Description
The VehicleIO Plugin sample demonstrates how to write a custom VehicleIO backend via a dynamically loaded library.
For simplicity, this sample only encodes and parses steering commands as specified in a DBC file.
Running the Sample
In order to instruct the VehicleIO module to use the plug-in backend, a rig file should specify a VehicleIO node with type parameter set to "custom" and custom-lib parameter pointing to the dynamically loaded library, e.g.
"vehicleio": [
{
"type": "custom",
"parent-sensor": "can:vehicle:custom",
"custom-lib": "libsample_vehicleio_plugin.so"
}
],
A sample rig file already provided in <dw>/data/samples/vehicleio/rig-plugin.json.
Once the rig file is ready, you can run sample_vehicleio:
./sample_vehicleio --rig=path/to/dw/data/samples/vehicleio/rig-plugin.json
Additional information
For more information, see VehicleIO.
