Prerequisites

PFC runs on these hardware platforms:

NVIDIA DRIVE^™ AGX Platform: Bench setup with all sensors connected.
NVIDIA DRIVE AGX Platform: In-Car

For the following information, see the NVIDIA DRIVE AV Release Notes:

Specifications on the supported NVIDIA DRIVE AGX Platform
Software versions that PFC and NVIDIA DRIVE AV use

PFC must be installed with NVIDIA DRIVE^™ AV.

Bench Validation

Below are the prerequisites to ensure correct PFC results during bench mode validation. In bench mode, sensor data usually comes from recordings, but it can also come from sensors.

Note: Currently, PFC bench validation supports only data from sensors. It does not support recorded data.

GPS sensor must have clear sky. If PFC is executed in a garage or closed environment, GPS data-validity may indicate failure.
All camera and Radar sensors must be exposed to a valid environment. Specifically, cameras must:
- Have a valid, unobstructed view. Cameras must not face a static view, such as a wall. Cameras must not be obstructed by barriers, such as trees, cloth, or mud.
- Be exposed to appropriate lights.
Radar sensor must be separated from objects by at least 1-meter; otherwise, Radar data-validity fails.

In-Car Validation

Below are the prerequisite to ensure correct PFC results during in-car validation.

Prerequisites specified for Bench Validation.
CAR engine must be ON, the transmission must be in Park, and the steering must be unlocked; otherwise, CAN sanity fails.

Running in Autonomous Driving Mode

On the platform, navigate to:

/usr/local/driveworks/tools/preFlightChecker/config

Enter:
```
$ sudo ./pfc_run.sh --rig  <rig_file_path> --car agx-rel [--no-gui]
```
Where
- <rig_file_path> is the path of the rig.json file that specifies each sensors to validate, based on the setup configuration.
- <car_no> identifies the car. For the NVIDIA AGX Platform, set this parameter to agx-rel.
  By default: bench.
- --no-gui (optional) disables the PFC GUI and instead displays the result only on the console.
For example:
```
 $ sudo ./pfc_run.sh --rig hyperion-7-1-release.json --car agx-rel --no-gui
```
For NVIDIA Hyperion 7.1, the config rig file is available at:
```
/usr/local/driveworks/tools/preFlightChecker/config/hyperion7-1-release.json
```
PFC updates the log output as specified in hyperion7-1-release.json. It also displays the current sensor status in a sequence of four images:
- Summary: The first window shows a summary of sensor status (screen shot follows).
- Detail: Use the RIGHT-ARROW key to navigate to the detail windows, which includes multiple pages. Use the RIGHT- and LEFT-ARROW keys to navigate between pages.
  An example of the detailed information follows.

Running in Bench Mode

When you use PFC in bench mode, it performs the same checks as in autonomous mode. However, in bench mode, CAN devices are unavailable. Those devices include brake, throttle, gear & steering. As a result, validation of those devices always fails.

On the platform, navigate to:

/usr/local/driveworks/tools/preFlightChecker/config

Enter:
```
$ sudo ./pfc_run.sh --rig  <rig_file_path>
```
Where
- <rig_file_path> is the path of the rig.json file that specifies each sensors to validate, based on the setup configuration.
For example:
```
$ sudo ./pfc_run.sh --rig hyperion7-1-release.json
```
For NVIDIA Hyperion 7.1, the config rig file is available at:
```
/usr/local/driveworks/tools/preFlightChecker/config/hyperion7-1-release.json
```

Generating a Data Log

By default, PFC generates a log.

Note: If debug logs are enabled, there is a possibility of CAN Sanity and IMU/GPS data-validity failure. This failure is from the logging latency.

The following is an example of the log output.

The log provides the following information:

SENSOR NAME: Sensor name and type, as specified in rig file. For example, camera, Lidar, or Radar. When available, this field also shows the sensor position.
INIT: Status of sensor initialization.
DATA-RATE (mega-pixels/second): Rate at which the sensor feeds the data to PFC. Applies to cameras only.
FREQUENCY (Hertz): Number of frames available per second.
DATA-VALIDATE: Status of the data validity check performed on sensors. Supported values are:
- VALID: Sensor is providing valid data.
- NOT_IMPL: Support for the specified sensor is not yet implemented.
- -NA-: Indicates the attribute, such as DATA-RATE, does not apply to the sensor.
For information on how PFC determines data validity, see Pre-Flight Checker Features.

Interpreting the Log

This section explains how to interpret information in the log.

Sensor Frequency Is Zero

The FREQUENCY field for a sensor show a value of zero when data is not available. This can happen even though the sensor is connected properly. These symptoms can be due to:

For GPS, the signal strength is weak.
For Lidar or Radar, the sensor is blocked.

Sensor Has INVALID Status

The DATA-VALIDATE field for a camera shows INVALID when there are issues with the sensor position.

To fix in bench mode

Re-align camera sensor

To fix in autonomous vehicle mode

Move the car to a different location.

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