- 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
Starting Sensor and Hardware Nodes
Once the PolySync manager is running, nodes can be commanded to enter one of the three runtime states:
The command and desired operating state is received over the bus by the PolySync manager, typically from Studio.
This article details how to command nodes in to the hardware state. See this other article if you want to replay logfile data.
Nodes can also be started individually in terminal windows, if you do not need to start the full runtime.
1. Starting all nodes
All nodes in a PolySync runtime can be started using Studio, or manually on the command line.
1.1 Starting all nodes with Studio
Studio’s system state module is one method to command nodes into each of the runtime states, and it also provides a way to observe the runtime state for any errors or detected mismatches.
1.1.1 System state
System state observes the runtime hosts and nodes on the bus. Based on the runtime context it reports the current status of all nodes.
1.1.2 Opening system state
System state can be accessed at any time in Studio. Start Studio from the application icon, or the command:
The system state status module is launched from the icon.
1.1.3 Hardware state
The manager only knows how to spawn nodes that are defined in the SDF Configurator.
In the hardware state the PolySync manager is referencing thewhen it’s commanded to spawn nodes.
Enter this state by pressing the button.
If you’re seeing unexpected nodes, stop the runtime then open the SDF Configurator to ensure the runtime defined in the SDF reflects the physical hardware configuration, i.e. the right hosts and nodes are defined.
1.2. Starting all nodes manually
The PolySync runtime can be manually started by passing command line arguments directly to the manager.
1.2.1 Hardware state
Start all nodes defined in thein the hardware state with the command:
$ polysync-core-manager -n
1.2.2 Replay state
Start all nodes defined in thein the replay state with the command:
$ polysync-core-manager -n -w
To command nodes to replay data follow one of these articles:
2. Validating the runtime
Once the runtime has started nodes will begin publishing data to the global PolySync bus. This allows other applications to access the data by subscribing to the message types output by the nodes on the bus.
Start Studio to check the runtime status of the node using the System State module, and use the provided Studio plugins to visualize and validate the data.
If errors are reported in the system state window, you can get more information about errors in Studio’s console module.