how to implement plugin framework?

Hi,

I want to develop customize lidar driver for Peguasus AGX, and I’m going through the plugin framework. I’m wondering how should I leverage the input argument “dwSALHandle_t” ? Should I simply call “dwSAL_createSensor” API for creation?
Moreover, I noticed there’s no definition for dwContextHandle_t(as dwContextObject*), in this case, how should I using this argument as input? How should I using the context handle?
What more, I’m also quite confuse on “dwSensorPlugin_pushData” function. What’s the difference between lenpushed and data?

Thanks!
J5207

Dear j5207,

Could you please refer to “Sensors for DRIVE AGX Development Platform” session for this topic?
You can get some info via the webinar. Thanks.
https://developer.nvidia.com/drive/learn -> https://info.nvidia.com/using-custom-sensors-with-driveworks.html