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Software Version
DRIVE OS Linux 5.2.6
DRIVE OS Linux 5.2.6 and DriveWorks 4.0
DRIVE OS Linux 5.2.0
DRIVE OS Linux 5.2.0 and DriveWorks 3.5
NVIDIA DRIVE™ Software 10.0 (Linux)
NVIDIA DRIVE™ Software 9.0 (Linux)
other DRIVE OS version
other
Target Operating System
Linux
QNX
other
Hardware Platform
NVIDIA DRIVE™ AGX Xavier DevKit (E3550)
NVIDIA DRIVE™ AGX Pegasus DevKit (E3550)
other
SDK Manager Version
1.7.1.8928
other
Host Machine Version
native Ubuntu 18.04
other
Hi,
some time ago we wrote a custom Radar sensor plugin and it’s working fine with the radar replay sample.
But when trying to record data from our radar there are errors.
I debugged with the sample_record application and saw, that
status = dwSensorSerializer_serializeDataAsync(data, size, serializer);
throws the exception when inserting data from our plugin.
Here’s the complete output:
[09-12-2021 09:47:40] Platform: Detected Generic x86 Platform
[09-12-2021 09:47:40] TimeSource: monotonic epoch time offset is 1639042230718887
[09-12-2021 09:47:40] Platform: number of GPU devices detected 1
[09-12-2021 09:47:40] Platform: currently selected GPU device discrete ID 0
[09-12-2021 09:47:40] SDK: Resources mounted from /usr/local/driveworks/data/
[09-12-2021 09:47:40] TimeSource: monotonic epoch time offset is 1639042230718887
[09-12-2021 09:47:40] Initialize DriveWorks SDK v2.2.3136
[09-12-2021 09:47:40] Release build with GNU 7.4.0 from heads/buildbrain-branch-0-gca7b4b26e65
[09-12-2021 09:47:40] SensorFactory::createSensor() -> radar.custom, decoding=false,decoder-path=/home/nvidia/dw_samples/build/src/sensors/plugins/radar_plugin_ars408/libradar_plugin_ars408.so,dbc-path=/home/nvidia/dw_samples/fast_config/dbc-and-can/ARS408/dbc/ars408.dbc,device=can-radar,can-protocol=can.socket
createSensor: Return type configuration not specified, setting default (cluster)
[09-12-2021 09:47:40] SensorFactory::createSensor() -> can.socket, device=can-radar
[09-12-2021 09:47:40] CANSocket: Cannot get current state of hardware time stamping: ioctl(SIOCGHWTSTAMP, can-radar) -> No such file or directory
[09-12-2021 09:47:40] CANSocket: software based timestamps will be used for can-radar
[09-12-2021 09:47:40]
CAN DBC parsed results:
numMessages: 16
numSignals: 136
numSignalsExtendedValueType: 0
numIgnoredMessages: 0
numInvalidMessages: 0
numInvalidSignals: 0
numInvalidSignalsExtendedValueType: 0
[09-12-2021 09:47:40] CANSocket: ioctl(SIOCSHWTSTAMP, can-radar) failed -> No such file or directory. Cannot enable HW timestamps, try with root user.
[09-12-2021 09:47:40] CANSocket: use SW based timestamps for can-radar
[09-12-2021 09:47:40] CANSocket: started can-radar
[09-12-2021 09:47:43] Driveworks exception thrown: DW_INVALID_ARGUMENT: SensorSerializerByte: error updating seek table
There seems to be a problem with the data for the recorder, but again, it’s working fine in the radar replay sample.
One strange thing though:
During development of the plugin I had to work around a “wrong” size of data returned in pushData:
dwStatus pushData(const uint8_t* data, const size_t size, size_t* lenPushed)
{
//FIXME: Size from the framework is always 12 bytes bigger than it should be.
// We just subtract 12 and it is working. Find out how this is supposed
// to be done.
m_buffer.enqueue(data, size-12);
*lenPushed = size;
return DW_SUCCESS;
}
After this “fix”, the whole plugin started to work properly with the replay sample. I could imagine, that this could be the cause of the recording problem. However, I don’t know how to fix it.
For reference, here’s my readRawData()method:
dwStatus readRawData(const uint8_t** data, size_t* size, dwTime_t* timestamp, dwTime_t /*timeout_us*/)
{
dwCANMessage result;
dwStatus status = DW_SUCCESS;
status = dwSensorCAN_readMessage(&result, 1000, m_ars_408Radar);
if (status != DW_SUCCESS)
{
return status;
};
dwTime_t now{};
status = dwContext_getCurrentTime(&now, m_ctx);
if (status != DW_SUCCESS)
{
std::cerr << "readRawData: error getting timestamp" << std::endl;
return DW_SAL_SENSOR_ERROR;
}
radarMessage* message = nullptr;
bool ok = m_slot.get(message);
if (!ok)
{
std::cerr << "readRawData: Read raw data, slot not empty\n";
return DW_BUFFER_FULL;
}
message->timestamp = now;
message->payload_size = sizeof(dwCANMessage);
message->payload = result;
*data = reinterpret_cast<uint8_t*>(message);
*size = sizeof(radarMessage);
*timestamp = now;
return DW_SUCCESS;
}
The radarMessage is defined as follows:
/// Encapsulated radar CAN message with header.
#pragma pack(push, 1) // Makes sure you have consistent structure packings.
typedef struct
{
uint32_t payload_size;
dwTime_t timestamp;
dwCANMessage payload;
} radarMessage;
#pragma pack(pop)
I tried some things with packing etc, but couldn’t find out where the 12 bytes came from.
Are the two things related? What am I doing wrong?
Thanks in advance.
EDIT: I changed the recording sample to subtract also the 12 bytes… So the twelve byte problem should also solve the recording problem…
