Adding custom sensors using Ethernet on PX2

There is reference to being able to do this in the NVIDIA_DriveWorks_DevGuide.pdf document:

“DriveWorks does not constrain the integration of any sensors. Any third-party sensor can be used DriveWorks modules, if their output is mapped to the sensor data API representation, such as: dwCANMessage, dwGPSFrame, dwIMUFrame, dwLidarDecodedPacket, dwImageCUDA, dwImageGL, dwImageCPU, and dwImageNvMedia. Use dwContext_getCurrentTime to time-stamp individual sensors.”

Is there a source code example of how to add a custom sensor that interfaces through Ethernet?