# AUTOSAR ADAS Integration

## Overview

AUTOSAR Classic and Adaptive Platform for ADAS, RTE configuration, sensor abstraction, ara::com for distributed ADAS, resource partitioning, timing constraints, and ASIL-D compliance.

## AUTOSAR Classic Platform for ADAS

### Software Component Architecture

```xml
<!-- ADAS_ECU_Extract.arxml -->
<?xml version="1.0" encoding="UTF-8"?>
<AUTOSAR xmlns="http://autosar.org/schema/r4.0">
  <AR-PACKAGES>
    <!-- Application Layer -->
    <AR-PACKAGE>
      <SHORT-NAME>ADAS_Application</SHORT-NAME>
      <ELEMENTS>
        <!-- Sensor Fusion SWC -->
        <APPLICATION-SW-COMPONENT-TYPE>
          <SHORT-NAME>SensorFusion_SWC</SHORT-NAME>
          <PORTS>
            <!-- Input Ports -->
            <R-PORT-PROTOTYPE>
              <SHORT-NAME>CameraData</SHORT-NAME>
              <REQUIRED-INTERFACE-TREF DEST="SENDER-RECEIVER-INTERFACE">
                /Interfaces/CameraImageInterface
              </REQUIRED-INTERFACE-TREF>
            </R-PORT-PROTOTYPE>
            <R-PORT-PROTOTYPE>
              <SHORT-NAME>RadarData</SHORT-NAME>
              <REQUIRED-INTERFACE-TREF DEST="SENDER-RECEIVER-INTERFACE">
                /Interfaces/RadarObjectListInterface
              </REQUIRED-INTERFACE-TREF>
            </R-PORT-PROTOTYPE>
            <R-PORT-PROTOTYPE>
              <SHORT-NAME>LidarData</SHORT-NAME>
              <REQUIRED-INTERFACE-TREF DEST="SENDER-RECEIVER-INTERFACE">
                /Interfaces/LidarPointCloudInterface
              </REQUIRED-INTERFACE-TREF>
            </R-PORT-PROTOTYPE>

            <!-- Output Ports -->
            <P-PORT-PROTOTYPE>
              <SHORT-NAME>FusedObjectList</SHORT-NAME>
              <PROVIDED-INTERFACE-TREF DEST="SENDER-RECEIVER-INTERFACE">
                /Interfaces/FusedObjectListInterface
              </PROVIDED-INTERFACE-TREF>
            </P-PORT-PROTOTYPE>
          </PORTS>

          <!-- Internal Behavior -->
          <INTERNAL-BEHAVIORS>
            <SWC-INTERNAL-BEHAVIOR>
              <SHORT-NAME>SensorFusion_InternalBehavior</SHORT-NAME>

              <!-- Runnables -->
              <RUNNABLES>
                <RUNNABLE-ENTITY>
                  <SHORT-NAME>SensorFusion_Init</SHORT-NAME>
                  <MINIMUM-START-INTERVAL>0</MINIMUM-START-INTERVAL>
                  <CAN-BE-INVOKED-CONCURRENTLY>false</CAN-BE-INVOKED-CONCURRENTLY>
                  <SYMBOL>SensorFusion_Init</SYMBOL>
                </RUNNABLE-ENTITY>

                <RUNNABLE-ENTITY>
                  <SHORT-NAME>SensorFusion_MainFunction</SHORT-NAME>
                  <MINIMUM-START-INTERVAL>0.02</MINIMUM-START-INTERVAL>  <!-- 50 Hz -->
                  <CAN-BE-INVOKED-CONCURRENTLY>false</CAN-BE-INVOKED-CONCURRENTLY>
                  <SYMBOL>SensorFusion_MainFunction</SYMBOL>

                  <!-- Data Read Access -->
                  <DATA-RECEIVE-POINT-BY-ARGUMENTS>
                    <VARIABLE-ACCESS>
                      <SHORT-NAME>Read_CameraData</SHORT-NAME>
                      <ACCESSED-VARIABLE>
                        <AUTOSAR-VARIABLE-IREF>
                          <PORT-PROTOTYPE-REF DEST="R-PORT-PROTOTYPE">
                            /ADAS_Application/SensorFusion_SWC/CameraData
                          </PORT-PROTOTYPE-REF>
                          <TARGET-DATA-PROTOTYPE-REF>
                            /Interfaces/CameraImageInterface/ImageData
                          </TARGET-DATA-PROTOTYPE-REF>
                        </AUTOSAR-VARIABLE-IREF>
                      </ACCESSED-VARIABLE>
                    </VARIABLE-ACCESS>
                  </DATA-RECEIVE-POINT-BY-ARGUMENTS>

                  <!-- Data Write Access -->
                  <DATA-SEND-POINTS>
                    <VARIABLE-ACCESS>
                      <SHORT-NAME>Write_FusedObjects</SHORT-NAME>
                      <ACCESSED-VARIABLE>
                        <AUTOSAR-VARIABLE-IREF>
                          <PORT-PROTOTYPE-REF DEST="P-PORT-PROTOTYPE">
                            /ADAS_Application/SensorFusion_SWC/FusedObjectList
                          </PORT-PROTOTYPE-REF>
                          <TARGET-DATA-PROTOTYPE-REF>
                            /Interfaces/FusedObjectListInterface/Objects
                          </TARGET-DATA-PROTOTYPE-REF>
                        </AUTOSAR-VARIABLE-IREF>
                      </ACCESSED-VARIABLE>
                    </VARIABLE-ACCESS>
                  </DATA-SEND-POINTS>
                </RUNNABLE-ENTITY>
              </RUNNABLES>

              <!-- Events -->
              <EVENTS>
                <INIT-EVENT>
                  <SHORT-NAME>InitEvent</SHORT-NAME>
                  <START-ON-EVENT-REF DEST="RUNNABLE-ENTITY">
                    /ADAS_Application/SensorFusion_SWC/SensorFusion_InternalBehavior/SensorFusion_Init
                  </START-ON-EVENT-REF>
                </INIT-EVENT>

                <TIMING-EVENT>
                  <SHORT-NAME>MainFunction_TimingEvent</SHORT-NAME>
                  <START-ON-EVENT-REF DEST="RUNNABLE-ENTITY">
                    /ADAS_Application/SensorFusion_SWC/SensorFusion_InternalBehavior/SensorFusion_MainFunction
                  </START-ON-EVENT-REF>
                  <PERIOD>0.02</PERIOD>  <!-- 50 Hz -->
                </TIMING-EVENT>
              </EVENTS>

            </SWC-INTERNAL-BEHAVIOR>
          </INTERNAL-BEHAVIORS>
        </APPLICATION-SW-COMPONENT-TYPE>

        <!-- Path Planning SWC -->
        <APPLICATION-SW-COMPONENT-TYPE>
          <SHORT-NAME>PathPlanning_SWC</SHORT-NAME>
          <PORTS>
            <R-PORT-PROTOTYPE>
              <SHORT-NAME>FusedObjectList</SHORT-NAME>
              <REQUIRED-INTERFACE-TREF DEST="SENDER-RECEIVER-INTERFACE">
                /Interfaces/FusedObjectListInterface
              </REQUIRED-INTERFACE-TREF>
            </R-PORT-PROTOTYPE>
            <R-PORT-PROTOTYPE>
              <SHORT-NAME>VehicleState</SHORT-NAME>
              <REQUIRED-INTERFACE-TREF DEST="SENDER-RECEIVER-INTERFACE">
                /Interfaces/VehicleStateInterface
              </REQUIRED-INTERFACE-TREF>
            </R-PORT-PROTOTYPE>
            <P-PORT-PROTOTYPE>
              <SHORT-NAME>TrajectoryOutput</SHORT-NAME>
              <PROVIDED-INTERFACE-TREF DEST="SENDER-RECEIVER-INTERFACE">
                /Interfaces/TrajectoryInterface
              </PROVIDED-INTERFACE-TREF>
            </P-PORT-PROTOTYPE>
          </PORTS>
        </APPLICATION-SW-COMPONENT-TYPE>

      </ELEMENTS>
    </AR-PACKAGE>

    <!-- Interface Definitions -->
    <AR-PACKAGE>
      <SHORT-NAME>Interfaces</SHORT-NAME>
      <ELEMENTS>
        <SENDER-RECEIVER-INTERFACE>
          <SHORT-NAME>FusedObjectListInterface</SHORT-NAME>
          <IS-SERVICE>false</IS-SERVICE>
          <DATA-ELEMENTS>
            <VARIABLE-DATA-PROTOTYPE>
              <SHORT-NAME>Objects</SHORT-NAME>
              <TYPE-TREF DEST="IMPLEMENTATION-DATA-TYPE">
                /DataTypes/FusedObjectArray
              </TYPE-TREF>
            </VARIABLE-DATA-PROTOTYPE>
          </DATA-ELEMENTS>
        </SENDER-RECEIVER-INTERFACE>
      </ELEMENTS>
    </AR-PACKAGE>

    <!-- Data Type Definitions -->
    <AR-PACKAGE>
      <SHORT-NAME>DataTypes</SHORT-NAME>
      <ELEMENTS>
        <IMPLEMENTATION-DATA-TYPE>
          <SHORT-NAME>FusedObjectArray</SHORT-NAME>
          <CATEGORY>ARRAY</CATEGORY>
          <SUB-ELEMENTS>
            <IMPLEMENTATION-DATA-TYPE-ELEMENT>
              <SHORT-NAME>Object</SHORT-NAME>
              <CATEGORY>TYPE_REFERENCE</CATEGORY>
              <ARRAY-SIZE>50</ARRAY-SIZE>
              <ARRAY-SIZE-SEMANTICS>FIXED-SIZE</ARRAY-SIZE-SEMANTICS>
              <SW-DATA-DEF-PROPS>
                <SW-DATA-DEF-PROPS-VARIANTS>
                  <SW-DATA-DEF-PROPS-CONDITIONAL>
                    <IMPLEMENTATION-DATA-TYPE-REF DEST="IMPLEMENTATION-DATA-TYPE">
                      /DataTypes/FusedObject
                    </IMPLEMENTATION-DATA-TYPE-REF>
                  </SW-DATA-DEF-PROPS-CONDITIONAL>
                </SW-DATA-DEF-PROPS-VARIANTS>
              </SW-DATA-DEF-PROPS>
            </IMPLEMENTATION-DATA-TYPE-ELEMENT>
          </SUB-ELEMENTS>
        </IMPLEMENTATION-DATA-TYPE>

        <IMPLEMENTATION-DATA-TYPE>
          <SHORT-NAME>FusedObject</SHORT-NAME>
          <CATEGORY>STRUCTURE</CATEGORY>
          <SUB-ELEMENTS>
            <IMPLEMENTATION-DATA-TYPE-ELEMENT>
              <SHORT-NAME>id</SHORT-NAME>
              <CATEGORY>VALUE</CATEGORY>
              <SW-DATA-DEF-PROPS>
                <SW-DATA-DEF-PROPS-VARIANTS>
                  <SW-DATA-DEF-PROPS-CONDITIONAL>
                    <BASE-TYPE-REF DEST="SW-BASE-TYPE">/BaseTypes/uint32</BASE-TYPE-REF>
                  </SW-DATA-DEF-PROPS-CONDITIONAL>
                </SW-DATA-DEF-PROPS-VARIANTS>
              </SW-DATA-DEF-PROPS>
            </IMPLEMENTATION-DATA-TYPE-ELEMENT>
            <IMPLEMENTATION-DATA-TYPE-ELEMENT>
              <SHORT-NAME>position_x</SHORT-NAME>
              <CATEGORY>VALUE</CATEGORY>
              <SW-DATA-DEF-PROPS>
                <SW-DATA-DEF-PROPS-VARIANTS>
                  <SW-DATA-DEF-PROPS-CONDITIONAL>
                    <BASE-TYPE-REF DEST="SW-BASE-TYPE">/BaseTypes/float32</BASE-TYPE-REF>
                  </SW-DATA-DEF-PROPS-CONDITIONAL>
                </SW-DATA-DEF-PROPS-VARIANTS>
              </SW-DATA-DEF-PROPS>
            </IMPLEMENTATION-DATA-TYPE-ELEMENT>
            <IMPLEMENTATION-DATA-TYPE-ELEMENT>
              <SHORT-NAME>position_y</SHORT-NAME>
              <CATEGORY>VALUE</CATEGORY>
            </IMPLEMENTATION-DATA-TYPE-ELEMENT>
            <IMPLEMENTATION-DATA-TYPE-ELEMENT>
              <SHORT-NAME>velocity_x</SHORT-NAME>
              <CATEGORY>VALUE</CATEGORY>
            </IMPLEMENTATION-DATA-TYPE-ELEMENT>
            <IMPLEMENTATION-DATA-TYPE-ELEMENT>
              <SHORT-NAME>velocity_y</SHORT-NAME>
              <CATEGORY>VALUE</CATEGORY>
            </IMPLEMENTATION-DATA-TYPE-ELEMENT>
            <IMPLEMENTATION-DATA-TYPE-ELEMENT>
              <SHORT-NAME>object_class</SHORT-NAME>
              <CATEGORY>VALUE</CATEGORY>
              <SW-DATA-DEF-PROPS>
                <SW-DATA-DEF-PROPS-VARIANTS>
                  <SW-DATA-DEF-PROPS-CONDITIONAL>
                    <BASE-TYPE-REF DEST="SW-BASE-TYPE">/BaseTypes/uint8</BASE-TYPE-REF>
                  </SW-DATA-DEF-PROPS-CONDITIONAL>
                </SW-DATA-DEF-PROPS-VARIANTS>
              </SW-DATA-DEF-PROPS>
            </IMPLEMENTATION-DATA-TYPE-ELEMENT>
          </SUB-ELEMENTS>
        </IMPLEMENTATION-DATA-TYPE>
      </ELEMENTS>
    </AR-PACKAGE>
  </AR-PACKAGES>
</AUTOSAR>
```

### RTE Generated Code

```c
/* Rte_SensorFusion.h - Generated by RTE Generator */

#ifndef RTE_SENSORFUSION_H
#define RTE_SENSORFUSION_H

#include "Rte_Type.h"

/* API Functions */
FUNC(Std_ReturnType, RTE_CODE) Rte_Read_SensorFusion_CameraData_ImageData(
    P2VAR(CameraImage_Type, AUTOMATIC, RTE_APPL_DATA) data
);

FUNC(Std_ReturnType, RTE_CODE) Rte_Read_SensorFusion_RadarData_Objects(
    P2VAR(RadarObjectList_Type, AUTOMATIC, RTE_APPL_DATA) data
);

FUNC(Std_ReturnType, RTE_CODE) Rte_Write_SensorFusion_FusedObjectList_Objects(
    P2CONST(FusedObjectArray_Type, AUTOMATIC, RTE_APPL_CONST) data
);

/* Runnable Entity Prototypes */
FUNC(void, RTE_CODE) SensorFusion_Init(void);
FUNC(void, RTE_CODE) SensorFusion_MainFunction(void);

#endif /* RTE_SENSORFUSION_H */
```

### Application Implementation

```c
/* SensorFusion.c - Application Implementation */

#include "Rte_SensorFusion.h"
#include "SensorFusion_Internal.h"

static FusionState_Type fusionState;

void SensorFusion_Init(void) {
    /* Initialize fusion algorithms */
    InitKalmanFilters(&fusionState);
    InitDataAssociation(&fusionState);
}

void SensorFusion_MainFunction(void) {
    CameraImage_Type cameraData;
    RadarObjectList_Type radarData;
    LidarPointCloud_Type lidarData;
    FusedObjectArray_Type fusedObjects;

    /* Read sensor inputs via RTE */
    Std_ReturnType ret_camera = Rte_Read_SensorFusion_CameraData_ImageData(&cameraData);
    Std_ReturnType ret_radar = Rte_Read_SensorFusion_RadarData_Objects(&radarData);
    Std_ReturnType ret_lidar = Rte_Read_SensorFusion_LidarData_PointCloud(&lidarData);

    if ((ret_camera == RTE_E_OK) && (ret_radar == RTE_E_OK) && (ret_lidar == RTE_E_OK)) {
        /* Perform sensor fusion */
        ProcessCameraDetections(&cameraData, &fusionState);
        ProcessRadarDetections(&radarData, &fusionState);
        ProcessLidarDetections(&lidarData, &fusionState);

        /* Run fusion algorithm (EKF) */
        UpdateKalmanFilters(&fusionState);

        /* Data association */
        PerformDataAssociation(&fusionState);

        /* Generate fused object list */
        GenerateFusedObjectList(&fusionState, &fusedObjects);

        /* Write output via RTE */
        Rte_Write_SensorFusion_FusedObjectList_Objects(&fusedObjects);
    }
}
```

## AUTOSAR Adaptive Platform for ADAS

### Service-Oriented Architecture

```cpp
// ara::com service interface definition
// SensorFusion.arxml service interface

#include <ara/com/types.h>
#include <ara/core/future.h>
#include <ara/core/result.h>

namespace adas {
namespace sensorfusion {

struct FusedObject {
    uint32_t id;
    float position_x;
    float position_y;
    float velocity_x;
    float velocity_y;
    uint8_t object_class;
    float confidence;
};

using FusedObjectList = std::vector<FusedObject>;

class SensorFusionServiceInterface {
public:
    virtual ~SensorFusionServiceInterface() = default;

    // Events (publisher-subscriber)
    virtual ara::com::EventPtr<FusedObjectList> GetFusedObjectListEvent() = 0;

    // Methods (request-response)
    virtual ara::core::Future<ara::core::Result<bool>> StartFusion() = 0;
    virtual ara::core::Future<ara::core::Result<bool>> StopFusion() = 0;

    // Fields (getter/setter with notification)
    virtual ara::com::FieldPtr<uint32_t> GetFusionStatusField() = 0;
};

}} // namespace adas::sensorfusion
```

### Service Implementation (Provider)

```cpp
// SensorFusionServiceImpl.cpp

#include "SensorFusionServiceInterface.h"
#include <ara/com/instance_identifier.h>
#include <ara/core/instance_specifier.h>

namespace adas {
namespace sensorfusion {

class SensorFusionServiceImpl : public SensorFusionServiceInterface {
public:
    SensorFusionServiceImpl() {
        // Initialize service skeleton
        ara::core::InstanceSpecifier instance("ADAS/SensorFusion/Instance1");
        skeleton_ = std::make_unique<SensorFusionSkeleton>(instance);

        // Offer service
        skeleton_->OfferService();
    }

    ~SensorFusionServiceImpl() {
        skeleton_->StopOfferService();
    }

    ara::com::EventPtr<FusedObjectList> GetFusedObjectListEvent() override {
        return skeleton_->fusedObjectList;
    }

    ara::core::Future<ara::core::Result<bool>> StartFusion() override {
        // Start fusion processing
        fusion_active_ = true;
        return ara::core::MakeReadyFuture<ara::core::Result<bool>>(true);
    }

    ara::core::Future<ara::core::Result<bool>> StopFusion() override {
        fusion_active_ = false;
        return ara::core::MakeReadyFuture<ara::core::Result<bool>>(true);
    }

    ara::com::FieldPtr<uint32_t> GetFusionStatusField() override {
        return skeleton_->fusionStatus;
    }

    // Main processing function
    void ProcessSensorData() {
        if (!fusion_active_) return;

        // Perform fusion
        FusedObjectList fusedObjects = PerformFusion();

        // Publish event
        skeleton_->fusedObjectList.Send(fusedObjects);

        // Update status field
        skeleton_->fusionStatus.Set(1);  // 1 = Active
    }

private:
    std::unique_ptr<SensorFusionSkeleton> skeleton_;
    bool fusion_active_ = false;

    FusedObjectList PerformFusion() {
        // Fusion logic here
        FusedObjectList objects;
        // ...
        return objects;
    }
};

}} // namespace adas::sensorfusion
```

### Service Consumer (Proxy)

```cpp
// PathPlanningApp.cpp - Consumer of SensorFusion service

#include "SensorFusionServiceInterface.h"
#include <ara/com/service_proxy_factory.h>
#include <ara/core/instance_specifier.h>

class PathPlanningApp {
public:
    PathPlanningApp() {
        // Find and connect to service
        ara::core::InstanceSpecifier instance("ADAS/SensorFusion/Instance1");

        auto handles = SensorFusionProxy::FindService(instance);

        if (!handles.empty()) {
            proxy_ = std::make_unique<SensorFusionProxy>(handles[0]);

            // Subscribe to fused object list
            proxy_->GetFusedObjectListEvent().Subscribe(1);  // Queue size = 1
            proxy_->GetFusedObjectListEvent().SetReceiveHandler(
                [this](const FusedObjectList& objects) {
                    HandleFusedObjects(objects);
                }
            );
        }
    }

    void HandleFusedObjects(const FusedObjectList& objects) {
        // Use fused objects for path planning
        PlanPath(objects);
    }

    void PlanPath(const FusedObjectList& objects) {
        // Path planning logic
    }

private:
    std::unique_ptr<SensorFusionProxy> proxy_;
};
```

## Resource Partitioning & Timing

### Timing Configuration

```xml
<!-- Timing_Config.arxml -->
<AUTOSAR>
  <AR-PACKAGES>
    <AR-PACKAGE>
      <SHORT-NAME>Timing</SHORT-NAME>
      <ELEMENTS>
        <!-- Task Configuration -->
        <OS-TASK>
          <SHORT-NAME>SensorFusion_Task</SHORT-NAME>
          <PRIORITY>10</PRIORITY>  <!-- High priority -->
          <SCHEDULE>FULL</SCHEDULE>
          <ACTIVATION>1</ACTIVATION>
          <AUTOSTART>true</AUTOSTART>
          <TIMING-PROTECTION>
            <EXECUTION-TIME>
              <VALUE>0.015</VALUE>  <!-- 15ms WCET -->
            </EXECUTION-TIME>
            <TIME-FRAME>
              <VALUE>0.020</VALUE>  <!-- 20ms period -->
            </TIME-FRAME>
          </TIMING-PROTECTION>
        </OS-TASK>

        <OS-TASK>
          <SHORT-NAME>PathPlanning_Task</SHORT-NAME>
          <PRIORITY>8</PRIORITY>
          <SCHEDULE>FULL</SCHEDULE>
          <TIMING-PROTECTION>
            <EXECUTION-TIME>
              <VALUE>0.045</VALUE>  <!-- 45ms WCET -->
            </EXECUTION-TIME>
            <TIME-FRAME>
              <VALUE>0.050</VALUE>  <!-- 50ms period -->
            </TIME-FRAME>
          </TIMING-PROTECTION>
        </OS-TASK>

        <!-- Alarm for periodic activation -->
        <OS-ALARM>
          <SHORT-NAME>SensorFusion_Alarm</SHORT-NAME>
          <COUNTER-REF DEST="OS-COUNTER">/Timing/SystemCounter</COUNTER-REF>
          <ALARM-ACTION>
            <OS-ALARM-ACTIVATE-TASK-ACTION>
              <TASK-REF DEST="OS-TASK">/Timing/SensorFusion_Task</TASK-REF>
            </OS-ALARM-ACTIVATE-TASK-ACTION>
          </ALARM-ACTION>
          <AUTOSTART-ALARM>
            <AUTOSTART-ALARM-REF DEST="AUTOSTART">/Timing/Autostart</AUTOSTART-ALARM-REF>
            <ALARM-TIME>20</ALARM-TIME>  <!-- 20ms -->
            <CYCLE-TIME>20</CYCLE-TIME>
          </AUTOSTART-ALARM>
        </OS-ALARM>
      </ELEMENTS>
    </AR-PACKAGE>
  </AR-PACKAGES>
</AUTOSAR>
```

### Memory Protection

```xml
<!-- Memory_Partition.arxml -->
<AUTOSAR>
  <AR-PACKAGES>
    <AR-PACKAGE>
      <SHORT-NAME>MemoryPartitioning</SHORT-NAME>
      <ELEMENTS>
        <OS-APPLICATION>
          <SHORT-NAME>ADAS_Application</SHORT-NAME>
          <TRUSTED>true</TRUSTED>
          <MEMORY-SECTIONS>
            <OS-APPLICATION-MEMORY-SECTION>
              <SHORT-NAME>ADAS_RAM</SHORT-NAME>
              <SIZE>0x100000</SIZE>  <!-- 1MB -->
              <ALIGNMENT>4</ALIGNMENT>
              <BASE-ADDRESS>0x40000000</BASE-ADDRESS>
            </OS-APPLICATION-MEMORY-SECTION>
          </MEMORY-SECTIONS>
        </OS-APPLICATION>
      </ELEMENTS>
    </AR-PACKAGE>
  </AR-PACKAGES>
</AUTOSAR>
```

## Safety (ASIL-D) Configuration

### Safety Mechanisms

```c
/* Safety Monitor for ADAS Functions */

#define ADAS_SAFETY_TIMEOUT_MS 100
#define ADAS_PLAUSIBILITY_THRESHOLD 0.5

typedef enum {
    SAFETY_STATE_NORMAL,
    SAFETY_STATE_DEGRADED,
    SAFETY_STATE_SAFE_STOP
} SafetyState_Type;

typedef struct {
    uint32_t timestamp_ms;
    boolean sensor_fusion_alive;
    boolean path_planning_alive;
    boolean control_alive;
    SafetyState_Type state;
} SafetyMonitor_Type;

void SafetyMonitor_Check(SafetyMonitor_Type* monitor) {
    uint32_t current_time = GetSystemTime_ms();

    /* Check aliveness */
    if ((current_time - monitor->timestamp_ms) > ADAS_SAFETY_TIMEOUT_MS) {
        monitor->state = SAFETY_STATE_SAFE_STOP;
        TriggerSafeMechanism();
    }

    /* Plausibility checks */
    if (!CheckSensorFusionPlausibility()) {
        monitor->state = SAFETY_STATE_DEGRADED;
    }
}

void SafetyMonitor_UpdateAlive(SafetyMonitor_Type* monitor, ADASComponent_Type component) {
    switch (component) {
        case COMPONENT_SENSOR_FUSION:
            monitor->sensor_fusion_alive = TRUE;
            break;
        case COMPONENT_PATH_PLANNING:
            monitor->path_planning_alive = TRUE;
            break;
        case COMPONENT_CONTROL:
            monitor->control_alive = TRUE;
            break;
    }

    monitor->timestamp_ms = GetSystemTime_ms();
}
```

## Performance Requirements

| Component | WCET | Period | Latency | ASIL |
|-----------|------|--------|---------|------|
| **Sensor Fusion** | 15ms | 20ms | < 50ms | ASIL D |
| **Path Planning** | 45ms | 50ms | < 100ms | ASIL D |
| **Control** | 5ms | 10ms | < 20ms | ASIL D |
| **Diagnostics** | 20ms | 100ms | N/A | ASIL B |

## Standards

- **AUTOSAR Classic R4.x**: Foundation for ADAS ECUs
- **AUTOSAR Adaptive R19-11**: High-performance computing platforms
- **ISO 26262**: ASIL D for safety-critical functions
- **ISO 17356 (AUTOSAR)**: Integration standard

## Related Skills

- sensor-fusion-perception.md
- adas-features-implementation.md
- path-planning-control.md
