PolySync ships with an extensive C and C++ API that you can use to quickly prototype applications. Sometimes it helps to have some examples, so we've included a variety for you to try.
Before you can clone the example application repositories you will need to install git. If you intend to build C++ examples you will also need to install cmake.
$ sudo apt-get install git cmake
$ git clone git@github.com:PolySync/PolySync-CPP-Examples.git # clones C++ examples
$ git clone git@github.com:PolySync/PolySync-C-Examples.git # clones C examples
For instructions on how to build applications, see the guides:
C++ Tutorials |
|
C++ Example | Description |
Hello World | Supporting code for the Hello World tutorial. Learn to create a node and manage node-level events. |
Hello World publisher Hello World subscriber |
Supporting code for the Hello World with two nodes tutorial. Learn how to publish and subscribe to messages on the PolySync bus. |
Core APIs |
||
C++ Example | C Example | Description |
Publish / Subscribe | Publish / Subscribe | Publish and subscribe to a PolySync communications bus. |
Get / Set | Get / Set | Request and print all parameters on the PolySync bus. |
Node Template | Node Template | Understand the standardized PolySync node state machine. |
Coordinate Transformation | Coordinate Transformation | Use the Transform API to transform coordinate frames using a stack. |
Logfile Writer | Use the Logfile API routines to log a PolySync byte array message. | |
Data Model |
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C Example |
Description | |
Custom data model | Use publish/subscribe routines with a user data model message type. | |
Device APIs |
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C++ Example | C Example | Description |
Socket Reader | Socket Reader | Read data from a network device. |
Socket Writer | Socket Writer | Write data to a network device. |
Serial Reader | Serial Reader | Read data from a serial device. |
Serial Writer | Serial Writer | Write data to a serial device. |
CAN Reader | CAN Reader | Read data from a CAN device. |
CAN Writer | CAN Writer | Write data to a CAN device. |
Video device with encode/decode | Video device with encode/decode | Communicate with a video device, encode, and decode video data. |
Utilities and cool stuff |
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C++ Example | C Example | Description |
Data Generator | Data Generator | Generate data by publishing messages to the PolySync bus |
Record and Replay Control | Use the Record and Replay API to instruct nodes which logfiles to write or read | |
Viewer Lite | A lightweight 2D data viewer using OpenGL. | |
Image Data Viewer | Image Data Viewer | View compressed image data over the PolySync bus. |
Shared memory image data viewer | Shared memory image data viewer | View image data received over the PolySync shared memory queue. |
Joystick vehicle control | Use a USB joystick to send low-level control commands. | |
Parameter Get/Set | Parameter Get/Set | Get and set parameter values from parameter IDs |
Community projects |
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C++ Example | Description | |
ROS-PolySync bridge node | Bridge PolySync messages into a ROS runtime. Requires PolySync V1.X. | |
Lane detector | A simple lane detector using OpenCV. Requires PolySync V1.X. |
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