RTA-RTE V6.8.0 User Guide RTA-RTE V6.8.0 User Guide Copyright The data in this document may not be altered or amended without special notification from ETAS GmbH. ETAS GmbH undertakes no further obligation in relation to this doc- ument. The software described in it can only be used if the customer is in possession of a general license agreement or single license. Using and copying is only allowed in concurrence with the specifications stipulated in the contract. Under no circumstances may any part of this document be copied, reproduced, transmitted, stored in a retrieval system or translated into another language without the express written permission of ETAS GmbH. ©Copyright 2019 ETAS GmbH, Stuttgart. The names and designations used in this document are trademarks or brands belonging to the respective owners. Document: 10756-UG-001 EN - 05-2019 Revision: 92501 [RTA-RTE 6.8.0] This product described in this document includes software developed by the Apache Software Foundation (http://www.apache.org/). 2 Copyright RTA-RTE V6.8.0 User Guide Contents 1 About this Manual7 1.1 Document Conventions.........................9 1.2 Acronyms and Abbreviations......................9 I Introduction and Overview 11 2 Introduction to the RTE 12 2.1 What is a Run-Time Environment (RTE)?................ 13 2.2 Software Components.......................... 14 2.3 Interfaces................................. 18 2.4 Software Component Behavior..................... 21 2.5 Services.................................. 25 3 Introduction to RTE Configuration 26 3.1 Understanding XML........................... 26 3.2 Understanding AUTOSAR XML..................... 27 3.3 ECU Configuration Description..................... 33 4 Working with the RTE Generator 36 4.1 Contract Phase.............................. 37 4.2 RTE Phase................................. 39 4.3 Basic Software Phase.......................... 41 4.4 The Development Process........................ 42 4.5 Samples.................................. 42 II Developing Software Components 45 5 Type System 46 5.1 Application Data Types......................... 46 5.2 Base Types................................ 50 5.3 Implementation Data Types....................... 51 5.4 Type Mappings.............................. 60 5.5 Application Types And Numerical Representations.......... 61 5.6 Expressing Values in Physical Units or Numerical Representation.. 66 6 Interfaces 69 6.1 Sender-Receiver............................. 69 6.2 Nv-Data.................................. 70 6.3 Mode-Switch............................... 71 6.4 Client-Server............................... 72 6.5 Calibration................................ 73 6.6 Trigger.................................. 74 7 Software Component Types 75 7.1 Ports.................................... 76 7.2 Communication Specifications..................... 77 Contents 3 RTA-RTE V6.8.0 User Guide 8 Internal Behavior 83 8.1 RTE Events................................ 84 8.2 Runnable Entities............................ 86 8.3 Responding to Periodic Events..................... 87 8.4 Sending to a Port............................. 88 8.5 Receiving from a Port.......................... 90 8.6 Responding to a Server Request on a Port............... 94 8.7 Making a Client Request on a Port................... 95 8.8 Direct Trigger of a Runnable Entity................... 100 8.9 Exclusive Areas.............................. 102 8.10 Inter-Runnable Variables......................... 106 8.11 Accessing Modes............................. 107 8.12 Per-instance Memory.......................... 107 8.13 Port Options............................... 108 8.14 Supporting Multiple Instantiation.................... 109 8.15 Memory Allocation............................ 110 9 Modes 111 9.1 Defining Modes.............................. 111 9.2 Mode Communication.......................... 111 9.3 Using Modes............................... 115 9.4 Understanding Mode Instances..................... 118 9.5 Fast Init.................................. 119 9.6 Synchronizing Modes.......................... 120 9.7 Non-AUTOSAR Functionality....................... 120 10Implementing Software Components 122 10.1 Basic Concepts.............................. 122 10.2 Application Source Code......................... 124 10.3 Single and Multiple Instances...................... 125 10.4 Runnable Entities............................ 126 10.5 Sender-Receiver Communication.................... 132 10.6 Client-Server Communication...................... 135 10.7 Using Inter-Runnable Variables..................... 136 10.8 Accessing Parameters.......................... 136 10.9 Accessing Per Instance Memory.................... 137 10.10 Concurrency Control with Exclusive Areas............... 137 10.11 Starting and Stopping the RTE..................... 139 11NVRAM 140 11.1 NV-Block Software Component Types................. 140 11.2 Interaction with Application SWC.................... 143 11.3 Interaction with the NVRAM Manager................. 143 III Developing Basic Software 145 12Basic Software 146 12.1 Basic Software Modules......................... 146 4 Contents RTA-RTE V6.8.0 User Guide 12.2 Interaction with the RTE......................... 147 12.3 API..................................... 152 IV Composition 154 13Composing Software Components 155 13.1 Composition Type Definition...................... 155 13.2 Component Instances.......................... 156 13.3 Connector Prototypes.......................... 156 13.4 FlatMaps................................. 167 13.5 Data Conversion............................. 173 14Composing Basic Software 180 14.1 Instantiation............................... 180 14.2 BSW Scheduler.............................. 181 14.3 Connections............................... 181 15Synchronizing BSW and SWC 183 15.1 Configuration............................... 183 15.2 Synchronized Mode Groups....................... 185 15.3 Synchronized Triggers.......................... 186 15.4 Synchronized Runnable Entities.................... 187 16Accessing NVRAM 189 16.1 Configuration............................... 189 16.2 Access from Application SWCs..................... 191 16.3 Access from the NVRAM manager................... 193 V Deployment 196 17Defining the ECUs and the Networks 197 17.1 ECU Type Definition........................... 198 17.2 ECU Instances.............................. 199 18Mapping Software Components to ECUs 200 18.1 Mapping Component Prototypes.................... 200 18.2 SWC Implementation Selection..................... 201 18.3 Configuring Service Components on an ECU............. 202 18.4 Mapping Runnable Entities to Tasks.................. 203 18.5 How Runnables get activated...................... 205 19Inter-ECU Communication 210 19.1 System Communications........................ 210 19.2 Inter-ECU Sender-Receiver Communication.............. 215 19.3 Inter-ECU Client-Server Communication................ 218 20Using the OS and COM Configurations 223 20.1 Operating System Configuration.................... 224 20.2 Communication Stack Configuration.................. 226 Contents 5 RTA-RTE V6.8.0 User Guide 21Debugging Implementations with VFB Tracing 228 21.1 Enabling Tracing............................. 228 21.2 Supported Trace Events......................... 228 21.3 Configuration............................... 231 21.4 Trace Event Header File......................... 231 21.5 Implementing Hook Functions..................... 231 22Data Transformation 233 22.1 Extent of support............................. 233 22.2 Enabling data transformation in an input configuration....... 236 22.3 Working with data transformation................... 239 22.4 Working with the COM-based transformer............... 240 VI Advanced Concepts 241 23RTE Generation 242 23.1 Identifier length............................. 242 24Operating System Considerations 243 24.1 OS Trigger Selection........................... 243 24.2 Task Recurrence............................. 243 24.3 Schedule Points............................. 244 24.4 Basic and Extended Tasks........................ 245 24.5 Forced-basic semantics......................... 246 25Understanding Deployment Choices 249 25.1 Intra-task................................. 249 25.2 Inter-task................................. 251 25.3 Inter-task Client-Server......................... 253 25.4 Inter-ECU................................. 254 26Optimization 261 26.1 Buffers for Inter-ECU Reception..................... 261 26.2 Direct invocation of the RTE API.................... 261 26.3 Sender-Receiver Communication.................... 262 26.4 Client-Server Communication...................... 263 26.5 Function Elision.............................. 264 26.6 Init Runnables.............................. 265 26.7 Data Consistency............................ 266 26.8 Tips.................................... 267 27RTE Architecture 268 27.1 Component Data Structure....................... 268 27.2 Component Instance Handle...................... 269 27.3 The RTE API Implementation...................... 270 VII Support 273 28Contact, Support and Problem Reporting 274 6 Contents RTA-RTE V6.8.0 User Guide 1 About this Manual The RTA-RTE User Guide describes how to install the ETAS AUTOSAR Run-Time Environ- ment (RTE) generation tools and how to configure, build and deploy RTE-based software components on electronic control units. The RTA-RTE User Guide is structured along the lines of a top-down development using the RTE, taking users from software component