Add gateway demo

Changes:
- Add recipe for AGL VSS to MQTT proxy daemon
- Update agl-vcar.dbc CAN database definition to add signals useful
  for demoing the proxy (per V2C EG discussion).
- Add a patch to kuksa-dbc-feeder to allow sensor signal updates to
  generate CAN messages in output mode.
- Add VSS vspec variants to define the desired CAN input and output
  support for the various kuksa-dbc-feeder instances in the default
  and full gateway demos.
- Add configurations for kuksa-dbc-feeder for the running the default
  gateway demo with CAN output from a demo control panel instance on
  a single CAN interface, as well as a fuller setup with a second
  kuksa-dbc-feeder running against a second CAN interface on the
  gateway to handle the demo steering wheel and HVAC support.
- Add gateway demo specific configuration files for various KUKSA.val
  databroker clients to override the databroker location.
- Add agl-gateway-demo and agl-gateway-demo-preconfigured images for
  the default and full demos.
- Add *-preconfigured-gateway image flavors for the Flutter IVI, IC,
  and KVM demo images that support running with the databroker on
  the gateway.

NOTES:
- The *-preconfigured-gateway images assume the gateway has an IP
  address of 192.168.10.4.
- Required changes to the agl-demo-control-panel application and the
  addition of a agl-ivi-demo-control-panel-preconfigured-gateway
  image will come in a subsequent change.

Bug-AGL: SPEC-5107, SPEC-5138

Change-Id: I9797aa72737af7af3d791a5151198f80b6d90e0d
Signed-off-by: Scott Murray <scott.murray@konsulko.com>
Reviewed-on: https://gerrit.automotivelinux.org/gerrit/c/AGL/meta-agl-demo/+/29921
ci-image-boot-test: Jenkins Job builder account
ci-image-build: Jenkins Job builder account
Tested-by: Jenkins Job builder account

5 files changed, 225 insertions, 1 deletions

diff --git a/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/0004-Enable-val2dbc-for-sensor-values.patch b/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/0004-Enable-val2dbc-for-sensor-values.patch
new file mode 100644
index 000000000..7f22a90ad
--- /dev/null
+++ b/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/0004-Enable-val2dbc-for-sensor-values.patch
@@ -0,0 +1,142 @@
+From d6f1aaa7f26aa52f4b219f60e704d5ab2954f082 Mon Sep 17 00:00:00 2001
+From: Scott Murray <scott.murray@konsulko.com>
+Date: Wed, 3 Apr 2024 02:09:11 +0900
+Subject: [PATCH] Enable val2dbc for sensor values
+
+Rework to allow val2dbc mode to write out sensor values in
+addition to actuator target values.
+
+Upstream-Status: pending
+
+Signed-off-by: Scott Murray <scott.murray@konsulko.com>
+---
+ dbc2val/dbcfeeder.py                           |  8 ++++++--
+ .../dbcfeederlib/databrokerclientwrapper.py    | 18 ++++++++++++------
+ dbc2val/dbcfeederlib/dbc2vssmapper.py          | 14 +++++++++-----
+ dbc2val/dbcfeederlib/serverclientwrapper.py    |  2 +-
+ 4 files changed, 28 insertions(+), 14 deletions(-)
+
+diff --git a/dbc2val/dbcfeeder.py b/dbc2val/dbcfeeder.py
+index e7fd319..5e0df2f 100755
+--- a/dbc2val/dbcfeeder.py
++++ b/dbc2val/dbcfeeder.py
+@@ -322,15 +322,19 @@ class Feeder:
+         log.debug("vss-Update callback!")
+         dbc_ids = set()
+         for update in updates:
++            value = None
+             if update.entry.value is not None:
+-                # This shall currently never happen as we do not subscribe to this
+                 log.warning(f"Current value for {update.entry.path} is now: "
+                             f"{update.entry.value.value} of type {type(update.entry.value.value)}")
++                value = update.entry.value.value
+ 
+             if update.entry.actuator_target is not None:
+                 log.debug(f"Target value for {update.entry.path} is now: {update.entry.actuator_target} "
+                           f"of type {type(update.entry.actuator_target.value)}")
+-                new_dbc_ids = self._mapper.handle_update(update.entry.path, update.entry.actuator_target.value)
++                value = update.entry.actuator_target.value
++
++            if value != None:
++                new_dbc_ids = self._mapper.handle_update(update.entry.path, value)
+                 dbc_ids.update(new_dbc_ids)
+ 
+         can_ids = set()
+diff --git a/dbc2val/dbcfeederlib/databrokerclientwrapper.py b/dbc2val/dbcfeederlib/databrokerclientwrapper.py
+index 35836e9..46ae330 100644
+--- a/dbc2val/dbcfeederlib/databrokerclientwrapper.py
++++ b/dbc2val/dbcfeederlib/databrokerclientwrapper.py
+@@ -200,14 +200,20 @@ class DatabrokerClientWrapper(clientwrapper.ClientWrapper):
+     def supports_subscription(self) -> bool:
+         return True
+ 
+-    async def subscribe(self, vss_names: List[str], callback):
++    async def subscribe(self, vss_entries: dict[str, str], callback):
+         """Creates a subscription and calls the callback when data received"""
+         entries = []
+-        for name in vss_names:
+-            # Always subscribe to target
+-            subscribe_entry = SubscribeEntry(name, View.FIELDS, [Field.ACTUATOR_TARGET])
+-            log.info(f"Subscribe entry: {subscribe_entry}")
+-            entries.append(subscribe_entry)
++        for name, signal_type in vss_entries.items():
++            if signal_type == "actuator":
++                subscribe_entry = SubscribeEntry(name, View.FIELDS, [Field.ACTUATOR_TARGET])
++                log.info(f"Subscribe entry: {subscribe_entry}")
++                entries.append(subscribe_entry)
++            if signal_type == "sensor":
++                subscribe_entry = SubscribeEntry(name, View.FIELDS, [Field.VALUE])
++                log.info(f"Subscribe entry: {subscribe_entry}")
++                entries.append(subscribe_entry)
++        if not entries:
++            return
+ 
+         # If there is a path VSSClient will request a secure connection
+         if self._tls and self._root_ca_path:
+diff --git a/dbc2val/dbcfeederlib/dbc2vssmapper.py b/dbc2val/dbcfeederlib/dbc2vssmapper.py
+index 5142a5e..8f04cdd 100644
+--- a/dbc2val/dbcfeederlib/dbc2vssmapper.py
++++ b/dbc2val/dbcfeederlib/dbc2vssmapper.py
+@@ -61,12 +61,13 @@ class VSSMapping:
+     parser: Parser = Parser()
+ 
+     def __init__(self, vss_name: str, dbc_name: str, transform: dict, interval_ms: int,
+-                 on_change: bool, datatype: str, description: str):
++                 on_change: bool, signal_type: str, datatype: str, description: str):
+         self.vss_name = vss_name
+         self.dbc_name = dbc_name
+         self.transform = transform
+         self.interval_ms = interval_ms
+         self.on_change = on_change
++        self.signal_type = signal_type
+         self.datatype = datatype
+         self.description = description
+         # For time comparison (interval_ms) we store last value used for comparison. Unit seconds.
+@@ -282,7 +283,7 @@ class Mapper:
+                 log.info(f"Using default interval 1000 ms for {expanded_name}")
+                 interval = 1000
+         mapping_entry = VSSMapping(expanded_name, dbc_name, transform, interval, on_change,
+-                                   node["datatype"], node["description"])
++                                   node["type"], node["datatype"], node["description"])
+         if dbc_name not in self.dbc2val_mapping:
+             self.dbc2val_mapping[dbc_name] = []
+         self.dbc2val_mapping[dbc_name].append(mapping_entry)
+@@ -306,7 +307,7 @@ class Mapper:
+             log.warning(f"interval_ms attribute ignored for {expanded_name}")
+ 
+         mapping_entry = VSSMapping(expanded_name, dbc_name, transform, interval, on_change,
+-                                   node["datatype"], node["description"])
++                                   node["type"], node["datatype"], node["description"])
+         if dbc_name not in self.val2dbc_mapping:
+             self.val2dbc_mapping[expanded_name] = []
+         self.val2dbc_mapping[expanded_name].append(mapping_entry)
+@@ -380,9 +381,12 @@ class Mapper:
+         """Return a set of all dbc names used for reception"""
+         return self.dbc2val_mapping.keys()
+ 
+-    def get_val2dbc_entries(self) -> KeysView:
++    def get_val2dbc_entries(self) -> Dict[str, str]:
+         """Return a set of all vss names used for reception"""
+-        return self.val2dbc_mapping.keys()
++        entries: Dict[str, str] = {}
++        for name, mappings in self.val2dbc_mapping.items():
++            entries[name] = mappings[0].signal_type
++        return entries
+ 
+     def get_vss_names(self) -> Set[str]:
+         """Get all VSS names used in mappings, both vss2dbc and dbc2vss"""
+diff --git a/dbc2val/dbcfeederlib/serverclientwrapper.py b/dbc2val/dbcfeederlib/serverclientwrapper.py
+index 63bc12e..ca11daf 100644
+--- a/dbc2val/dbcfeederlib/serverclientwrapper.py
++++ b/dbc2val/dbcfeederlib/serverclientwrapper.py
+@@ -125,6 +125,6 @@ class ServerClientWrapper(clientwrapper.ClientWrapper):
+         log.info("Feature not implemented")
+         return False
+ 
+-    async def subscribe(self, vss_names: List[str], callback):
++    async def subscribe(self, vss_entries: dict[str, str], callback):
+         log.error("Feature not implemented")
+         return
+-- 
+2.34.1
+
diff --git a/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/agl-vcar.dbc b/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/agl-vcar.dbc
index 0d0121398..e638d1287 100644
--- a/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/agl-vcar.dbc
+++ b/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/agl-vcar.dbc
@@ -10,6 +10,44 @@ BO_ 985 Vehicle_Status_2: 8 Vector_XXX
   SG_ PT_EngineSpeed : 23|16@0+ (0.25,0) [0|0] "" Vector_XXX
   SG_ PT_FuelLevelLow : 55|1@1+ (1,0) [0|1] "" Vector_XXX
 
+BO_ 986 Vehicle_Status_3: 8 Vector_XXX
+  SG_ PT_HazardOn : 0|1@1+ (1,0) [0|1] "" Vector_XXX
+  SG_ PT_LeftTurnOn : 1|1@1+ (1,0) [0|1] "" Vector_XXX
+  SG_ PT_RightTurnOn : 2|1@1+ (1,0) [0|1] "" Vector_XXX
+
+BO_ 48 HVAC_Control_1: 8 Vector_XXX
+  SG_ PT_TempLeft : 7|8@0+ (0.4166666667,0) [0|100] "C" Vector_XXX
+  SG_ PT_TempRight : 15|8@0+ (0.4166666667,0) [0|100] "C" Vector_XXX
+  SG_ PT_FanSpeed : 39|8@0+ (0.392157,0) [0|100] "%" Vector_XXX
+
+BO_ 401 Engine: 8 Vector__XXX
+ SG_ ThrottlePosition : 63|8@0+ (0.392157,0) [0|100.000035] "%" Vector__XXX
+ 
+BO_ 381 ABS: 8 Vector__XXX
+ SG_ VehicleSpeed : 7|12@0+ (0.0625,0) [0|255.9375] "km / h"  ECM_HS,BCM_HS
+ SG_ SteeringPosition : 23|12@0+ (0.0439453125,-90) [-90|89.9560546875] "deg"  ECM_HS,BCM_HS
+ SG_ BrakePressure : 39|8@0+ (75,0) [0|19125] "kPa"  ECM_HS,BCM_HS
+ 
+BO_ 532 Transmission: 8 Vector__XXX
+ SG_ Gear : 7|8@0+ (1,-1) [-1|127] ""  ECM_HS,BCM_HS
+ 
+BO_ 533 Airbag: 8 Vector__XXX
+ SG_ CollisionIntensity : 7|12@0+ (24.4140625,0) [0|100000] "N"  ECM_HS,BCM_HS
+ 
+BO_ 534 IMU1: 8 Vector__XXX
+ SG_ AccelerationX : 7|12@0+ (0.48828125,-1000) [-1000|1000] "m/s^2"  ECM_HS,BCM_HS
+ SG_ AccelerationY : 23|12@0+ (0.48828125,-1000) [-1000|1000] "m/s^2"  ECM_HS,BCM_HS
+ SG_ AccelerationZ : 39|12@0+ (0.48828125,-1000) [-1000|1000] "m/s^2"  ECM_HS,BCM_HS
+ 
+BO_ 535 IMU2: 8 Vector__XXX
+ SG_ GyroscopeX : 7|12@0+ (0.48828125,-1000) [-1000|1000] "rad/s"  ECM_HS,BCM_HS
+ SG_ GyroscopeY : 23|12@0+ (0.48828125,-1000) [-1000|1000] "rad/s"  ECM_HS,BCM_HS
+ SG_ GyroscopeZ : 39|12@0+ (0.48828125,-1000) [-1000|1000] "rad/s"  ECM_HS,BCM_HS
+ 
+BO_ 536 GNSS: 8 Vector__XXX
+ SG_ Latitude : 7|32@0+ (0.0000000419095158577,-90) [-90|90] "deg"  ECM_HS,BCM_HS
+ SG_ Longitude : 39|32@0+ (0.00000008381903171539,-180) [-180|180] "deg"  ECM_HS,BCM_HS
+
 BO_ 33 Steering_Wheel: 8 Vector_XXX
   SG_ SW_Previous : 39|1@1+ (1,0) [0|1] "" Vector_XXX
   SG_ SW_VolumeUp : 38|1@1+ (1,0) [0|1] "" Vector_XXX
diff --git a/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/dbc_default_values.json b/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/dbc_default_values.json
new file mode 100644
index 000000000..0562569db
--- /dev/null
+++ b/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/dbc_default_values.json
@@ -0,0 +1,40 @@
+{
+    "PT_VehicleAvgSpeed" : 0,
+    "PT_FuelLevelPct" : 0,
+    "PT_EngineSpeed" : 0,
+    "PT_FuelLevelLow" : 0,
+    "PT_TempLeft" : 0,
+    "PT_TempRight" : 0,
+    "PT_FanSpeed" : 0,
+    "ThrottlePosition" : 0,
+    "VehicleSpeed" : 0,
+    "SteeringPosition" : 0,
+    "BrakePressure" : 0,
+    "Gear" : 0,
+    "AccelerationX" : 0,
+    "AccelerationY" : 0,
+    "AccelerationZ" : 0,
+    "GyroscopeX" : 0,
+    "GyroscopeY" : 0,
+    "GyroscopeZ" : 0,
+    "Latitude" : 0,
+    "Longitude" : 0,
+    "SW_Previous" : 0,
+    "SW_VolumeUp" : 0,
+    "SW_Mode" : 0,
+    "SW_VolumeDown" : 0,
+    "SW_Next" : 0,
+    "SW_Info" : 0,
+    "SW_VolumeMute" : 0,
+    "SW_Voice" : 0,
+    "SW_PhoneHangup" : 0,
+    "SW_PhoneCall" : 0,
+    "SW_CruiseEnable" : 0,
+    "SW_CruiseResume" : 0,
+    "SW_CruiseSet" : 0,
+    "SW_CruiseCancel" : 0,
+    "SW_CruiseLimit" : 0,
+    "SW_CruiseDistance" : 0,
+    "SW_Horn" : 0,
+    "SW_LaneDepartureWarning" : 0
+}
diff --git a/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/kuksa-dbc-feeder.default b/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/kuksa-dbc-feeder.default
new file mode 100644
index 000000000..5d787158d
--- /dev/null
+++ b/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/kuksa-dbc-feeder.default
@@ -0,0 +1,3 @@
+# For output only mode:
+#EXTRA_ARGS="--val2dbc --no-dbc2val --dbc-default /etc/kuksa-dbc-feeder/dbc_default_values.json"
+#LOG_LEVEL=debug
diff --git a/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/kuksa-dbc-feeder.service b/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/kuksa-dbc-feeder.service
index a30018c6f..857f5c7d2 100644
--- a/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/kuksa-dbc-feeder.service
+++ b/recipes-connectivity/kuksa-val/kuksa-dbc-feeder/kuksa-dbc-feeder.service
@@ -4,7 +4,8 @@ Requires=kuksa-databroker.service can-dev-helper.service
 After=kuksa-databroker.service can-dev-helper.service
 
 [Service]
-ExecStart=/usr/bin/dbcfeeder.py
+EnvironmentFile=-/etc/default/kuksa-dbc-feeder
+ExecStart=/usr/bin/dbcfeeder.py $EXTRA_ARGS
 Restart=on-failure
 
 [Install]