- Host Configuration
- Runtime Node Configuration
- SDF Configuration
- Logfile Management
- Managing the Runtime
- Application Code Portability
- Building C Examples
- Building C++ Examples
- Building a Node
- Clone Example Repos
- Coordinate Frames
- Diagnostic Trouble Codes
- Extending the Data Model
- IDE Setup
- Logged vs Source vs Published Video Parameters
- MATLAB to Export - BETA
- PolySync Messages
- ROS Bridge
- Release Notes
- Standard Units
- Dynamic Driver/HW Interface Development
- Application Development
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
All required configuration information specific to a hardware device or sensor is detailed within the Supported Sensors sub-article.
Follow these tutorials for examples on setting up different types of sensor nodes in PolySync:
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
- C++ example to select a logfile session, and pause/play the playback
3. Replay logfile sessions
PolySync Core is able to replay pre-recorded logfile data from any other PolySync system. This does not require hardware to be connected to the ECU.
To import logfile data recorded from another machine, read here.
To learn the process of replaying logfile sessions, follow this article which will replay sample data provided with the PolySync Core release package.
4. HelloWorld with the C and C++ APIs
The PolySync C and C++ APIs allow you to access data originating from sensor nodes on the system. The Publishing and Subscribing tutorial is a lot like the classic HelloWorld, and introduces the concept of a C++ PolySync node.
This does not require that hardware is connected to the ECU.