Step-by-Step: TOML Configuration Files#

Note

Step Goal

In this guide, you will learn how to use .toml configuration files to set up and run a wiper application in the VAPI framework.

You’ll explore both standalone and runtime configurations, understand how each file works, and see how to integrate them using CMake.

This guide explains how .toml configuration files are used in the VAPI framework for the wiper example.

There are two configuration approaches:

  • Standalone Configuration – required for running the application locally. These TOML files are manually integrated and simulate runtime behavior.

  • Runtime Configuration – used in isolated or production-like setups. These files are loaded after installing components with SDV_PACKAGER.

Overview#

TOML files are modular configuration files that allow you to define services, devices, timers, and simulation components. Not all files are mandatory, their inclusion depends on the functionality you want to implement.

Each file follows a common structure:

[Configuration]
Version = 100

[[Component]]
Path = "component_file.sdv"
Class = "ComponentClass"

Standalone Configuration TOML Files#

1. data_dispatch_wiper.toml

Used to configure the Data Dispatch Service, which routes signals between components.

[Configuration]
Version = 100

[[Component]]
Path = "data_dispatch_service.sdv"
Class = "DataDispatchService"

2. data_link_wiper.toml

Defines the CAN datalink component that connects application signals to CAN messages.

[Configuration]
Version = 100

[[Component]]
Path = "can_dl_wiper.sdv"
Class = "CAN_data_link"

3. task_timer_wiper.toml

Configures the Task Timer Service, which enables periodic execution of logic.

[Configuration]
Version = 100

[[Component]]
Path = "task_timer.sdv"
Class = "TaskTimerService"

4. wiper_vehicle_device_and_basic_service.toml

Loads the generated Vehicle Devices (VD) and Basic Services (BS) for signal handling.

Hint

For each signal, you need to specify both the path and the class name. To find the correct class name, search for DECLARE_OBJECT_CLASS_NAME in the generated source files. For the correct path name, check the TARGET_NAME defined in each generated CMakeLists.txt.

[[Component]]
Path = "wiper_vd_frontwiper_tx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Front_Device"

[[Component]]
Path = "wiper_vd_rainsensor_rx.sdv"
Class = "Vehicle.Body.Weather.Rain_Device"

[[Component]]
Path = "wiper_vd_rearwiper_tx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Rear_Device"

[[Component]]
Path = "wiper_vd_wipermode_rx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Mode_Device"

[[Component]]
Path = "wiper_bs_frontwiper_tx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Front_Service"

[[Component]]
Path = "wiper_bs_rainsensor_rx.sdv"
Class = "Vehicle.Body.Weather.Rain_Service"

[[Component]]
Path = "wiper_bs_rearwiper_tx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Rear_Service"

[[Component]]
Path = "wiper_bs_wipermode_rx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Mode_Service"

5. can_com_simulation_wiper.toml

Used for simulating CAN communication when hardware is not available.

[Configuration]
Version = 100

[[Component]]
Path = "can_com_sim.sdv"
Class = "CAN_Com_Sim"
Source = "wiper_receiver.asc"
Target = "wiper_writer.asc"

6. complex_service_wiper.toml - needed only if you implement the Complex Service

Loads the complex service that coordinates basic services and implements logic.

[Configuration]
Version = 100

[[Component]]
Path = "wiper_complex_service.sdv"
Class = "Wiper Service"

CMake Integration#

Each TOML file must be copied to the runtime configuration directory using CMake. This ensures they are available when the application starts.

Warning

If you update the .toml files after your first build, you must either delete the build folder or manually copy the updated files into it. This is because the copy operation happens during CMake configuration, not during the CMake build step.

file(COPY ${PROJECT_SOURCE_DIR}/config/can_com_simulation_wiper.toml DESTINATION ${CMAKE_BINARY_DIR}/bin/config)
file(COPY ${PROJECT_SOURCE_DIR}/config/complex_service_wiper.toml DESTINATION ${CMAKE_BINARY_DIR}/bin/config)
file(COPY ${PROJECT_SOURCE_DIR}/config/data_dispatch_wiper.toml DESTINATION ${CMAKE_BINARY_DIR}/bin/config)
file(COPY ${PROJECT_SOURCE_DIR}/config/data_link_wiper.toml DESTINATION ${CMAKE_BINARY_DIR}/bin/config)
file(COPY ${PROJECT_SOURCE_DIR}/config/task_timer_wiper.toml DESTINATION ${CMAKE_BINARY_DIR}/bin/config)
file(COPY ${PROJECT_SOURCE_DIR}/config/wiper_vehicle_device_and_basic_service.toml DESTINATION ${CMAKE_BINARY_DIR}/bin/config)

Runtime Configuration TOML Files#

These TOML files are used to configure the runtime environment and application logic after components have been generated and installed using SDV_PACKAGER.

7. settings.toml

Defines which system and application configuration files should be loaded at runtime.

[Settings]
Version = 100

SystemConfig = [ "platform.toml", "vehicle_ifc.toml", "vehicle_abstract.toml" ]
AppConfig = "wiper.toml"

8. platform.toml

Defines platform-level components such as CAN simulation.

[Configuration]
Version = 100

[[Component]]
Path = "can_com_sim.sdv"
Class = "CAN_Com_Sim"
Source = "wiper_receiver.asc"
Target = "wiper_writer.asc"

9. vehicle_abstract.toml

Loads abstract services (BS) and proxy/stub modules.

[Configuration]
Version = 100

[[Component]]
Path = "wiper_bs_frontwiper_tx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Front_Service"

[[Component]]
Path = "wiper_bs_rainsensor_rx.sdv"
Class = "Vehicle.Body.Weather.Rain_Service"

[[Component]]
Path = "wiper_bs_rearwiper_tx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Rear_Service"

[[Component]]
Path = "wiper_bs_wipermode_rx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Mode_Service"

[[Module]]
Path = "wiper_proxystub.sdv"

10. vehicle_ifc.toml

Defines the vehicle interface components including datalink and VD.

[Configuration]
Version = 100

[[Component]]
Path = "can_dl_wiper.sdv"
Class = "CAN_data_link"
Name = "DataLink"

[[Component]]
Path = "wiper_vd_frontwiper_tx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Front_Device"

[[Component]]
Path = "wiper_vd_rainsensor_rx.sdv"
Class = "Vehicle.Body.Weather.Rain_Device"

[[Component]]
Path = "wiper_vd_rearwiper_tx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Rear_Device"

[[Component]]
Path = "wiper_vd_wipermode_rx.sdv"
Class = "Vehicle.Body.Windshield.Wiper.Mode_Device"

11. wiper.toml

Loads the complex service and proxy/stub for the wiper application.

[Configuration]
Version = 100

[[Component]]
Path = "wiper_complex_service.sdv"
Class = "Wiper Service"
Name = "Wiper Service"

[[Module]]
Path = "wiper_service_proxystub.sdv"

CMake Integration#

These files must be manually copied to the runtime directory because SDV_PACKAGER does not generate them automatically.

file(COPY ${PROJECT_SOURCE_DIR}/coreconfig/settings.toml DESTINATION ${SDV_FRAMEWORK_RUNTIME})
file(COPY ${PROJECT_SOURCE_DIR}/coreconfig/platform.toml DESTINATION ${SDV_FRAMEWORK_RUNTIME})
file(COPY ${PROJECT_SOURCE_DIR}/coreconfig/vehicle_abstract.toml DESTINATION ${SDV_FRAMEWORK_RUNTIME})
file(COPY ${PROJECT_SOURCE_DIR}/coreconfig/vehicle_ifc.toml DESTINATION ${SDV_FRAMEWORK_RUNTIME})
file(COPY ${PROJECT_SOURCE_DIR}/coreconfig/wiper.toml DESTINATION ${SDV_FRAMEWORK_RUNTIME})

Note

Step Reach

After completing this guide, you now understand:

  • The difference between standalone and runtime TOML configurations.

  • How to define components like services, devices, and timers using TOML files.

  • How to simulate CAN communication and load generated components.

  • How to integrate TOML files into your project using CMake.