The following minimal tutorial will guide through writing and building your first NVIDIA^® DriveWorks based application on a Linux desktop machine.

Coding

The first thing to do when building an application based on DriveWorks is to initialize its context:

dwContextHandle_t sdk = DW_NULL_HANDLE;
dwContextParameters sdkParams = {};
dwVersion sdkVersion;
dwGetVersion(&sdkVersion);
dwInitialize(&sdk, sdkVersion, &sdkParams);

The header for the context can be included as:

#include <dw/core/context/Context.h>

Context.h

NVIDIA DriveWorks API: Core Methods

Now we can for example figure out how many GPUs are available on the host machine:

int32_t gpuCount;
dwContext_getGPUCount(&gpuCount, sdk);
std::cout << "Available GPUs: " << gpuCount << std::endl;

Last thing to do before exiting the program is to release the context:

dwRelease(sdk);

dwRelease

DW_API_PUBLIC dwStatus dwRelease(dwContextHandle_t const context)

Releases the context.

For your reference this is what the full program will look like:

#include <iostream>
#include <dw/core/context/Context.h>
 
int main(int argc, char **argv)
{
 
    dwContextHandle_t sdk   = DW_NULL_HANDLE;
 
    // instantiate Driveworks SDK context
    dwContextParameters sdkParams = {};
    dwVersion sdkVersion;
    dwGetVersion(&sdkVersion);
    dwInitialize(&sdk, sdkVersion, &sdkParams);
 
    std::cout << "Context of Driveworks SDK successfully initialized." <<std::endl;
    std::cout << "Version: " << sdkVersion.major << "." << sdkVersion.minor << "." << sdkVersion.patch << std::endl;
 
    int32_t gpuCount;
    dwContext_getGPUCount(&gpuCount, sdk);
    std::cout << "Available GPUs: " << gpuCount << std::endl;
 
    // release Driveworks SDK context
    dwRelease(&sdk);
 
    return 0;
}

Building and Executing

This application can be built with gcc using the following command:

    gcc -I/usr/local/driveworks/include/ -I/usr/local/cuda/include helloworld.cpp -ldriveworks -L/usr/local/driveworks/lib/ -lstdc++ -o helloworld

Afterwords when executing ./helloworld you should get an output similiar to:

    Context of Driveworks SDK successfully initialized.
    Version: 1.0.218
    Available GPUs: 1

Note: An extended version of this hello world application is provided, for more information see Hello World Sample.; For more complex examples please refer to Samples.