enable the vehicle control system failed _ sample_vehicleio

Dear Sir,
I enter the command as below and try to enable the vehicle control system by pressing “e” button for vehicle I/O functions but get the error messages(DW_NOT_SUPPORTED) as the attachment.
Is there any parameter needed to update?

Try to enable the vehicle control system
E - enable the vehicle control system

command --> /sample_vehicleio [–rig=path/to/rig/file]

  • Execute as following steps

Then run the sample with this new rig.json file:

./sample_vehicleio --rig=rig.json
Using Generic VehicleIO via VCAN0 interface on Bench

If you want to use the generic vehicleio driver in a bench setup, you can use the VCAN interface.

Enable the VCAN interface.
sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0
Start transmitting Dataspeed can messages over the VCAN interface.
while true; do cat candump_dataspeed.log | canplayer -l i vcan0=can0; done
Run sample_dataspeedBridge to convert Dataspeed messages to generic vehicleio messages (refer to Dataspeed Bridge Sample for details).
Prepare a rig file that has vcan0 sensor and Generic VehicleIO node (as described above), then run the sample:
./sample_vehicleio --rig=rig.json

  • Error Message

Angle: -0.033161
throttleValue: 0.367437
brake value: 0.136767
faults: 0
overrides: 12

[04-09-2019 10:50:48] DataSpeed: sending DATASPEED_ID_THROTTLE_CMD message failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] DataSpeed: sending DATASPEED_ID_BRAKE_CMD message failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] DataSpeed: sending DATASPEED_ID_STEERING_CMD message failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] DataSpeed: sending DATASPEED_ID_GEAR_CMD message failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] DataSpeed: sending DATASPEED_ID_MISC1_CMD message failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] Generic VehicleIO: send steering command failed failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] Generic VehicleIO: send brake command failed failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] Generic VehicleIO: send throttle command failed failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] Generic VehicleIO: send gear command failed failed: DW_NOT_SUPPORTED
[04-09-2019 10:50:48] Generic VehicleIO: send turnsignal failed failed: DW_NOT_SUPPORTED
VehicleIO sample: Status
steeringWheelAngle: -0.022689
throttleValue: 0.364019
brake value: 0.136538
faults: 0
overrides: 12

Dear Sir,

why “sample_vehicleio” sample does not need to access .dbc file like “sample_dataspeedBridge” sample?

nvidia@tegra-ubuntu:/usr/local/driveworks-2.0/bin$ ./sample_dataspeedBridge --dbc=/usr/local/driveworks-2.0/data/samples/sensors/can/AutonomousVehicleCANSignals.dbc
Program Arguments:
–dbc=/usr/local/driveworks-2.0/data/samples/sensors/can/AutonomousVehicleCANSignals.dbc
–driver=can.socket
–offscreen=0
–params=device=vcan0
–profiling=1
–rig=…/./data/samples/vehicleio/rig.json

[04-09-2019 10:34:04] Platform: Detected DDPX - Tegra A
[04-09-2019 10:34:04] Initialize DriveWorks SDK v2.0.2081
[04-09-2019 10:34:04] Release build with GNU 4.9.4 from heads/buildbrain-branch-0-g36b127f against Drive PDK v5.1.0.2
[04-09-2019 10:34:04] TimeSource: monotonic epoch time offset is 1567562907492512
[04-09-2019 10:34:04] PTP Time is available from NVPPS Driver
[04-09-2019 10:34:05] Platform: number of GPU devices detected 1
[04-09-2019 10:34:05] Platform: currently selected GPU device integrated ID 0
[04-09-2019 10:34:05] SDK: Resources mounted from /usr/local/driveworks-2.0/data/
[04-09-2019 10:34:05] SDK: Create NvMediaDevice
[04-09-2019 10:34:05] egl::Display: found 1 EGL devices
[04-09-2019 10:34:05] egl::Display: use drm device: drm-nvdc
[04-09-2019 10:34:05] Loading rig file: …/./data/samples/vehicleio/rig.json
[04-09-2019 10:34:05]
CAN DBC parsed results:
numMessages: 13
numSignals: 60
numSignalsExtendedValueType: 0
numInvalidMessages: 0
numInvalidSignals: 0
numInvalidSignalsExtendedValueType: 0

[04-09-2019 10:34:05] SensorFactory::createSensor() -> can.socket, device=vcan0
[04-09-2019 10:34:05] CANSocket: Cannot get current state of hardware time stamping: ioctl(SIOCGHWTSTAMP, vcan0) -> Operation not supported
[04-09-2019 10:34:05] CANSocket: software based timestamps will be used for vcan0
[04-09-2019 10:34:05] DataSpeed: constructed
[04-09-2019 10:34:05] VehicleIO: mode changed 256
[04-09-2019 10:34:05] CANSocket: use SW based timestamps for vcan0
[04-09-2019 10:34:05] CANSocket: started vcan0
VehicleIO sample: CAN error DW_TIME_OUT

Dear melinda.hung,
It is not clear from the description about your ask.
Could you please file a bug with steps to reproduce your issue at our end. Please login to https://developer.nvidia.com/drive with your credentials. Please check MyAccount->MyBugs->Submit a new bug to file bug.
Please share ID here to follow up.

ok, thanks for your kindly report. we solve the problem by update rig.son file as below contents.
“vehicleio”: [
{
“type”: “generic”,
“parent-sensor”: “can:vehicle:generic”,
“dbc-file”: “AutonomousVehicleCANSignals.dbc”
}
],
“sensors”: [
{
“name”: “can:vehicle:generic”,
“parameter”: “device=vcan0”,
“protocol”: “can.socket”,
“properties”: null,
“nominalSensor2Rig”: { “quaternion”: [ 0.0, 0.0, 0.0, 1.0 ], “t”: [ 0.0, 0.0, 0.0 ] },
“sensor2Rig”: { “quaternion”: [ 0.0, 0.0, 0.0, 1.0 ], “t”: [ 0.0, 0.0, 0.0 ] }
}
],