- Host Configuration
- Runtime Node Configuration
- SDF Configuration
- Managing the Runtime
- Logfile Management
- Application Development
- Dynamic Driver Development
- Ecosystem Tools
PolySync Core Workflows
Once PolySync Core is installed on the host ECU, you can take advantage of the massive amount of provided developer resources.
Each section may be pursued independent of completing other sections, with the exception of connecting to hardware before recording sensor data.
1. Connecting to hardware
PolySync supports a wide array of sensors used in autonomous vehicles. Each hardware device follows the same high-level configuration paradigm:
- Physically connect the hardware device to the ECU
- Configure the host ECU network IP address, CAN channel, or serial connection
- Define a PolySync dynamic driver node using the SDF Configurator
- Enter the sensor’s IO configuration information in the SDF
- Start the dynamic driver node
Alternatively you can follow the Connect USB Webcam tutorial to set up a generic video device or webcamera to become familiar with the workflow of connecting hardware.
2. Record sensor data
The Dynamic Driver nodes mentioned above are capable of recording the incoming sensor data for future playback. The data is stored in the form of a plog file.
When PolySync nodes are operating in the hardware state they can be commanded to start and stop recording logfile data at any time. Studio provides a handy interface to initiate and halt recording of logfile sessions.
The C and C++ APIs have the ability to command nodes to record and replay data too:
- C example used for both record and replay (rnr) operations
- C++ example to command nodes to record a logfile session with a unique session ID
3. Replay logfile sessions
PolySync Core is able to replay recorded logfile data collected from any PolySync system. This does not require hardware to be connected to the ECU.
4. PolySync generate
PolySync generate is a great tool to get you developing custom nodes with Core quickly by generating a C++ node.
The publishing and subscribing tutorial provides context about the generated code and introduces the concept of a C++ node.
This does not require that hardware is connected to the ECU.