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 :

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 :

$ 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 :

$ 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