VehicleIO Plugin Sample

Table of Contents

• Description
• Running the Sample
• Additional information

Note

SW Release Applicability: This sample is available in both NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

Description

The VehicleIO Plugin sample demonstrates how to write a custom VehicleIO backend via a dynamically loaded library.

For simplicity, this sample only encodes and parses steering commands as specified in a DBC file.

Running the Sample

In order to instruct the VehicleIO module to use the plug-in backend, a rig file should specify a VehicleIO node with type parameter set to "custom" and custom-lib parameter pointing to the dynamically loaded library, e.g.

"vehicleio": [
    {
        "type": "custom",
        "parent-sensor": "can:vehicle:custom",
        "custom-lib": "libsample_vehicleio_plugin.so"
    }
],

A sample rig file already provided in <dw>/data/samples/vehicleio/rig-plugin.json.

Once the rig file is ready, you can run sample_vehicleio:

./sample_vehicleio --rig=path/to/dw/data/samples/vehicleio/rig-plugin.json

Additional information

For more information, see VehicleIO.