- Host Configuration
- Runtime Node Configuration
- SDF Configuration
- Managing the Runtime
- Logfile Management
- Application Development
- Dynamic Driver Development
- Ecosystem Tools
PolySync Core Messages
Data moves through a PolySync runtime by an application publishing and subscribing messages to the PolySync bus.
PolySync has defined a set of common messages seen on an autonomous vehicle system.
New messages can be created, and existing messages can be extended to facilitate any kind of data. Please see the article on data model generation for an example.
Existing messages in the data model
View Active Message Types
View the messages currently being published to the PolySync Core bus using the echo C++ example. This application subscribes to the messages in the data model and prints the filtered data in the terminal.
Build the Echo example and have it listen for all messages on the Core bus.
$ git clone https://github.com/PolySync/PolySync-Core-CPP-Examples $ cd PolySync-CPP-Examples/Echo $ mkdir build && cd build $ cmake .. && make $ ./polysync-echo -a
Below is an example of the output when this application is run while Logfile 70802 is active on the Core bus.
Active PolySync Message Types: ps_diagnostic_trace_msg ps_lane_model_msg ps_parameters_msg ps_image_data_msg ps_manager_status_msg ps_response_msg ps_sdf_state_msg ps_platform_motion_msg ps_file_sync_msg ps_rnr_sessions_msg ps_lidar_points_msg ps_radar_targets_msg ps_objects_msg ps_rnr_msg ps_traffic_sign_msg ps_command_msg