[[PageOutline(1-10,Contents)]]

= CanGateway plugin =

== Goal == 

The CanGateway plugin is in charge of interfacing a CAN bus and it manages the CAN card. 

== Driver installation == 

=== Linux driver === 

There is no driver to install, it's native.


=== Windows driver === 

TODO


== Compilation ==

First, make sure the CMakeList.txt at the root of the directory is well configured (into trunk/). In order to install the OpencvVideo plugin, modify the file and verify you have the following line :
{{{
#!sh
add_subdirectory(OpencvVideo)
}}}

Also, the environment variable $PACPUS_ROOT must point to the pacpus installation directory (you normally already set it when you installed PACPUS).


Then we need to configure the installation : 
{{{
#!sh
$ export PACPUS_ROOT=/opt/pacpus/0.2.3 # Pacpus Framework path
$ cd trunk/build/ # first go into the build folder
$ cmake ..
}}} 

Now we can compile and install :
{{{
#!sh
$ sudo make install
}}} 

Make sure the executable files you just created are copied into $PACPUS_ROOT/lib/. 


= Execution =

In order to work with the plugins we want, PACPUS needs an XML file.

== XML configuration ==

Put an example xml file. 

<?xml version="1.0" encoding="ISO-8859-1"?>
<pacpus>
	<components>
		<component name="webcam" 
			type="CVWebcam" 
			device="0" 
			width="640" 
			height="480" 
			framerate="25" 
			ui="true" 				
			recording="true" />
	</components>

	<connections></connections>

	<plugins prefix="lib" postfix="" extension="so">
		<plugin lib="OpencvVideo" />
	</plugins>
</pacpus>

== Running the plugin ==

Please verify that you have a working pacpus installation on your system: refer to the GettingStarted page. 

=== Testing under Linux === 

Run the plugin with this command: 

{{{
cd $PACPUS_ROOT
./PacpusSensor OpencvVideo.xml 
}}}

=== Testing under Windows === 

TODO