From 6295efdc2f60ea16f48962e7ffc4355dfbdfabf8 Mon Sep 17 00:00:00 2001 From: Scott Murray Date: Sun, 15 Nov 2020 16:43:52 -0500 Subject: Enable testing without CAN hardware Changes: - Add can-dev-mapping-helper support changes from meta-agl-demo. It is less than ideal to duplicate them, but the timing of the planned layer reorganization and slimming down of meta-agl makes this seem less hassle. Once the shift to the new layout is done, things can be rationalized as necessary. - Also add the simple_can_simulator.py script, since without any physical CAN connection something is needed to drive testing. Bug-AGL: SPEC-3689 Signed-off-by: Scott Murray Change-Id: I655409806026024c804942415ac476e59b916c28 --- .../agl-service-can-low-level_git.bbappend | 10 + .../can-dev-mapping-helper_1.0.bb | 21 ++ .../files/can-dev-mapping-helper.conf | 3 + .../files/can-dev-mapping-helper.service | 6 + .../files/can-dev-mapping-helper.sh | 36 ++ .../files/simple_can_simulator.py | 381 +++++++++++++++++++++ .../simple-can-simulator/simple-can-simulator.bb | 15 + .../packagegroup-agl-telematics-demo-platform.bb | 1 + 8 files changed, 473 insertions(+) create mode 100644 recipes-apis/agl-service-can-low-level/agl-service-can-low-level_git.bbappend create mode 100644 recipes-apis/agl-service-can-low-level/can-dev-mapping-helper_1.0.bb create mode 100644 recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.conf create mode 100644 recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.service create mode 100644 recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.sh create mode 100755 recipes-demo/simple-can-simulator/files/simple_can_simulator.py create mode 100644 recipes-demo/simple-can-simulator/simple-can-simulator.bb diff --git a/recipes-apis/agl-service-can-low-level/agl-service-can-low-level_git.bbappend b/recipes-apis/agl-service-can-low-level/agl-service-can-low-level_git.bbappend new file mode 100644 index 0000000..4f28210 --- /dev/null +++ b/recipes-apis/agl-service-can-low-level/agl-service-can-low-level_git.bbappend @@ -0,0 +1,10 @@ +FILESEXTRAPATHS_prepend := "${THISDIR}/files:" + +SRC_URI += "file://can-dev-mapping-helper.conf" + +do_install_append() { + install -D -m 0644 ${WORKDIR}/can-dev-mapping-helper.conf \ + ${D}${sysconfdir}/systemd/system/afm-service-agl-service-can-low-level-.service.d/can-dev-mapping-helper.conf +} + +RDEPENDS_${PN} += "can-dev-mapping-helper" diff --git a/recipes-apis/agl-service-can-low-level/can-dev-mapping-helper_1.0.bb b/recipes-apis/agl-service-can-low-level/can-dev-mapping-helper_1.0.bb new file mode 100644 index 0000000..37793fd --- /dev/null +++ b/recipes-apis/agl-service-can-low-level/can-dev-mapping-helper_1.0.bb @@ -0,0 +1,21 @@ +SUMMARY = "Systemd unit for agl-service-can-low-level CAN device helper" +LICENSE = "MIT" +LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/MIT;md5=0835ade698e0bcf8506ecda2f7b4f302" + +inherit systemd allarch + +SRC_URI = "file://can-dev-mapping-helper.service \ + file://can-dev-mapping-helper.sh \ +" + +do_configure[noexec] = "1" +do_compile[noexec] = "1" + +do_install() { + install -D -m 0644 ${WORKDIR}/${BPN}.service ${D}${systemd_system_unitdir}/${BPN}.service + install -D -m 0755 ${WORKDIR}/${BPN}.sh ${D}${sbindir}/${BPN}.sh +} + +FILES_${PN} += "${systemd_system_unitdir}" + +RDEPENDS_${PN} += "bash" diff --git a/recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.conf b/recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.conf new file mode 100644 index 0000000..c89cc4d --- /dev/null +++ b/recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.conf @@ -0,0 +1,3 @@ +[Unit] +Wants=can-dev-mapping-helper.service +After=can-dev-mapping-helper.service diff --git a/recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.service b/recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.service new file mode 100644 index 0000000..0436716 --- /dev/null +++ b/recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.service @@ -0,0 +1,6 @@ +[Unit] +Description=CAN interface helper + +[Service] +ExecStart=/usr/sbin/can-dev-mapping-helper.sh +Type=oneshot diff --git a/recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.sh b/recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.sh new file mode 100644 index 0000000..c81014f --- /dev/null +++ b/recipes-apis/agl-service-can-low-level/files/can-dev-mapping-helper.sh @@ -0,0 +1,36 @@ +#!/bin/bash + +# +# Script to bring up CAN interfaces configured in /etc/dev-mapping.conf +# as vcan interfaces if no physical interface is present. +# + +vcan_up() { + if [ -n "$1" ]; then + echo "Bringing up $1 as virtual CAN device" + ip link add dev $1 type vcan + ip link set up $1 + fi +} + +if [ ! -f /etc/dev-mapping.conf ]; then + exit 0 +fi + +hs=$(grep ^hs= /etc/dev-mapping.conf |cut -d= -f2 |tr -d '"') +ls=$(grep ^ls= /etc/dev-mapping.conf |cut -d= -f2 |tr -d '"') + +if [ -n "$hs" ]; then + echo "Checking $hs" + if ! ifconfig $hs >/dev/null 2>&1; then + vcan_up $hs + fi +fi +if [ -n "$ls" -a "$ls" != "$hs" ]; then + echo "Checking $ls" + if ! ifconfig $ls >/dev/null 2>&1; then + vcan_up $ls + fi +fi + +exit 0 diff --git a/recipes-demo/simple-can-simulator/files/simple_can_simulator.py b/recipes-demo/simple-can-simulator/files/simple_can_simulator.py new file mode 100755 index 0000000..83f8870 --- /dev/null +++ b/recipes-demo/simple-can-simulator/files/simple_can_simulator.py @@ -0,0 +1,381 @@ +#!/usr/bin/env python3 +# Copyright (c) 2016 Alex Bencz +# Copyright (c) 2019 Konsulko Group, smurray@konsulko.com +# Copyright (c) 2020 The Linux Foundation, jsmoeller@linuxfoundation.org +# +# Permission is hereby granted, free of charge, to any person obtaining a copy of +# this software and associated documentation files (the "Software"), to deal in +# the Software without restriction, including without limitation the rights to +# use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies +# of the Software, and to permit persons to whom the Software is furnished to do +# so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# +# CANSocket from: +# +# https://github.com/abencz/python_socketcan/blob/master/python_socketcan_example.py +# + +import sys +import socket +import argparse +import struct +import errno +import threading +import time + +class CANSocket(object): + FORMAT = "= self.vehicle_speed: + return + v = (self.vehicle_speed - target_speed) / (duration * self.freq) + r = (self.engine_speed - target_rpm) / (duration * self.freq) + while self.vehicle_speed > target_speed and (not self.CRUISEACTIVE or bycruise): + with self.lock: + self.vehicle_speed -= v; + self.engine_speed -= r; + time.sleep(1 / self.freq) + + def increase(self, bycruise = True): + if self.CRUISEACTIVE: + target_speed = self.vehicle_speed + 5 + target_rpm = self.engine_speed * 1.1 + self.accelerate(target_speed, target_rpm, 2, bycruise) + + def decrease(self, bycruise = True): + if self.CRUISEACTIVE: + target_speed = self.vehicle_speed - 5 + target_rpm = self.engine_speed * 0.9 + self.brake(target_speed, target_rpm, 2, bycruise) + + def resume(self, bycruise = True): + target_speed = self.CRUISESPEED + target_rpm = self.CRUISERPM + current_speed = self.get_vehicle_speed() + if target_speed > current_speed: + self.accelerate(target_speed, target_rpm, 2, bycruise) + else: + self.brake(target_speed, target_rpm, 2, bycruise) + + def run(self): + while True: + if not self.CRUISEACTIVE: + self.accelerate(80, 3000, 5) + self.accelerate(104, 4000, 3) + self.brake(80, 3000, 3) + self.accelerate(104, 4000, 6) + self.brake(40, 2000, 4) + self.accelerate(90, 3000, 5) + self.brake(1, 650, 5) + if not self.CRUISEACTIVE: + self.reset() + time.sleep(5) + +class DiagnosticMessageHandler(object): + def __init__(self, can_sock, simulator, verbose=False): + self.can_sock = can_sock + self.simulator = simulator + self.verbose = verbose + self.thread = threading.Thread(target=self.run, daemon=True) + + def start(self): + self.thread.start() + + def run(self): + while True: + can_id, data = self.can_sock.recv() + #print('%03X#%s' % (can_id, ''.join(format(x, '02X') for x in data))) + if can_id == 0x7df: + # OBD-II request + if data[1] == 0x01 and data[2] == 0x0C: + # Engine speed + speed = self.simulator.get_engine_speed() + #print('engine speed = %d' % speed) + if speed > 16383.75: + speed = 16383.75 + reply = [ 0x04, 0x41, 0x0C ] + reply.append(4 * speed // 256) + reply.append(4 * speed % 256) + # pad remaining bytes to make 8 + reply.append(0) + reply.append(0) + reply.append(0) + self.can_sock.send(0x7e8, bytes(reply), 0) + elif data[1] == 0x01 and data[2] == 0x0D: + # Vehicle speed + speed = int(self.simulator.get_vehicle_speed()) % 256 + #print('vehicle speed = %d' % speed) + reply = [ 0x03, 0x41, 0x0D ] + reply.append(speed) + # pad remaining bytes to make 8 + reply.append(0) + reply.append(0) + reply.append(0) + reply.append(0) + self.can_sock.send(0x7e8, bytes(reply), 0) + +class SteeringWheelMessageHandler(object): + def __init__(self, can_sock, simulator, verbose=False): + self.can_sock = can_sock + self.simulator = simulator + self.verbose = verbose + self.thread = threading.Thread(target=self.run, daemon=True) + self.buttonpressed = False + self.buttonenabled = False + self.buttoncancel = False + self.buttondec = False + self.buttoninc = False + self.cruisemode = False + self.cruiseactive = False + + def start(self): + self.thread.start() + + def run(self): + while True: + can_id, data = self.can_sock.recv() + #print('%03X#%s' % (can_id, ''.join(format(x, '02X') for x in data))) + if can_id == 0x21: + #print('%03X#%s' % (can_id, ''.join(format(x, '02X') for x in data))) + if data: + #if data[6]: + #print('data6: %02X' % (data[6])) + if data[6] == 0x80 and not self.buttonpressed: + # we do skip any further lin messages + # two buttons at the same time won't work + # (aka unlikely w/o twisting fingers) + self.buttonpressed = True + self.buttonenabled = True + if data[6] == 0x08 and not self.buttonpressed: + self.buttonpressed = True + self.buttoncancel = True + if data[6] == 0x10 and not self.buttonpressed: + self.buttonpressed = True + self.buttondec = True + if data[6] == 0x40 and not self.buttonpressed: + self.buttonpressed = True + self.buttoninc = True + if data[6] == 0x00 and self.buttonpressed: + #now handle it as the button was released + if self.buttonenabled: + self.buttonenabled = False + self.cruisemode = not self.cruisemode + #print("set cruisemode to %s" % self.cruisemode) + self.simulator.CRUISEMODE = self.cruisemode + # disable/reset all if going off + if not self.cruisemode: + self.cruiseactive = False + self.simulator.CRUISEACTIVE = self.cruiseactive + self.simulator.CRUISESPEED = 0 + self.simulator.CRUISERPM = 0 + #print("set cruiseactive to %s" % self.cruiseactive) + if self.buttoncancel: + self.buttoncancel = False + self.simulator.CRUISESPEED = self.simulator.get_vehicle_speed() + self.simulator.CRUISERPM = self.simulator.get_engine_speed() + #print("set cruisespeed to %d" % self.simulator.CRUISESPEED ) + #print("set cruiserpm to %d" % self.simulator.CRUISERPM ) + self.cruiseactive = False + #print("set cruiseactive to %s" % self.cruiseactive ) + self.simulator.CRUISEACTIVE = self.cruiseactive + if self.buttondec: + self.buttondec = False + if self.cruiseactive: + #print("decrease") + self.simulator.decrease() + else: + # set speed + #print("set speed") + self.simulator.CRUISESPEED = self.simulator.get_vehicle_speed() + self.simulator.CRUISERPM = self.simulator.get_engine_speed() + #print("set cruisespeed to %d" % self.simulator.CRUISESPEED ) + #print("set cruiserpm to %d" % self.simulator.CRUISERPM ) + self.cruiseactive = not self.cruiseactive + #print("set cruiseactive to %s" % self.cruiseactive ) + self.simulator.CRUISEACTIVE = self.cruiseactive + if self.buttoninc: + self.buttoninc = False + if self.cruiseactive: + #print("increase") + self.simulator.increase() + else: + if self.simulator.CRUISESPEED > 0: + # resume + self.cruiseactive = not self.cruiseactive + self.simulator.CRUISEACTIVE = self.cruiseactive + #print("set cruiseactive to %s" % self.cruiseactive ) + #print("resume") + self.simulator.resume() + self.buttonpressed = False + + +class StatusMessageSender(object): + def __init__(self, can_sock, simulator, verbose=False): + self.can_sock = can_sock + self.simulator = simulator + self.verbose = verbose + self.thread = threading.Thread(target=self.run, daemon=True) + + def start(self): + self.thread.start() + + def run(self): + while True: + # Engine speed + speed = self.simulator.get_engine_speed() + if self.verbose: + print('engine speed = %d' % speed) + if speed > 16383.75: + speed = 16383.75 + # Message is 1 byte unknown, 1 byte fuel level, 2 bytes engine speed (4x), fuel low @ bit 55 + msg = [ 0, 0 ] + speed *= 4 + msg.append(speed // 256) + msg.append(speed % 256) + # pad remaining bytes to make 8 + msg.append(0) + msg.append(0) + msg.append(0) + msg.append(0) + self.can_sock.send(0x3d9, bytes(msg), 0) + + # Vehicle speed + speed = int(self.simulator.get_vehicle_speed()) % 256 + if self.verbose: + print('vehicle speed = %d' % speed) + # Message is 15 bits speed (64x), left aligned + msg = [ ] + # Note: extra 2x to yield required left-alignment + speed *= 128 + msg.append(speed // 256) + msg.append(speed % 256) + # pad remaining bytes to make 8 + msg.append(0) + msg.append(0) + msg.append(0) + msg.append(0) + msg.append(0) + msg.append(0) + self.can_sock.send(0x3e9, bytes(msg), 0) + + # Sleep 100 ms + time.sleep(0.1) + +def main(): + parser = argparse.ArgumentParser(description='Simple CAN vehicle simulator.') + parser.add_argument('interface', type=str, help='interface name (e.g. vcan0)') + parser.add_argument('-v', '--verbose', help='increase output verbosity', action='store_true') + args = parser.parse_args() + + try: + can_sock = CANSocket(args.interface) + diag_can_sock = CANSocket(args.interface) + steeringwheel_can_sock = CANSocket(args.interface) + except OSError as e: + sys.stderr.write('Could not listen on interface {0}\n'.format(args.interface)) + sys.exit(e.errno) + + print('Using {0}'.format(args.interface)) + sim = VehicleSimulator() + status_sender = StatusMessageSender(can_sock, sim, args.verbose) + diag_handler = DiagnosticMessageHandler(diag_can_sock, sim, args.verbose) + steeringwheel_handler = SteeringWheelMessageHandler(steeringwheel_can_sock, sim, args.verbose) + sim.start() + status_sender.start() + diag_handler.start() + steeringwheel_handler.start() + try: + while True: + time.sleep(60) + except (KeyboardInterrupt, SystemExit): + #sim.stop() + sys.exit(0) + +if __name__ == '__main__': + main() diff --git a/recipes-demo/simple-can-simulator/simple-can-simulator.bb b/recipes-demo/simple-can-simulator/simple-can-simulator.bb new file mode 100644 index 0000000..bca4487 --- /dev/null +++ b/recipes-demo/simple-can-simulator/simple-can-simulator.bb @@ -0,0 +1,15 @@ +DESCRIPTION = "Simulator that generates CAN messages of a driving car" +LICENSE = "GPLv2" +LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/GPL-2.0;md5=801f80980d171dd6425610833a22dbe6" + +SRC_URI = "file://simple_can_simulator.py" + +do_configure[noexec] = "1" +do_compile[noexec] = "1" + +do_install() { + install -d ${D}${sbindir} + install -m 0755 ${WORKDIR}/simple_can_simulator.py ${D}${sbindir} +} + +RDEPENDS_${PN} = "python3" diff --git a/recipes-platform/packagegroups/packagegroup-agl-telematics-demo-platform.bb b/recipes-platform/packagegroups/packagegroup-agl-telematics-demo-platform.bb index e3614de..0dbbd62 100644 --- a/recipes-platform/packagegroups/packagegroup-agl-telematics-demo-platform.bb +++ b/recipes-platform/packagegroups/packagegroup-agl-telematics-demo-platform.bb @@ -27,6 +27,7 @@ RDEPENDS_${PN}_append = " \ gpsd \ sw-gpsd-udev-conf \ usb-can-udev-conf \ + simple-can-simulator \ ${@bb.utils.contains('DISTRO_FEATURES', 'agl-devel', 'ofono-tests gps-utils' , '', d)} \ ${AGL_APPS} \ ${AGL_APIS} \ -- cgit 1.2.3-korg