DriveWorks SDK Reference
5.8.83 Release
For Test and Development only

Sensor Querying

NVIDIA® DriveWorks context allows querying all the supported sensors for each HW platform as well as the parameters available to configure them. Please note that the query returns supported sensors by DriveWorks and not if a particular sensor is actually physically attached to the platform. Sensors are specified using a factory pattern such as: 

sensor_type.mode param1=value1,param2=value2,...

where sensor_type.mode specifies the protocol and the following specifies the various parameters: 

param1=value1,param2=value2,...

For example, the code snipped below lists all sensors supported on the NVIDIA DRIVE platform and Linux host system. It also lists the parameters for each sensor.

DW_PLATFORM_OS_V5L dwPlatformOS currentPlatform;
dwPlatformOS platform[] = {DW_PLATFORM_OS_LINUX, DW_PLATFORM_OS_V5L};
CHECK_DW_ERROR(dwSAL_getPlatform(&currentPlatform, hal));
// get information about available sensors on each platform
for (size_t i = 0; i < sizeof(platform) / sizeof(dwPlatformOS); i++) {
const char *name = nullptr;
CHECK_DW_ERROR(dwSAL_getPlatformInfo(&name, platform[i], hal));
std::cout << "Platform: " << name;
if (platform[tformOS currentPlatform;
dwPlatformOS platform[] = {DW_PLATFORM_OS_LINUX, DW_PLATFORM_OS_V5L};
CHECK_DW_ERROR(dwSAL_getPlatform(&currentPlatform, hal));
// get information about available sensors on each platform
for (size_t i = 0; i < sizeof(platform) / sizeof(dwPlatformOS); i++) {
const char *name = nullptr;
CHECK_DW_ERROR(dwSAL_getPlatformInfo(&name, platform[i], hal));
std::cout << "Platform: " << name;
if (platform[i] == currentPlatform)
std::cout << " - CURRENT";
std::cout << ": " << std::endl;
uint32_t numSensors = 0;
CHECK_DW_ERROR(dwSAL_getNumSensors(&numSensors, platform[i], hal));
for (uint32_t j = 0; j < numSensors; j++) {
const char *protocol = "";
const char *params = "";
CHECK_DW_ERROR(dwSAL_getSensorProtocol(&protocol, j, platform[i], hal));
dwSAL_getPlatform
DW_API_PUBLIC dwStatus dwSAL_getPlatform(dwPlatformOS *const os, dwSALHandle_t sal)
Gets current platform the SDK is running on.
dwSAL_getNumSensors
DW_API_PUBLIC dwStatus dwSAL_getNumSensors(uint32_t *const num, dwPlatformOS const os, dwSALHandle_t const sal)
Gets number of available sensors for a platform.
dwSAL_getPlatformInfo
DW_API_PUBLIC dwStatus dwSAL_getPlatformInfo(char8_t const **const osName, dwPlatformOS const os, dwSALHandle_t const sal)
Gets detailed information about the running hardware platform and operating system.
dwSAL_getSensorProtocol
DW_API_PUBLIC dwStatus dwSAL_getSensorProtocol(const char **const name, uint32_t const idx, dwPlatformOS const os, dwSALHandle_t const sal)
Gets protocol name of a sensor for a given index, e.g., 'camera.gmsl' or 'can.file'.
dwPlatformOS
dwPlatformOS
Defines the operating system in use.
Definition: Sensors.h:68
DW_PLATFORM_OS_V5L
@ DW_PLATFORM_OS_V5L
aarch64 based Drive 5 Linux.
Definition: Sensors.h:73
DW_PLATFORM_OS_LINUX
@ DW_PLATFORM_OS_LINUX
Default Linux based platform.
Definition: Sensors.h:70

In the above code:

  • CHECK_DW_ERROR is a macro that throws an exception if an error occurs and
  • DW_PLATFORM_OS_V5L is the NVIDIA DRIVE platform.

With the output being: 

Platform: OS_LINUX - CURRENT:
   Sensor [0] : can.socket ? device=can0[,fifo-size=1024]
   Sensor [1] : can.virtual ? file=/path/to/file.can[,create_seek,default_timeout_us,time-offset=0]
   Sensor [2] : camera.virtual ? video/file=filepath.{h264,raw,lraw}[,timestamp=file.txt][,create_seek][,time-offset=0]
   Sensor [3] : camera.nvidia-ip ? host=<ip_addr>, port=<TCP port number>
   Sensor [4] : camera.usb ? device=0
   Sensor [5] : gps.uart ? device=/dev/ttyXXX[,baud={1200,2400,4800,9600,19200,38400,57600,115200}[,format=nmea0183][,fifo-size=1024]]
   Sensor [6] : gps.virtual ? file=filepath.bin[xsens-raw-gps=true,create_seek,default_timeout_us,time-smoothing=false,time-offset=0]
   Sensor [7] : gps.xsens ? device=0[,frequency=100,xsens-raw-gps=true,time-smoothing=false,fifo-size=1024,baudrate=115200,stop-bits=2]
   Sensor [8] : gps.novatel ? [fifo-size=1024]
   Sensor [9] : gps.dataspeed ? can-proto=can.socket,can-params=device=canX[,fifo-size=1024]
   Sensor [10] : imu.uart ? device=/dev/ttyXXX[,baud={1200,2400,4800,9600,19200,38400,57600,115200}[,format=xsens_nmea][,fifo-size=1024]]
   Sensor [11] : imu.xsens ? device=0[,frequency=100,time-smoothing=true,fifo-size=1024,baudrate=115200,stop-bits=2]
   Sensor [12] : imu.virtual ? file=filepath.bin[,create_seek,default_timeout_us,time-smoothing=true][,fifo-size=1024][,time-offset=0]
   Sensor [13] : imu.novatel ? [fifo-size=1024]
   Sensor [14] : imu.dataspeed ? can-proto=can.socket,can-params=device=canX[,fifo-size=1024]
   Sensor [15] : lidar.virtual ? file=filepath.bin[,create_seek,default_timeout_us,decoder=filepath.so,time-smoothing=false,decoding=true,time-offset=0]
   Sensor [16] : lidar.socket ? ip=X.X.X.X,port=XXXX,device={VELO_VLP16, VELO_VLP16HR, VELO_HDL32E, VELO_VLP32C, VELO_HDL64E, VELO_VLS128, OUSTER_OS1, OUSTER_OS2_128, LUMINAR_H, CUSTOM, CUSTOM_EX},scan-frequency=XX.X[,protocol=xxx,multicast-ip=X.X.X.X,decoder=filepath.so,time-smoothing=false]
   Sensor [17] : radar.virtual ? file=filepath.bin,time-smoothing=true[,decoder=filepath.so,create_seek,default_timeout_us,decoding=true,time-offset=0]
   Sensor [18] : radar.socket ? ip=X.X.X.X,port=XXXX,device={DELPHI_ESR2_5, CONTINENTAL_ARS430, CUSTOM},multicast-ip=X.X.X.X],time-smoothing=true,isInverted=false[,decoder=filepath.so,protocol=xxx]
   Sensor [19] : radar.can ? can-driver=can.xxx,can-bus=xxx,can-base-id=0x460,device={CONTINENTAL_ARS430_CAN}[,aurix-can-ip=X.X.X.X.X],[aurix-can-aport=XXXX][,aurix-can-bport=XXXX][,virtual-file=filepath.bin][,time-smoothing=false]

Platform: OS_DRIVE_V5L:
   Sensor [0] : can.socket ? device=can0[,fifo-size=1024]
   Sensor [1] : can.aurix ? ip=10.0.0.1,bus={a,b,c,d}[,aport=50000,bport=60395][,fifo-size=1024]
   Sensor [2] : can.virtual ? file=/path/to/file.can[,create_seek,default_timeout_us,time-offset=0]
   Sensor [3] : camera.gmsl ? (Parker) camera-type={ov10635, ov10640-bggr-ae-svc210, ov10640-bggr-ae-svc212, ar0231-grbg-ae-sd3321, ar0231-rccb-ae-ss3322,ar0231-rccb-bae-ss3322, ar0231-rccb-ae-ss3323, ar0231-rccb-bae-ss3323, ar0231-rccb-ae-sf3324,ar0231-rccb-bae-sf3324, ar0231-rccb-ae-sf3325, ar0231-rccb-bae-sf3325},camera-group={a,b,c},camera-count={1,2,3,4},(Xavier) camera-type={ar0231-rccb-bae-sf3324, ar0231-rccb-bae-sf3325, ar0144-cccc-none-gazet1},output-format={yuv+raw+data}[,slave={0,1}][,fifo-size={3..20}][,custom-board=0]camera-group={a,b,c,d},camera-count={1,2,3,4},[,camera-mask={0001|0010|0011|..|1111}][,warn-per-frame={0,1}]
   Sensor [4] : camera.virtual ? video/file=filepath.{h264,raw,lraw}[,timestamp=file.txt][,create_seek][,time-offset=0]
   Sensor [5] : camera.usb ? device=0
   Sensor [6] : camera.nvidia-ip ? host=[ip_addr], port=[TCP port number]
   Sensor [7] : gps.uart ? device=/dev/ttyXXX[,baud={1200,2400,4800,9600,19200,38400,57600,115200}[,format=nmea0183]][,fifo-size=1024]
   Sensor [8] : gps.virtual ? file=filepath.bin[,xsens-raw-gps=true,create_seek,default_timeout_us,time-smoothing=false,time-offset=0]
   Sensor [9] : gps.xsens ? device=0[,frequency=100,xsens-raw-gps=true,time-smoothing=false,fifo-size=1024,baudrate=115200,stop-bits=2]
   Sensor [10] : gps.novatel ? [fifo-size=1024]
   Sensor [11] : gps.dataspeed ? can-proto=can.socket,can-params=device=canX[,fifo-size=1024]
   Sensor [12] : imu.uart ? device=/dev/ttyXXX[,baud={1200,2400,4800,9600,19200,38400,57600,115200}[,format=xsens_nmea]][,fifo-size=1024]
   Sensor [13] : imu.xsens ? device=0[,frequency=100,time-smoothing=false,fifo-size=1024,baudrate=115200,stop-bits=2]
   Sensor [14] : imu.virtual ? file=filepath.bin[,create_seek,default_timeout_us,time-smoothing=false,time-offset=0]
   Sensor [15] : imu.novatel ? [fifo-size=1024]
   Sensor [16] : imu.dataspeed ? can-proto=can.socket,can-params=device=canX[,fifo-size=1024]
   Sensor [17] : lidar.virtual ? file=filepath.bin[,create_seek,default_timeout_us,time-smoothing=false,decoding=true,time-offset=0]
   Sensor [18] : lidar.socket ? ip=X.X.X.X,port=XXXX,device={VELO_VLP16, VELO_VLP16HR, VELO_HDL32E, VELO_VLP32C, VELO_HDL64E, VELO_VLS128, OUSTER_OS1, OUSTER_OS2_128, LUMINAR_H, CUSTOM, CUSTOM_EX},scan-frequency=XX.X[,protocol=xxx,multicast-ip=X.X.X.X,decoder=filepath.so,time-smoothing=false]
   Sensor [19] : radar.virtual ? file=filepath.bin,time-smoothing=true[,decoder=filepath.so,create_seek,default_timeout_us,decoding=true,time-offset=0]
   Sensor [20] : radar.socket ? ip=X.X.X.X,port=XXXX,device={DELPHI_ESR2_5, CONTINENTAL_ARS430, CUSTOM},multicast-ip=X.X.X.X,time-smoothing=true,isInverted=false[,decoder=filepath.so,protocol=xxx]
   Sensor [21] : radar.can ? can-driver=can.xxx,can-bus=xxx,can-base-id=0x460,device={CONTINENTAL_ARS430_CAN}[,aurix-can-ip=X.X.X.X.X],[aurix-can-aport=XXXX][,aurix-can-bport=XXXX][,virtual-file=filepath.bin]

Platform: OS_QNX:
   Sensor [0] : can.socket ? device=can0
   Sensor [1] : can.virtual ? file=/path/to/file.can[,create_seek][,time-offset=0]
   Sensor [2] : camera.gmsl ? camera-group={a,b,c,d},camera-count={1,2,3,4},camera-type={ar0231-rccb-bae-sf3324, ar0231-rccb-bae-sf3325},output-format={yuv+raw+data}[,slave={0,1}][,fifo-size={3..20}][,custom-board=0][,camera-mask={0001|0010|0011|..|1111}][,warn-per-frame={0,1}]
   Sensor [3] : camera.virtual ? video/file=filepath.{h264,raw}[,timestamp=file.txt][,create_seek][,time-offset=0]
   Sensor [4] : gps.uart ? device=/dev/ttyXXX[,baud={1200,2400,4800,9600,19200,38400,57600,115200}[,format=nmea0183]][,fifo-size=1024]
   Sensor [5] : gps.virtual ? file=filepath.bin[,xsens-raw-gps=true,create_seek,default_timeout_us,time-smoothing=false,time-offset=0]
   Sensor [6] : gps.xsens ? device=0[,frequency=100,xsens-raw-gps=true,time-smoothing=false,fifo-size=1024,baudrate=115200,stop-bits=2]
   Sensor [7] : gps.dataspeed ? can-proto=can.socket/aurix,can-params=device=canX[,fifo-size=1024]
   Sensor [8] : imu.uart ? device=/dev/ttyXXX[,baud={1200,2400,4800,9600,19200,38400,57600,115200}[,format=xsens_nmea]][,fifo-size=1024]
   Sensor [9] : imu.virtual ? file=filepath.bin[,create_seek,default_timeout_us,time-smoothing=false,time-offset=0]
   Sensor [10] : imu.xsens ? device=0[,frequency=100,time-smoothing=false,fifo-size=1024,baudrate=115200,stop-bits=2]
   Sensor [11] : imu.dataspeed ? can-proto=can.socket/aurix,can-params=device=canX[,fifo-size=1024]
   Sensor [12] : lidar.virtual ? file=filepath.bin[,create_seek,default_timeout_us,time-smoothing=false,time-offset=0]
   Sensor [13] : lidar.socket ? ip=X.X.X.X,port=XXXX,device={VELO_VLP16, VELO_VLP16HR, VELO_HDL32E, VELO_VLP32C, VELO_HDL64E, VELO_VLS128, OUSTER_OS1, OUSTER_OS2_128, LUMINAR_H, CUSTOM, CUSTOM_EX},scan-frequency=XX.X[,protocol=xxx,multicast-ip=X.X.X.X,decoder=filepath.so,time-smoothing=false]
   Sensor [14] : radar.virtual ? file=filepath.bin,time-smoothing=true[,decoder=filepath.so,create_seek,default_timeout_us,decoding=false,time-offset=0]
   Sensor [15] : radar.socket ? ip=X.X.X.X,port=XXXX,device={DELPHI_ESR2_5, CONTINENTAL_ARS430, CUSTOM},multicast-ip=X.X.X.X],time-smoothing=true,isInverted=false[,decoder=filepath.so,protocol=xxx]
   Sensor [16] : radar.can ? can-driver=can.xxx,can-bus=xxx,can-base-id=0x460,device={CONTINENTAL_ARS430_CAN}[,aurix-can-ip=X.X.X.X.X],[aurix-can-aport=XXXX][,aurix-can-bport=XXXX][,virtual-file=filepath.bin]

For a full implementation see Sensor Enumeration Sample .