------------------+---------------------------------------------------------------+ | | | | Port连接 | 支持Port连接，也支持Port不连接 | +-----------------------------+---------------------------------------------------------------+ | | | | WaitPoint机制 | AsynchronousServerCallReturnsEvent | +-----------------------------+---------------------------------------------------------------+ | | | | 发送确认机制 | 支持CS同步/异步发送超时机制 | +-----------------------------+---------------------------------------------------------------+ | | | | 队列通信 | CS支持同步队列通信，异步队列通信 | +-----------------------------+---------------------------------------------------------------+ | | | | 非队列通信 | CS支持同步非队列通信（Clients均满足直接调用Server时） | +-----------------------------+---------------------------------------------------------------+ | | | | 序列化 | 支持ECU间SomeIpXf,SomeIpXf+E2EXf序列化，支持序列化错误检测 | +-----------------------------+---------------------------------------------------------------+ | | | | PortDefinedArgumentValue | 支持Operation定义之外的额外参数 | +-----------------------------+---------------------------------------------------------------+ | | | | Operation | 支持返回值配置 | | +---------------------------------------------------------------+ | | | | | 支持IN、INOUT、OUT三种参数方向 | | +---------------------------------------------------------------+ | | | | | 参数数据类型不限制（参见2.1.1.1章节） | | +---------------------------------------------------------------+ | | | | | 参数数目不限制 | | +---------------------------------------------------------------+ | | | | | 支持void参数 | +-----------------------------+---------------------------------------------------------------+ +-----------------------------+---------------------------------------------------------------+ | Function Category | Function Point Description | +=============================+===============================================================+ | Number of Transmit/Receive | Supports N:1 | | Communication Groups | | +-----------------------------+---------------------------------------------------------------+ | Communication Domain | Intra-partition communication | | Division +---------------------------------------------------------------+ | | Inter-partition communication (same core/different cores, | | | trusted/untrusted) | | +---------------------------------------------------------------+ | | Inter-ECU communication, where component instances and | | | Signal are in the same partition | | +---------------------------------------------------------------+ | | Inter-ECU communication, where component instances and | | | Signal are in different partitions | +-----------------------------+---------------------------------------------------------------+ | Port Types | Supports PPort, RPort, PRPort | +-----------------------------+---------------------------------------------------------------+ | RteEvent | OperationInvokedEvent | | +---------------------------------------------------------------+ | | AsynchronousServerCallReturnEvent | +-----------------------------+---------------------------------------------------------------+ | Port Connection | Supports connected Port and unconnected Port | +-----------------------------+---------------------------------------------------------------+ | WaitPoint Mechanism | AsynchronousServerCallReturnsEvent | +-----------------------------+---------------------------------------------------------------+ | Transmission Confirmation | Supports synchronous/asynchronous CS communication timeout | | Mechanism | mechanism | +-----------------------------+---------------------------------------------------------------+ | Queue Communication | CS supports synchronous queue communication and asynchronous | | | queue communication | +-----------------------------+---------------------------------------------------------------+ | Non-queue Communication | CS supports synchronous non-queue communication (when all | | | Clients can directly call the Server) | +-----------------------------+---------------------------------------------------------------+ | Serialization | Supports serialization for inter-ECU SomeIpXf and | | | SomeIpXf+E2EXf, and supports serialization error detection | +-----------------------------+---------------------------------------------------------------+ | PortDefinedArgumentValue | Supports additional parameters beyond the Operation definition| +-----------------------------+---------------------------------------------------------------+ | Operation | Supports return value configuration | | +---------------------------------------------------------------+ | | Supports three parameter directions: IN, INOUT, OUT | | +---------------------------------------------------------------+ | | No restriction on parameter data types (see Section 2.1.1.1) | | +---------------------------------------------------------------+ | | No restriction on the number of parameters | | +---------------------------------------------------------------+ | | Supports void parameters | +-----------------------------+---------------------------------------------------------------+ 模式管理(Mode Management) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 实现Mode Manager与Mode User基于Port的模式切换通信。 Implement notification of mode switches between Mode Manager and Mode User based on Port. +------------------------------------+--------------------------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +------------------------------------+--------------------------------------------------------------------+ | | | | 收发通信组数目 | 支持1：N（一个Mode Manager，多个Mode User） | +------------------------------------+--------------------------------------------------------------------+ | | | | 通信域划分 | 分区内通信 | | +--------------------------------------------------------------------+ | | | | | 分区间通信（同核/不同核，可信/不可信） | +------------------------------------+--------------------------------------------------------------------+ | | | | 同步模式切换 | on-exit ExecutableEntity | | +--------------------------------------------------------------------+ | | | | | on-transition ExecutableEntity | | +--------------------------------------------------------------------+ | | | | | on-entry ExecutableEntity | | +--------------------------------------------------------------------+ | | | | | ModeSwitchAck ExecutableEntity | | +--------------------------------------------------------------------+ | | | | | 支持队列通信，非队列通信 | +------------------------------------+--------------------------------------------------------------------+ | | | | 模式切换确认 | 模式切换完成 | | +--------------------------------------------------------------------+ | | | | | 模式切换超时 | | +--------------------------------------------------------------------+ | | | | | 阻塞模式时，支持独占区检测 | +------------------------------------+--------------------------------------------------------------------+ | | | | WaitPoint机制 | ModeSwitchedAckEvent | +------------------------------------+--------------------------------------------------------------------+ | | | | 模式获取 | Mode Manager、Mode User均支持模式获取 | | +--------------------------------------------------------------------+ | | | | | 支持普通模式和增强模式 | +------------------------------------+--------------------------------------------------------------------+ | | | | 模式禁用 | RunnableEntity支持模式禁用 | +------------------------------------+--------------------------------------------------------------------+ | | | | 初始化模式 | 激活初始化模式的Mode disablings | | +--------------------------------------------------------------------+ | | | | | 基于初始化模式的on-entry ExecutableEntity触发 | +------------------------------------+--------------------------------------------------------------------+ | | | | Port连接 | 支持Port连接，也支持Port不连接 | +------------------------------------+--------------------------------------------------------------------+ | | | | ModeDeclarationGroup定义类型 | ALPHABETIC_ORDER | | +--------------------------------------------------------------------+ | | | | | EXPLICIT_ORDER | +------------------------------------+--------------------------------------------------------------------+ +------------------------------------+--------------------------------------------------------------------+ | Function Category | Function Point Description | +====================================+====================================================================+ | Number of Transmit/Receive | Supports 1:N (one Mode Manager, multiple Mode Users) | | Communication Groups | | +------------------------------------+--------------------------------------------------------------------+ | Communication Domain Division | Intra-partition communication | | +--------------------------------------------------------------------+ | | Inter-partition communication (same core/different cores, | | | trusted/untrusted) | +------------------------------------+--------------------------------------------------------------------+ | Synchronous Mode Switch | on-exit ExecutableEntity | | +--------------------------------------------------------------------+ | | on-transition ExecutableEntity | | +--------------------------------------------------------------------+ | | on-entry ExecutableEntity | | +--------------------------------------------------------------------+ | | ModeSwitchAck ExecutableEntity | | +--------------------------------------------------------------------+ | | Supports queue communication and non-queue communication | +------------------------------------+--------------------------------------------------------------------+ | Mode Switch Acknowledgement | Mode switch completed | | +--------------------------------------------------------------------+ | | Mode switch timeout | | +--------------------------------------------------------------------+ | | In blocking mode, supports exclusive area detection | +------------------------------------+--------------------------------------------------------------------+ | WaitPoint Mechanism | ModeSwitchedAckEvent | +------------------------------------+--------------------------------------------------------------------+ | Mode Acquisition | Both Mode Manager and Mode User support mode acquisition | | +--------------------------------------------------------------------+ | | Supports normal mode and enhanced mode | +------------------------------------+--------------------------------------------------------------------+ | DisabledMode | RunnableEntity supports disabledMode | +------------------------------------+--------------------------------------------------------------------+ | InitialMode | Activates Mode disablings of the InitialMode during Rte_Start | | +--------------------------------------------------------------------+ | | Triggered the on-entry RunnableEntity of the initialMode | | | during Rte_Start | +------------------------------------+--------------------------------------------------------------------+ | Port Connection | Supports connected Port and unconnected Port | +------------------------------------+--------------------------------------------------------------------+ | ModeDeclarationGroup Definition | ALPHABETIC_ORDER | | Types +--------------------------------------------------------------------+ | | EXPLICIT_ORDER | +------------------------------------+--------------------------------------------------------------------+ 存储NV(Storage of NV) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Rte内部实现NvM Block数据的读写供应用通过SR接口进行读写。 The Rte internally implements the reading and writing of NvM Block data, which allows applications to read and write through the SR interface. +---------------------------------+----------------------------------------+ | | | | 功能分类 | 功能点描述 | +---------------------------------+----------------------------------------+ | | | | Writing Strategy | storeImmediate: DataReceivedEvent | | +----------------------------------------+ | | | | | storeCyclic: TimingEvent | | +----------------------------------------+ | | | | | storeAtShutdown：DataReceivedEvent | +---------------------------------+----------------------------------------+ | | | | SR非队列通信供应用读写NV数据 | Rte_Read | | +----------------------------------------+ | | | | | Rte_IRead | | +----------------------------------------+ | | | | | Rte_DRead | | +----------------------------------------+ | | | | | Rte_Write | | +----------------------------------------+ | | | | | Rte_IWrite | | +----------------------------------------+ | | | | | Rte_IWriteRef | +---------------------------------+----------------------------------------+ | | | | Port连接 | 支持Port连接，也支持Port不连接 | +---------------------------------+----------------------------------------+ | | | | 通信域划分 | 分区内通信 | +---------------------------------+----------------------------------------+ | | | | 收发通信组数目 | N：1（Nv数据的写操作） | | +----------------------------------------+ | | | | | 1：N（Nv数据的读操作） | +---------------------------------+----------------------------------------+ +---------------------------------+--------------------------------------------------+ | Function Category | Function Point Description | +=================================+==================================================+ | Writing Strategy | storeImmediate: DataReceivedEvent | | +--------------------------------------------------+ | | storeCyclic: TimingEvent | | +--------------------------------------------------+ | | storeAtShutdown：DataReceivedEvent | +---------------------------------+--------------------------------------------------+ | SR Non-queue Communication for | Rte_Read | | Application to Read/Write NV +--------------------------------------------------+ | Data | Rte_IRead | | +--------------------------------------------------+ | | Rte_DRead | | +--------------------------------------------------+ | | Rte_Write | | +--------------------------------------------------+ | | Rte_IWrite | | +--------------------------------------------------+ | | Rte_IWriteRef | +---------------------------------+--------------------------------------------------+ | Port Connection | Supports connected Port and unconnected Port | +---------------------------------+--------------------------------------------------+ | Communication Domain Division | Intra-partition communication | +---------------------------------+--------------------------------------------------+ | Number of Transmit/Receive | N:1 (write operation of Nv data) | | Communication Groups +--------------------------------------------------+ | | 1:N (read operation of Nv data) | +---------------------------------+--------------------------------------------------+ IRV通信(IRV Communication) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ IRV实现同一组件实例内部RunnableEntity间的通信。 IRV implements communication between RunnableEntities within the same component instance. +-------------------+---------------------------+ | | | | 功能分类 | 功能点描述 | +-------------------+---------------------------+ | | | | 收发通信组数目 | 支持N：M | +-------------------+---------------------------+ | | | | 通信模式 | 支持显式通信和隐式通信 | +-------------------+---------------------------+ +----------------------------+----------------------------------------------+ | Function Category | Function Point Description | +============================+==============================================+ | Number of Transmit/Receive | Supports N:M | | Communication Groups | | +----------------------------+----------------------------------------------+ | Communication Modes | Supports explicit and implicit communication | +----------------------------+----------------------------------------------+ 内外部Trigger(Internal and External Triggers) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 实现组件实例内部/外部RunnableEntity的触发。 Implements the triggering of RunnableEntities inside/outside the component instance. +-------------+-------------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +-------------+-------------------------------------------------------+ | | | | 触发域 | 内部触发（组件实例内） | | +-------------------------------------------------------+ | | | | | 外部触发（组件实例间），支持分区内和分区间外部触发 | +-------------+-------------------------------------------------------+ | | | | 队列 | 支持队列触发和非队列触发 | +-------------+-------------------------------------------------------+ | | | | RteEvent | InternalTriggeredOccurredEvent | | +-------------------------------------------------------+ | | | | | ExternalTriggeredOccurredEvent | +-------------+-------------------------------------------------------+ +---------------+-------------------------------------------------------+ | Function | Function Point Description | | Category | | +===============+=======================================================+ | Trigger Domain| Internal trigger (within component instance) | | +-------------------------------------------------------+ | | External trigger (between component instances), | | | supporting intra-partition and inter-partition | | | external triggers | +---------------+-------------------------------------------------------+ | Queue | Supports queue triggering and non-queue triggering | +---------------+-------------------------------------------------------+ | RteEvent | InternalTriggeredOccurredEvent | | +-------------------------------------------------------+ | | ExternalTriggeredOccurredEvent | +---------------+-------------------------------------------------------+ 测量标定(Calibration and Measurement) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ +----------------+-----------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +----------------+-----------------------------------------------------+ | | | | 数据类型 | VALUE | | +-----------------------------------------------------+ | | | | | ARRAY | | +-----------------------------------------------------+ | | | | | STRUCTURE | +----------------+-----------------------------------------------------+ | | | | A2L文件生成 | 支持测量、标定数据的A2L文件生成 | +----------------+-----------------------------------------------------+ | | | | Measurement | 支持基于Port的测量值（SR和模式切换） | | +-----------------------------------------------------+ | | | | | 支持组件实例内测试量（IRV和PIM（AR）） | +----------------+-----------------------------------------------------+ | | | | Calibration | 支持基于ParameterSwC组件，通过Port读取标定值 | | +-----------------------------------------------------+ | | | | | 支持基于组件实例内的标定数据（PerInst && Share） | | +-----------------------------------------------------+ | | | | | 支持两种标定实现机制： | | | | | | InitRam | | | | | | None | +----------------+-----------------------------------------------------+ +----------------+-----------------------------------------------------+ | Function | Function Point Description | | Category | | +================+=====================================================+ | Data Types | VALUE | | +-----------------------------------------------------+ | | ARRAY | | +-----------------------------------------------------+ | | STRUCTURE | +----------------+-----------------------------------------------------+ | A2L File | Supports generation of A2L files for measurement | | Generation | and calibration data | +----------------+-----------------------------------------------------+ | Measurement | Supports Port-based measurement values (SR and mode | | | switching) | | +-----------------------------------------------------+ | | Supports in-component-instance measurement values | | | (IRV and PIM (AR)) | +----------------+-----------------------------------------------------+ | Calibration | Supports reading calibration values via Port based | | | on ParameterSwC components | | +-----------------------------------------------------+ | | Supports intra-component-instance calibration data | | | (PerInst && Share) | | +-----------------------------------------------------+ | | Supports two calibration implementation mechanisms: | | | | | | InitRam | | | | | | None | +----------------+-----------------------------------------------------+ 独占区Rte(API Exclusive Area Rte API) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 为Application RunnableEntity提供独占区保护接口。 Provides exclusive area protection interfaces for Application RunnableEntities. +-------------------+------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +-------------------+------------------+-----------------------------+ | | | | | 独占区调用方式 | COMMON | NONE | | +------------------+-----------------------------+ | | | | | | PER-EXEUTABLE | canEnterExclusiveAreas | | | +-----------------------------+ | | | | | | | runsInsideExclusiveAreas | +-------------------+------------------+-----------------------------+ | | | | 独占区实现方式 | ALL_INTERRUPT_BLOCKING | | +------------------------------------------------+ | | | | | OS_INTERRUPT_BLOCKING | | +------------------------------------------------+ | | | | | OS_RESOURCE | | +------------------------------------------------+ | | | | | None | +-------------------+------------------------------------------------+ +-------------------+---------------------+-----------------------------+ | Function Category | | Function Point Description | +===================+=====================+=============================+ | Exclusive Area | COMMON | NONE | | Calling Methods +---------------------+-----------------------------+ | | PER-EXECUTABLE | canEnterExclusiveAreas | | | +-----------------------------+ | | | runsInsideExclusiveAreas | +-------------------+---------------------+-----------------------------+ | Exclusive Area | | ALL_INTERRUPT_BLOCKING | | Implementation +---------------------+-----------------------------+ | Mechanism | | OS_INTERRUPT_BLOCKING | | +---------------------+-----------------------------+ | | | OS_RESOURCE | | +---------------------+-----------------------------+ | | | None | +-------------------+---------------------+-----------------------------+ Indirect(API) ~~~~~~~~~~~~~~~~~~~~~ 为Application RunnableEntity提供基于Port的Rte API函数指针。 Provides Port-based Rte API function pointers for Application RunnableEntities. +--------------+------------------------------------------+ | | | | 功能分类 | 功能点描述 | +--------------+------------------------------------------+ | | | | 基于Port | 支持基于单个Port的Rte API函数指针获取 | +--------------+------------------------------------------+ | | | | 基于Ports | 支持获取首个Port的Rte API函数指针获取 | | +------------------------------------------+ | | | | | 支持获取Ports的数目 | +--------------+------------------------------------------+ +---------------------+---------------------------------------------------------------------+ | Function Category | Function Point Description | +=====================+=====================================================================+ | Port-based | Supports obtaining Rte API function pointers based on a single Port | +---------------------+---------------------------------------------------------------------+ | Ports-based | Supports obtaining Rte API function pointers of the first Port | | +---------------------------------------------------------------------+ | | Supports obtaining the number of Ports | +---------------------+---------------------------------------------------------------------+ PIM ~~~~~~~~~~~~~~~~~~~~~ 为Application RunnableEntity提供组件实例内部内存空间地址。 Provides the internal memory space address of the component instance for the Application RunnableEntity. +----------------+-----------------------------+ | | | | 功能分类 | 功能点描述 | +----------------+-----------------------------+ | | | | PIM配置分类 | arTypedPerInstanceMemory | | +-----------------------------+ | | | | | PerInstanceMemory | +----------------+-----------------------------+ +-------------------+-----------------------------+ | Function | Function Point Description | | Category | | +===================+=============================+ | PIM Configuration | arTypedPerInstanceMemory | | Categories +-----------------------------+ | | PerInstanceMemory | +-------------------+-----------------------------+ SchM特性(SchM Features) ------------------------------- SchM功能支撑BSW的实现，与应用无交互，工程配置、集成时客户无需额外关注。 The SchM supports the implementation of BSW, has no interaction with applications, and customers do not need to pay extra attention during engineering configuration and integration. +-----------------------+---------------------------------------------------------------------------+ | | | | 功能分类 | 功能点描述 | +-----------------------+---------------------------------------------------------------------------+ | | | | 独占区功能 | 为BSW提供独占区接口，用于数据一致性保护 | +-----------------------+---------------------------------------------------------------------------+ | | | | BswEntity调度 | BswTimingEvent：周期事件，激活BSW MainFunction函数 | | +---------------------------------------------------------------------------+ | | | | | BswBackgroundEvent：不定周期事件 | +-----------------------+---------------------------------------------------------------------------+ | | | | CS通信 | 通信域：同分区，同核不同分区，不同核不同分区 | | +---------------------------------------------------------------------------+ | | | | | 支持CS同步/异步通信 | +-----------------------+---------------------------------------------------------------------------+ | | | | MainFunction的调度 | 支持周期TASK，按各BSW模块MainFunction的配置周期进行调度 | +-----------------------+---------------------------------------------------------------------------+ +-----------------------+---------------------------------------------------------------------------+ | Function Category | Function Point Description | +=======================+===========================================================================+ | Exclusive Area | Provides exclusive area interfaces for BSW to protect data consistency | | Functions | | +-----------------------+---------------------------------------------------------------------------+ | BswEntity Scheduling | BswTimingEvent: Periodic event that activates BSW MainFunction | | +---------------------------------------------------------------------------+ | | BswBackgroundEvent: Aperiodic event | +-----------------------+---------------------------------------------------------------------------+ | CS Communication | Communication domains: same partition, different partitions on the same | | | core, different partitions on different cores | | +---------------------------------------------------------------------------+ | | Supports synchronous/asynchronous CS communication | +-----------------------+---------------------------------------------------------------------------+ | Scheduling of | Supports periodic TASK, scheduled according to the period of | | MainFunction | each BSW module's MainFunction | +-----------------------+---------------------------------------------------------------------------+ 偏差(Deviation) ------------------------------ 外部队列触发(External Queue Trigger) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 外部队列触发时，同组Trigger sink需要在同一分区。 When external queue triggering occurs, trigger sinks within the same group must reside in the same partition. 配置 configuration **************************** None 接口(Interface) ****************************** None SchM的实现对模型有所简化(SchM Implementation Model Simplification) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ SchM只需要适配BSW的实现需求，与应用无交互，因此对模型有所裁剪。 SchM only needs to adapt to BSW implementation requirements and has no interaction with applications, thus the model has been appropriately trimmed. 配置 configuration *************************** None 接口(Interface) *************************** None 扩展(Extension) ------------------------ None 集成(Integration) ============================ 文件列表(File List) ---------------------------------- 静态文件(Static Files) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 无。 None 动态文件(Dynamic Files) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ .. list-table:: :widths: 10 30 :header-rows: 1 * - 文件(File) - 描述(Description) * - Rte.c - 包含如下内容：(Contains the following contents:) - 生命周期函数定义(Rte_Start、Rte_Stop、SchM_Init等)；(Lifecycle function definitions (Rte_Start, Rte_Stop, SchM_Init, etc.)) - 定义多实例变量(Rte_Instance)、公用状态变量(类似Rte_State等)；(Multi-instance variable definitions (Rte_Instance), common state variables (e.g., Rte_State)) - 定义OsTask，填充其内容；(OsTask definitions and task body implementations) - 定义临界区访问函数；(Rte_Enter/Rte_Exit等)；(Exclusive area access function definitions (Rte_Enter/Rte_Exit, etc.)) - 定义Com/LdCom通信的回调函数，如Rte_Cbkxxx等；(Callback function definitions for Com/LdCom communication (e.g., Rte_Cbkxxx)) - 定义与关联SWC有关的接口，如Rte_Write/Rte_Read等；(Interface definitions for associated SWCs (e.g., Rte_Write/Rte_Read)) * - Rte_.h - 包含如下内容：(Contains the following contents:) - SWC定义的RteEvent触发的Runnable函数声明；(Declaration of Runnable functions triggered by SWC-defined RteEvents) - SWC的Runnable中要用到的Rte函数的声明，如Rte_Write等；(Declaration of Rte functions used in SWC Runnables (e.g., Rte_Write)) - 定义CDS结构(Rte_Instance)；(CDS structure definition (Rte_Instance)) - 定义S/R(或者NV)端口配置的初始值；(Initial value definition for S/R (or NV) port configuration) - 定义PerInstanceMemory类型；(PerInstanceMemory type definition) - 定义C/S通信的应用特定的错误返回类型值；(Application-specific error return type definition for C/S communication) * - Rte__Type.h - 包含如下内容：(Contains the following contents:) - 定义Enumeration Data Types (5.5.4)；(Enumeration Data Types definition (5.5.4)) - 定义Range Data Types (5.5.5)；(Range Data Types definition (5.5.5)) - 重定义定义Implementation Data Type symbols；(Implementation Data Type symbols redefinition) * - Rte_Cbk.h - 包含如下内容：(Contains the following contents:) - 回调函数头文件；(Callback functions header file) * - Rte_DataHandleType.h - 包含如下内容：(Contains the following contents:) - 定义CDS结构里面Data Handle Type结构体；(Definition of Data Handle Type structure within CDS structure) - data element without status；(Data element without status) - data element with status；(Data element with status) - data element with extended status；(Data element with extended status) * - Rte_Type.h - 包含如下内容：(Contains the following contents:) - 针对所有的AUTOSAR Data Types：type declarations、structure defintions以及union definitions；(For all AUTOSAR Data Types: type declarations, structure definitions and union definitions) - 定义Inter-ECU C/S通信的数据结构Rte_Cs_TransactionHandleType；(Definition of Rte_Cs_TransactionHandleType data structure for Inter-ECU C/S communication) - 定义RTE Modes；(Definition of RTE Modes) * - Rte_Main.h - 包含如下内容：(Contains the following contents:) - 声明生命周期函数；(Declaration of lifecycle functions) * - Rte.h - 包含如下内容：(Contains the following contents:) - 定义版本号；(Version number definition) - 定义错误返回值；(Error return value definition) * - SchM.h - 包含如下内容：(Contains the following contents:) - SchM 外部函数的声明；(Declaration of SchM external functions) * - SchM.c - 包含如下内容：(Contains the following contents:) - SchM 生命周期函数定义；(Definition of SchM lifecycle functions) - SchM 内部函数的实现；(Implementation of SchM internal functions) * - SchM_Type.h - 包含如下内容：(Contains the following contents:) - SchM 内部数据类型/宏定义的实现；(Implementation of SchM internal data types/macro definitions) * - SchM_Internal.h - 包含如下内容：(Contains the following contents:) - SchM 内部函数的声明；(Declaration of SchM internal functions) * - SchM_.h - 包含如下内容：(Contains the following contents:) - SchM 接口声明；(SchM interface declarations) - BswSchduleEntity和BswCalledEntity原型声明；(BswSchduleEntity and BswCalledEntity prototype declarations) * - SchM__Type.h - 包含如下内容：(Contains the following contents:) - Bsw模块使用的数据类型定义；(Data type definitions for BSW modules) * - SchM_.c - 包含如下内容：(Contains the following contents:) - SchM接口实现；(SchM interface implementation) 错误处理(Error Handling) -------------------------------- 开发错误(Development Errors) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ .. list-table:: :widths: 20 10 30 :header-rows: 1 * - Error code - Value - Description * - RTE_E_INVALID - 1 - Returned by AUTOSAR Services to indicate a generic application error. * - RTE_E_LIMIT - 130 - An internal RTE limit has been exceeded * - RTE_E_NEVER_RECEIVED - 133 - No data received for the corresponding unqueued data element since system start. * - RTE_E_NO_DATA - 131 - An explicit read API call returned no data * - RTE_E_UNCONNECTED - 134 - The port used for communication is not connected * - RTE_E_IN_EXCLUSIVE_AREA - 135 - The error is returned by a blocking API and indicates that the runnable could not enter a wait state * - RTE_E_SEG_FAULT - 136 - The parameters contain a direct or indirect reference to memory that is not accessible from the callers partition * - RTE_E_OUT_OF_RANGE - 137 - The received data is out of range. 产品错误(Product Errors) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ None。 运行时错误(Runtime Error) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ .. list-table:: :widths: 20 10 30 :header-rows: 1 * - Error code - Value - Description * - RTE_E_COM_STOPPED - 128 - An IPDU group was disabled while the application was waiting for the transmission acknowledgment. * - RTE_E_TIMEOUT - 129 - A blocking API call returned due to expiry of a local timeout rather than the intended result. * - RTE_E_TRANSMIT_ACK - 132 - Transmission acknowledgement received * - RTE_E_SERIALIZATION_ERROR - 138 - An error during transformation occured. * - RTE_E_TRANSFORMER_LIMIT - 139 - Buffer for transformation operation could not be created * - RTE_E_SOFT_TRANSFORMER_ERROR - 140 - An error during transformation occured which shall be notified to the SWC but still produces valid data as output (comparable to a warning) * - RTE_E_COM_BUSY - 141 - The transmission/reception could not be performed due to another transmission/reception currently ongoing for the same signal. * - RTE_E_HARD_TRANSFORMER_ERROR - 138 - An error during transformation occured. * - RTE_E_SERIALIZATION_LIMIT - 139 - Buffer for transformation operation could not be created * - RTE_E_LOST_DATA - 64 - An API call for reading received data with event semantics indicates that some incoming data has been lost due to an overflow of the receive queue. * - RTE_E_MAX_AGE_EXCEEDED - 64 - An API call for reading received data with data semantics indicates that the available data has exceeded the aliveTimeout limit. A COM signal outdated callback will result in this error. .. _develop_flow: ORIENTAIS工具开发流程概述(Overview of ORIENTAIS Development Process) ----------------------------------------------------------------------- - 导入ECU萃取arxml文件(包含完整的SWC组件，BSW服务，Port连接关系，信号映射等信息)； Import ECU extracted ARXML files (containing complete SWC components, BSW services, port connections, signal mappings, etc.); - 完成除OS和RTE之外的所有BSW模块配置； Complete configuration for all BSW modules except OS and RTE; - 补充必要的OS信息如OS核数； Supplement necessary OS information, such as number of OS cores; - 更新全部BSW模块的模块描述文件(包括RTE本身的模块描述文件)； Update module description files for all BSW modules (including RTE's own module description file); - 进行RTE、OS模块集成配置，主要可通过以下三种方式进行配置: Perform integration configuration of RTE and OS modules, which can be mainly done through the following three methods: #. 全自动配置集成：通过RTE-OS同步功能自动生成RTE、OS模块的推荐Demo配置，综合使用场景进行调整适配(如OsTask堆栈大小)； Fully automatic configuration integration: Automatically generate recommended Demo configurations for RTE and OS modules through "Synchronized RTE-OS ", and adapt them according to comprehensive usage scenarios (such as stack size of OsTask); #. 半自动配置集成：手动创建OsTask，通过RTE第二界面手动拖拽Runnable至目标OsTask； Semi-automatic configuration integration: Manually create OsTask, then manually drag and drop Runnable to the target OsTask through "Rte Editor"; #. 全手动配置集成：RTE、OS模块完全手动配置； Fully manual configuration integration: Completely manual configuration of RTE and OS modules; - 先生成RTE代码，后生成OS代码(全工程生成顺序为其它BSW→RTE→OS)； Generate RTE code first, then generate OS code (the generation order of the entire project is other BSW → RTE → OS); 导入ECU萃取arxml文件(Import ECU extracted arxml files) ----------------------------------------------------------- .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_13.png :name: RTE_4_13 :align: center 导入ECU萃取arxml文件 (Import ECU extracted arxml files) RTE同步(RTE Synchronization) --------------------------------- .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_15.png :name: RTE_4_15 :align: center 打开RTE第二界面 (Open the Rte Editor) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_14.png :name: RTE_4_14 :align: center 进行ECU萃取导入 (Import ECU extract file) 导入ECU萃取文件后，在RTE第二界面"Pick ECU extract"中选择萃取文件中的System，点击"Synchronize ECU Extract"，将萃取文件内容进行导入RTE。 After importing the ECU extract file, select the System in the extract file in the "Pick ECU extract" section of the Rte Editor, and click "Synchronize ECU Extract" to import the contents of the extract file into RTE. 导入后，RTE模块将增量为SWC实例创建RteSwcComponentInstance,并为每个RTEEvent创建RteEventToTaskMapping组件。 After import, the RTE module will incrementally create RteSwcComponentInstance for SWC instances and create RteEventToTaskMapping components for each RTEEvent. Bswmd文件更新(Bswmd File Update) --------------------------------------- 基于BSW模块的设计，ORIENTAIS可更新全部或单个描述文件,用来描述BSW模块在接口层面、 BswEntity调度的需求 ，内存映射信息。 Based on BSW module design, ORIENTAIS can update all or individual description files to describe BSW module requirements at the interface level, BswEntity scheduling, and memory mapping information. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_3.png :name: RTE_4_3 :align: center 更新全部Bswmd文件 (Update all Bswmd files) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_4.png :name: RTE_4_4 :align: center 更新单个模块Bswmd文件 (Update Bswmd file of a single module) RTE-OS集成配置 RTE-OS(Integration Configuration) ------------------------------------------------------- RTE、OS模块的集成配置，可以通过三种方式进行： The integration configuration of RTE and OS modules can be performed through three methods: - 全自动配置集成 Fully automatic configuration integration - 半自动配置集成 Semi-automatic configuration integration - 全手动配置集成 Fully manual configuration integration 全自动配置集成(Fully Automatic Configuration Integration) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 全自动配置集成主要通过RTE-OS自动同步功能，自动生成RTE、OS模块的推荐Demo配置。 Fully automatic configuration integration automatically generates recommended demo configurations for RTE and OS modules through the RTE-OS synchronization function. 集成人员可根据实际场景，对Demo的部分配置进行微调，比如OsTask的堆栈大小等。 Integrators can fine-tune certain demo configurations based on actual scenarios, such as OsTask stack size. RTE-OS自动同步 Synchronized RTE-OS ********************************************************** 基于ECU萃取文件、BSW的模块描述文件，根据模型需求自动配置OS模块。 Automatically configures the OS module based on model requirements using ECU extract files and BSW module description files. **自动配置的内容主要分为两类：** **Automated configuration content is primarily categorized into two types:** - 与RTE实现相关，OS必须按实现需求进行配置且客户不能修改； RTE implementation-related configurations that must be set according to implementation requirements and cannot be modified by customers; - 为客户提供配置Demo，简化客户手动配置工作量，客户根据应用场景在自动配置的基础上调整、适配。 Provides configuration demos to reduce manual configuration effort; customers can adjust and adapt these based on application scenarios. **自动配置主要实现的功能配置：** **Main functional configurations implemented through automation:** - 周期运行实体的调度(提供OsAlarm或OsScheduleTable两种触发方式) Scheduling of periodic runnable entities (supports OsAlarm or OsScheduleTable triggering methods) - 事件型运行实体的调度 Scheduling of event-based runnable entities - SchM独占区保护的配置 Configuration of SchM exclusive area protection - OsTask的部分配置，如内部各运行实体的调度顺序、优先级等。 Partial OsTask configuration, including runnable entity scheduling order and priority. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_1.png :name: RTE_4_1 :align: center RTE-OS同步流程 (RTE-OS Synchronization Process) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_2.png :name: RTE_4_2 :align: center RTE-OS自动同步配置 (Synchronized RTE-OS Configuration) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_11.png :name: RTE_4_11 :align: center RTE-OS自动同步选择周期运行实体的触发方式 Synchronized RTE-OS: Selecting the Trigger Mode for Periodic Runnable Entities RTE-OS自动同步为周期运行实体提供两种触发方式： Synchronized RTE-OS provides two triggering methods for periodic runnable entities: - OsAlarm触发 (OsAlarm triggering) - OsScheduleTable触发 (OsScheduleTable triggering) 选择后，统一按照选择的方式自动配置周期触发。 After selection, all periodic triggers will be automatically configured uniformly using the selected method. 半自动配置集成 Semi-Automatic(Configuration Integration) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 半自动配置集成主要利用RTE第二界面拖拽功能，手动将执行实体拖拽至目标OsTask，拖拽后，ORIENTAIS将根据执行实体的属性，比如周期执行实体，自动生成剩余的所有配置参数。 Semi-automatic configuration integration primarily utilizes the drag-and-drop functionality in the Rte Editor to manually place runnable entities into target OsTasks. After placement, ORIENTAIS automatically generates all remaining configuration parameters based on the runnable entity attributes, such as for periodic runnable entities. 手动创建OsTask(Manually Creating OsTask) ************************************************ 根据实际场景，手动创建Os的配置，比如创建OsTask。 Manually create OS configurations according to actual scenarios, such as creating OsTasks. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_12.png :name: RTE_4_12 :align: center 在OS模块配置界面手动创建OsTask (Manually creating OsTask in the OS module configuration interface) RTE第二界面拖拽 Drag-and-Drop in the(Rte Editor) **************************************************************** ORIENTAIS支持将执行实体拖入目标OsTask中，同时根据执行实体周期属性，自动创建关联相关的OsAlarm/OsScheduleTable，以及RteOsInteraction等相关配置。 ORIENTAIS supports dragging runnable entities into target OsTasks. Based on the runnable entities' periodic attributes, it automatically creates and associates related configurations including OsAlarm/OsScheduleTable and RteOsInteraction. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_6.png :name: RTE_4_6 :align: center 打开RTE第二界面 (Opening the Rte Editor) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_7.png :name: RTE_4_7 :align: center 执行实体信息显示 (Display of runnable entity information) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_8.png :name: RTE_4_8 :align: center 拖动执行实体至相应分区的OsTask,如果是周期执行实体,弹出激活方式选择窗口 Dragging a runnable entity to an OsTask in the corresponding partition; if it is a periodic runnable entity, an activation method selection window pops up .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_9.png :name: RTE_4_9 :align: center 自动生成周期执行实体的相关Os配置 (Automatically generating relevant OS configurations for periodic runnable entities) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_10.png :name: RTE_4_10 :align: center 自动生成周期执行实体的RteOsInteraction配置 (Automatically generating RteOsInteraction configurations for periodic runnable entities) 全手动配置集成(Fully Manual Configuration Integration) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 全手动配置集成表示RTE、OS模块完全手动配置，不借助ORIENTAIS的自动配置功能。 Fully manual configuration integration means that RTE and OS modules are configured entirely manually without using ORIENTAIS automatic configuration functions. .. _app_stub: Application RunnableEntity桩代码生成(Application RunnableEntity Stub Code Generation) ------------------------------------------------------------------------------------------ 可选操作，如果应用开发未完成，可使ORIENTAIS生成 Application RunnableEntity的桩代码。 Optional operation. If application development is not completed, ORIENTAIS can generate stub code for Application RunnableEntity. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_5.png :name: RTE_4_5 :align: center 应用桩代码生成 (Application stub code generation) RTE及Application RunnableEntity桩代码同时生成(Simultaneous Generation of RTE and Application RunnableEntity Stub Code) ---------------------------------------------------------------------------------------------------------------------------- 可选操作，可使ORIENTAIS同时生成RTE及 Application RunnableEntity的桩代码。 Optional operation. ORIENTAIS can generate both RTE and Application RunnableEntity stub code simultaneously. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_4_16.png :name: RTE_4_16 :align: center RTE及应用桩代码同时生成 (Simultaneous generation of RTE and application stub code) 集成流程概述(Overview of Integration Process) -------------------------------------------------- 按照 :ref:`develop_flow` 完成工程的配置，生所有BSW(包括 OS 、RTE 、MCAL )动态配置代码后，基于芯片、编译器搭建代码工程，集成BSW静态代码以及ORIENTAIS生成的动态代码, 再加上Application RunnableEntity代码(若应用开发未完成，可使用 :ref:`app_stub` 生成应用桩代码)，基于内存布局需求、以及BSW和Application RunnableEntity的MemMap进行编译、链接。 After completing project configuration according to :ref:`develop_flow` and generating all BSW dynamic configuration code (including OS, RTE, MCAL), build the code project based on the target chip and compiler. Integrate BSW static code with ORIENTAIS-generated dynamic code, plus Application RunnableEntity code (if application development is incomplete, use :ref:`app_stub` to generate application stub code). Then compile and link based on memory layout requirements and MemMap configurations for both BSW and Application RunnableEntity. .. 引用接口描述。来自于code->doxygen->latex->rst .. include:: Rte_api.rst 配置 configuration ========================== .. _rte_osinteraction: RTE调度Os(Interaction of the RTE with the OS) ---------------------------------------------------- 相关配置RteOsInteraction，主要涉及RTE对OsAlarm、OsTask、OsScheduleTable的启动配置。 常用场景： The RteOsInteraction configuration primarily involves RTE startup configuration for OsAlarm, OsTask, and OsScheduleTable. Common scenarios: - 激活扩展任务； Activating extended tasks; - 激活周期事件对应的OsAlarm； Activating OsAlarm for periodic events; - 激活周期事件对应的OsScheduleTable。 Activating OsScheduleTable for periodic events. RTE激活OsTask(RTE Activating OsTask) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_1.png :name: RTE_5_1 :align: center RTE激活OsTask配置示例 (Example of RTE activating OsTask configuration) RTE激活OsAlarm(RTE Activating OsAlarm) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_2.png :name: RTE_5_2 :align: center RTE激活OsAlarm配置示例 (Example of RTE activating OsAlarm configuration) Example of RTE activating OsAlarm configuration RTE激活OsScheduleTable(RTE Activating OsScheduleTable) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_3.png :name: RTE_5_3 :align: center RTE激活OsScheduleTable配置示例 (Example of RTE activating OsScheduleTable configuration) Example of RTE activating OsScheduleTable configuration Swc在Ecu中的配置(Configuration of SWC in ECU) ------------------------------------------------- 相关配置RteSwcComponentInstance,将Swc实例关联至RteSoftwareComponentInstanceRef中。 The RteSwcComponentInstance configuration associates SWC instances with RteSoftwareComponentInstanceRef. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_4.png :name: RTE_5_4 :align: center RteSwcComponentInstance配置示例 (Example of RteSwcComponentInstance configuration) Example of RteSwcComponentInstance configuration RunnableEntity映射(RunnableEntity Mapping) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 相关配置RteEventToTaskMapping。 Relevant configuration: RteEventToTaskMapping. 将RteEvent映射至OsTask，定义Runnable在OsTask中的Position，使Task能够调度对应的RunnableEntity。 Maps RteEvent to OsTask, defines Runnable position within OsTask, enabling Task to schedule corresponding RunnableEntity. 映射至Basic(Task Mapping to Basic Task) ********************************************* .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_5.png :name: RTE_5_5 :align: center RunnableEntity映射至Basic Task配置示例 (Example of RunnableEntity mapping to Basic Task configuration) .. attention:: 映射至Basic Task的RteEvent，均不能映射OsEvent。 RteEvents mapped to Basic Task cannot map OsEvent. 映射至Extended(Task Mapping to Extended Task) ************************************************** .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_6.png :name: RTE_5_6 :align: center RunnableEntity映射至Extended Task配置示例 (Example of RunnableEntity mapping to Extended Task configuration) Example of RunnableEntity mapping to Extended Task configuration .. attention:: 映射至Extended Task的RteEvent，均需要映射OsEvent。 RteEvents mapped to Extended Task must map OsEvent. 映射至Background(Task Mapping to Background Task) ******************************************************** Background Task即只映射了BackgroundEvent/BswBackgroundEvent事件，是不定周期Task，具体最低优先级(默认为1)且不能映射OsEvent。 Background Task由RTE激活后，在Task运行结尾使用ChainTask再次激活自己，实现不定周期特征。 Background Task maps only BackgroundEvent/BswBackgroundEvent events, is aperiodic, has lowest priority (default 1), and cannot map OsEvent. After RTE activation, Background Task reactivates itself using ChainTask upon termination to achieve aperiodic behavior. 初始化Runnable映射(Initialization Runnable Mapping) ********************************************************** 支持初始化Runnable(由InitEvent触发)映射至自定义初始化Task(Basic Task)。 如果初始化Runnable未映射至初始化Task，则由Rte_Start统一调用，由Rte_Start调用的初始化Runnable，支持在RteEventToTaskMapping中设置RtePositionInTask信息，作为在Rte_Start中调用顺序的依据，未设置位置信息的默认最后调用。 Supports mapping initialization Runnables (triggered by InitEvent) to custom Initialization Task (Basic Task). If not mapped to Initialization Task, initialization Runnables are called by Rte_Start. RtePositionInTask in RteEventToTaskMapping determines calling order in Rte_Start; unmapped Runnables are called last by default. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_7.png :name: RTE_5_7 :align: center 初始化Runnable映射配置示例 (Example of initialization Runnable mapping configuration) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_8.png :name: RTE_5_8 :align: center 初始化Task配置示例 Example of initialization Task configuration .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_24.png :name: RTE_5_24 :align: center 只设置位置信息的初始化Runnable配置示例 (Example of initialization Runnable configuration with only position information set) .. attention:: 初始化Runnable只能映射至自定义的初始化Task中，即名称为非 **iSoft_Auto_** 前缀的初始化Task。 Initialization Runnables can only be mapped to custom initialization Tasks, i.e., initialization Tasks whose names do not have the prefix **iSoft_Auto_**. .. _swc_te: 周期RunnableEntity映射(Periodic RunnableEntity Mapping) ************************************************************* 支持OsAlarm、OsScheduleTable周期性触发OsTask或OsEvent，从而实现RunnableEntity的周期性调度。 配置的OsAlarm、OsScheduleTable以及扩展任务，需要同步在 :ref:`rte_osinteraction` 中激活。 Supports OsAlarm and OsScheduleTable periodically triggering OsTask or OsEvent to achieve periodic scheduling of RunnableEntity. Configured OsAlarm, OsScheduleTable, and extended tasks must be synchronously activated in :ref:`rte_osinteraction`. OsAlarm触发Basic(Task OsAlarm Triggering Basic Task) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 需要Basic Task映射同周期的RunnableEntity,同时设置OsAlarm的周期与RunnableEntity周期一致。 Requires Basic Task to map RunnableEntities with the same period, and set OsAlarm period to match the RunnableEntity period. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_9.png :name: RTE_5_9 :align: center 由OsAlarm触发Basic Task配置示例 (Example of Basic Task triggered by OsAlarm configuration) OsAlarm触发Extended(Task OsAlarm Triggering Extended Task) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 支持一个Task映射不同周期的RunnableEntity。 Supports a Task mapping RunnableEntities with different periods. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_10.png :name: RTE_5_10 :align: center 由OsAlarm触发Extended Task配置示例 (Example of Extended Task triggered by OsAlarm configuration) OsScheduleTable触发周期RunnableEntity(OsScheduleTable Triggering Periodic RunnableEntity) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 采用调度表可以通过调度点设置激活偏移，从而一定程度达到均衡负载的效果。 Using schedule tables with expiry points to set activation offsets can achieve load balancing to some extent. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_11.png :name: RTE_5_11 :align: center OsScheduleTable配置示例 (Example of OsScheduleTable configuration) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_12.png :name: RTE_5_12 :align: center OsScheduleTableExpiryPoint配置示例 (Example of OsScheduleTableExpiryPoint configuration) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_13.png :name: RTE_5_13 :align: center OsScheduleTableExpiryPoint激活Basic Task配置示例 (Example of OsScheduleTableExpiryPoint activating Basic Task configuration) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_14.png :name: RTE_5_14 :align: center OsScheduleTableExpiryPoint激活OsEvent配置示例 (Example of OsScheduleTableExpiryPoint activating OsEvent configuration) 独占区配置(Exclusive Area Configuration) ************************************************** 相关配置RteExclusiveAreaImplementation。 RTE为Swc的独占区提供四个配置选择: Relevant configuration RteExclusiveAreaImplementation. RTE provides four configuration options for SWC exclusive areas: - ALL_INTERRUPT_BLOCKING - OS_INTERRUPT_BLOCKING - OS_RESOURCE - NONE .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_22.png :name: RTE_5_22 :align: center RteExclusiveAreaImplementation配置示例 (Example of RteExclusiveAreaImplementation configuration) Trigger队列配置(Trigger Queue Configuration) ***************************************************** 相关配置RteExternalTriggerConfig/RteInternalTriggerConfig。 RTE支持内外部队列触发，且队列长度(≥1)的ECUC配置优先级高于SWC侧的配置，即即使SWC配置的Trigger的swImplPolicy为"QUEUED"，ECUC中未配置队列长度，当作非队列处理。 当前队列触发的trigger sink需要在同一分区，建议不设置内外部触发队列。 Relevant configuration RteExternalTriggerConfig/RteInternalTriggerConfig. RTE supports internal and external queue triggering, with ECUC queue length (≥1) configuration taking priority over SWC-side configuration. Even if SWC Trigger swImplPolicy is "QUEUED", unconfigured queue length in ECUC results in "STANDARD" treatment. Currently, queued trigger sinks must reside in the same partition. Configuring internal/external trigger queues is not recommended. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_25.png :name: RTE_5_25 :align: center RteExternalTriggerConfig配置示例 (Example of RteExternalTriggerConfig configuration) .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_26.png :name: RTE_5_26 :align: center RteInternalTriggerConfig配置示例 (Example of RteInternalTriggerConfig configuration) NvM分配(NvM Allocation) ******************************** 通过NvMSwC来进行相关的NvM分配(NvM Allocation via NvMSwC) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 需要在NvMSwC的对应实例下的RteNvRamAllocation映射NvMSwC的RteSwNvBlockDescriptor和NvM模块的NvBlockDescriptor RteNvRamAllocation under corresponding NvMSwC instances must map NvMSwC RteSwNvBlockDescriptor to NvM module NvBlockDescriptor. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_27.png :name: RTE_5_27 :align: center RteNvRamAllocation通过NvMSwC来映射NvM (RteNvRamAllocation mapping NvM via NvMSwC) Bsw模块在Ecu中的配置(Configuration of BSW Module in ECU) -------------------------------------------------------------- Bsw模块在Ecu中的配置依赖各Bsw模块的模块描述文件作为输入。 相关配置RteBswModuleInstance,将BswImplementation(定义在模块描述文件中)关联至RteBswImplementationRef中。 BSW module configuration in ECU relies on BSW module description files as input. Relevant configuration RteBswModuleInstance associates BswImplementation (defined in BSW module description file) with RteBswImplementationRef. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_19.png :name: RTE_5_19 :align: center RteBswModuleInstance配置示例 (Example of RteBswModuleInstance configuration) BswSchduleEntity映射(BswSchduleEntity Mapping) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 相关配置RteBswEventToTaskMapping。 Relevant configuration RteBswEventToTaskMapping. 将BswEvent映射至OsTask，从而使Task能够调度对应的BswSchduleEntity。 Maps BswEvent to OsTask, enabling Task to schedule corresponding BswSchduleEntity. 映射至Basic(Task Mapping to Basic Task) ******************************************** .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_20.png :name: RTE_5_20 :align: center BswSchduleEntity映射至Basic Task配置示例 (Example of BswSchduleEntity mapping to Basic Task configuration) .. attention:: 映射至Basic Task的BswEvent，均不能映射OsEvent。 BswEvents mapped to Basic Task cannot map OsEvent. 映射至Extended(Task Mapping to Extended Task) *************************************************** .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_21.png :name: RTE_5_21 :align: center BswSchduleEntity映射至Extended Task配置示例 (Example of BswSchduleEntity mapping to Extended Task configuration) .. attention:: 映射至Extended Task的BswEvent，均需要映射OsEvent。 BswEvents mapped to Extended Task must map OsEvent. 映射至Background(Task Mapping to Background Task) **************************************************** Background Task即只映射了BackgroundEvent/BswBackgroundEvent事件，是不定周期Task，具体最低优先级(默认为1)且不能映射OsEvent。 Background Task由RTE激活后，在Task运行结尾使用ChainTask再次激活自己，实现不定周期特征。 Background Task maps only BackgroundEvent/BswBackgroundEvent events, is aperiodic, has lowest priority (default 1), and cannot map OsEvent. After RTE activation, Background Task reactivates itself using ChainTask upon termination to achieve aperiodic behavior. 周期BswSchduleEntity映射(Periodic BswSchduleEntity Mapping) **************************************************************** 支持OsAlarm、OsScheduleTable周期性触发OsTask或OsEvent，从而实现ExecutableEntity的周期性调度。 参考 :ref:`swc_te`。 Supports OsAlarm and OsScheduleTable periodically triggering OsTask or OsEvent to achieve periodic scheduling of ExecutableEntity. Refer to :ref:`swc_te`. 独占区配置(Exclusive Area Configuration) ********************************************* 相关配置RteBswExclusiveAreaImpl。 RTE为BswModule的独占区提供五个配置选择: Relevant configuration RteBswExclusiveAreaImpl. RTE provides five configuration options for BSW module exclusive areas: - ALL_INTERRUPT_BLOCKING - OS_INTERRUPT_BLOCKING - OS_RESOURCE - OS_SPINLOCK - NONE .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_23.png :name: RTE_5_23 :align: center RteBswExclusiveAreaImpl配置示例 (Example of RteBswExclusiveAreaImpl configuration) 独占区保护开关(Exclusive Area Protection Switch) ------------------------------------------------------ RteInExclusiveAreaCheckEnabled勾选时开启独占区保护。 Exclusive area protection is enabled when RteInExclusiveAreaCheckEnabled is selected. 独占区保护 Exclusive area protection： RTE的阻塞式API，不能运行在独占区中，造成中断时间过长，引发系统问题。打开独占区保护，如果在独占区中调用阻塞式API，API会直接返回RTE_E_IN_EXCLUSIVE_AREA。 RTE blocking APIs cannot execute within exclusive areas, as this causes excessive interrupt latency and system issues. When exclusive area protection is enabled, calling blocking APIs within exclusive areas returns RTE_E_IN_EXCLUSIVE_AREA directly. API示例 API examples： Rte_Call,Rte_Result,Rte_Feedback,Rte_SwitchAck,Rte_Receive等 Rte_Call, Rte_Result, Rte_Feedback, Rte_SwitchAck, Rte_Receive, etc. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_29.png :name: RTE_5_29 :align: center RteInExclusiveAreaCheckEnabled配置示例 (Example of RteInExclusiveAreaCheckEnabled configuration) 原子型数据一致性保护开关(Atomic Data Consistency Protection Switch) --------------------------------------------------------------------- RteAtomicDataProtection勾选时开启原子型数据的数据一致性保护。 Atomic data consistency protection is enabled when RteAtomicDataProtection is selected. 数据一致性保护 Data consistency protection： 利用开关中断等手段保证数据的一致性，AUTOSAR规范要求Primitive数据同样需要进行数据一致性保护，但这样会给系统带来一定开销，可以通过开关控制是否开启对此类数据的数据一致性保护。 Ensures data consistency through methods like interrupt disabling. AUTOSAR specifications require primitive data to have consistency protection, but this introduces system overhead. The switch controls whether to enable consistency protection for such data. 原子数据示例 Examples of atomic data： 映射至VALUE实现数据类型的变量等。 Variables mapped to primitive implementation data types, etc. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_31.png :name: RTE_5_31 :align: center RteAtomicDataProtection配置示例 (Example of RteAtomicDataProtection configuration) RTE的多核支持 Multi-Core(Support of RTE) --------------------------------------------- 分区映射(Partition Mapping) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Core(Definition) ******************** .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_15.png :name: RTE_5_15 :align: center EcucCoreDefinition配置示例 (Example of EcucCoreDefinition configuration) EcucPartition分区定义(EcucPartition Definition) ***************************************************** EcucPartition需要映射至Core上，并且需要设置一个默认分区。 Swc与Bsw模块需要映射至EcucPartition，表示被划分在该分区。 EcucPartition must be mapped to a Core, and a default partition must be established. SWC and BSW modules must be mapped to EcucPartition, indicating assignment to that partition. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_16.png :name: RTE_5_16 :align: center EcucPartition配置示例 (Example of EcucPartition configuration) .. attention:: Bsw模块只能映射至可信分区。 BSW modules can only be mapped to trusted partitions. OsApplication与分区配置(OsApplication and Partition Configuration) ************************************************************************** OsApplication是系统对象(如OsTask、OsAlarm、OsResource等)进行分组的逻辑模块，需要与EcucPartition 1:1对应创建，承载该分区的系统资源。 OsTask、OsAlarm、OsResource等系统对象需要映射至OsApplication，表示被划分在该分区。 OsApplication is a logical module grouping system objects (e.g., OsTask, OsAlarm, OsResource) and must be created in 1:1 correspondence with EcucPartition to host partition system resources. System objects like OsTask, OsAlarm, and OsResource must be mapped to OsApplication, indicating assignment to that partition. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_17.png :name: RTE_5_17 :align: center OsApplication配置示例 (Example of OsApplication configuration) RTE启动(RTE Startup) ---------------------- Rte_Start ~~~~~~~~~~~~~~~~~~ 可信分区/无分区系统 Trusted Partition / Non-Partitioned(System) ********************************************************************** 可信分区/无分区系统由BswM调用Rte_Start，需要在BswM的配置中为可信分区添加"Rte_Start"的Action。 Trusted partitions/non-partitioned systems call Rte_Start via BswM. The "Rte_Start" Action must be added for trusted partitions in BswM configuration. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_30.png :name: RTE_5_30 :align: center BswMModeControl配置示例 (Example of BswMModeControl configuration) 不可信分区(Untrusted Partition) *********************************** 不可信分区由该分区的初始化Task调用Rte_Start,RTE代码默认生成。 Untrusted partitions call Rte_Start via their initialization Task, generated by RTE by default. EcuM_StartupTwo ~~~~~~~~~~~~~~~~~~ 无分区系统 Non-Partitioned(System) ***************************************** RTE默认在名为"iSoft_Auto_DEFAULT_OsTask_Init"的初始化Task中调用EcuM_StartupTwo,继而启动SchM。 RTE calls EcuM_StartupTwo in the initialization Task named "iSoft_Auto_DEFAULT_OsTask_Init" by default, subsequently starting SchM. 多分区/多核系统 Multi-Partition / Multi-Core(System) ********************************************************** RTE识别EcuM配置中的分区，以该分区的初始化Task中启动EcuM_StartupTwo。 每个核选一个分区(可信)填入EcuMFlexConfiguration的配置中，即EcuM_StartupTwo的启动数与核数相同。 RTE identifies partitions in EcuM configuration and starts EcuM_StartupTwo within each partition's initialization Task. One trusted partition per core is selected for EcuMFlexConfiguration, so EcuM_StartupTwo starts match core count. .. figure:: ../../../_static/参考手册(Module_Reference_Manual)/Rte/RTE_5_18.png :name: RTE_5_18 :align: center EcuMFlexConfiguration配置示例 (Example of EcuMFlexConfiguration configuration) RTE的PBS支持(PBS Support of RTE) -------------------------------------- RTE不支持SWC的变体，可适配BSW模块的PBS变体，主要涉及Com及LdCom的部分变体。 RTE does not support SWC variants but adapts to BSW module PBS variants, primarily involving certain Com and LdCom variants. PBS支持约束(PBS Support Constraints) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ .. list-table:: :widths: 10 20 :header-rows: 0 * - 支持Com、LdCom变体，不支持属性变体 - Supports Com and LdCom variants; does not support attribute variants * - 信号/信号组/LdComIPdu在所有变体下唯一 - Signals/signal groups/LdComIPdu must be unique across all variants * - 同一个信号/信号组在不同变体下分区需一致 - Partitions for identical signals/signal groups must be consistent across variants * - ISignalToIPduMapping在不同变体下映射的Pdu分区需一致，PduLength需相同 - ISignalToIPduMapping must have consistent Pdu partitions and identical PduLength across variants