kuksa-vss-init: rework into agl-vss-helper

Rework/replace the kuksa_vss_init script with a new agl-vss-helper
script that uses a configuration file for the list of VSS signals
and the values they should be set to.  It also will run in daemon
mode if the configuration includes a list of signals to perform
mocking as an actuator, and push any target values back out as the
current value.  This avoids needing to perform hacks around
directly feeding sensor values from applications for things where
we do not have an existing actuator backend (e.g. HMI units values).

Bug-AGL: SPEC-5042

Change-Id: I6d1e9d5fb72f7f23a3bb45fcda0a48e1a10c3863
Signed-off-by: Scott Murray <scott.murray@konsulko.com>
Reviewed-on: https://gerrit.automotivelinux.org/gerrit/c/AGL/meta-agl-demo/+/29583
ci-image-build: Jenkins Job builder account
ci-image-boot-test: Jenkins Job builder account
Tested-by: Jenkins Job builder account

5 files changed, 251 insertions, 0 deletions

diff --git a/recipes-demo/agl-vss-helper/agl-vss-helper.bb b/recipes-demo/agl-vss-helper/agl-vss-helper.bb
new file mode 100644
index 00000000..88e14511
--- /dev/null
+++ b/recipes-demo/agl-vss-helper/agl-vss-helper.bb
@@ -0,0 +1,35 @@
+DESCRIPTION = "AGL VSS helper daemon"
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/MIT;md5=0835ade698e0bcf8506ecda2f7b4f302"
+
+SRC_URI = "file://agl-vss-helper.py \
+           file://agl-vss-helper.yaml \
+           file://agl-vss-helper.token \
+           file://agl-vss-helper.service \
+"
+
+inherit systemd
+
+SYSTEMD_SERVICE:${PN} = "${BPN}.service"
+
+do_configure[noexec] = "1"
+do_compile[noexec] = "1"
+
+do_install() {
+    install -d ${D}${sbindir}
+    install -m 0755 ${WORKDIR}/${BPN}.py ${D}${sbindir}
+    install -d ${D}${sysconfdir}/xdg/AGL/${BPN}
+    install -m 0644 ${WORKDIR}/${BPN}.yaml ${D}${sysconfdir}/xdg/AGL/
+    install -m 0644 ${WORKDIR}/${BPN}.token ${D}${sysconfdir}/xdg/AGL/${BPN}/
+    install -D -m 0644 ${WORKDIR}/${BPN}.service ${D}${systemd_system_unitdir}/${BPN}.service
+}
+
+RDEPENDS:${PN} = " \
+    python3 \
+    python3-asyncio \
+    python3-systemd \
+    kuksa-databroker \
+    kuksa-databroker-agl \
+    kuksa-client \
+    kuksa-certificates-agl-ca \
+"
diff --git a/recipes-demo/agl-vss-helper/files/agl-vss-helper.py b/recipes-demo/agl-vss-helper/files/agl-vss-helper.py
new file mode 100644
index 00000000..73ac6b9d
--- /dev/null
+++ b/recipes-demo/agl-vss-helper/files/agl-vss-helper.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+# Copyright (c) 2022 Aakash Solanki, tech2aks@gmail.com
+# Copyright (c) 2024 Scott Murray <scott.murray@konsulko.com>
+#
+# SPDX-License-Identifier: MIT
+
+import sys
+from pathlib import Path
+import yaml
+import asyncio
+import concurrent.futures
+from kuksa_client.grpc.aio import VSSClient
+from kuksa_client.grpc import Datapoint
+from systemd.daemon import notify
+
+# Defaults
+hostname = "localhost"
+port = 55555
+config_filename = "/etc/xdg/AGL/agl-vss-helper.yaml"
+token_filename = "/etc/xdg/AGL/agl-vss-helper/agl-vss-helper.token"
+ca_cert_filename = "/etc/kuksa-val/CA.pem"
+tls_server_name = "localhost"
+verbose = False
+
+async def main():
+    client = VSSClient(hostname,
+                       port,
+                       root_certificates=Path(ca_cert_filename),
+                       tls_server_name=tls_server_name,
+                       token=token,
+                       ensure_startup_connection=True)
+    await client.connect()
+    print(f"Connected to KUKSA.val databroker at {hostname}:{port}")
+    if "initialize" in config and isinstance(config["initialize"], list):
+        for entry in config["initialize"]:
+            if "signal" in entry and "value" in entry:
+                if verbose:
+                    print(f"Setting {entry['signal']} to {entry['value']}")
+                await client.set_current_values({ entry["signal"] : Datapoint(entry["value"]) })
+
+    notify("READY=1")
+
+    if "mock" in config and isinstance(config["mock"], list):
+        if len(config["mock"]) != 0:
+            print(f"Mocking actuators:")
+            for signal in config["mock"]:
+                print(f"  {signal}")
+            async for updates in client.subscribe_target_values(config["mock"]):
+                for signal in updates:
+                    if updates[signal] is not None:
+                        if verbose:
+                            print(f"Actuating {signal} to {updates[signal].value}")
+                        await client.set_current_values({ signal : Datapoint(updates[signal].value) })
+
+
+#
+# Initialization
+#
+
+try:
+    config_file = open(config_filename, "r")
+    config = yaml.safe_load(config_file)
+except yaml.YAMLError as exc:
+    print(f"Could not parse configuration: ${exc}")
+except:
+    print(f"Could not read configuration")
+
+if "verbose" in config and isinstance(config["verbose"], bool):
+    verbose = config["verbose"]
+if "hostname" in config and isinstance(config["hostname"], string):
+    hostname = config["hostname"]
+if "port" in config and isinstance(config["port"], int):
+    port = config["port"]
+if "use-tls" in config and isinstance(config["use-tls"], bool):
+    use_tls = config["use-tls"]
+if "token-file" in config and isinstance(config["token-file"], string):
+    token_filename = config["token-file"]
+if "ca-certificate" in config and isinstance(config["ca-certificate"], string):
+    ca_cert_filename = config["ca-certificate"]
+
+if token_filename != "":
+    if verbose:
+        print(f"Reading authorization token {token_filename}")
+    token_file = open(token_filename, "r")
+    token = token_file.read()
+else:
+    token = ""
+
+print("Starting")
+try:
+    asyncio.run(main())
+except KeyboardInterrupt:
+    print("Exiting")
+
+notify("STOPPING=1")
+sys.exit(0)
diff --git a/recipes-demo/agl-vss-helper/files/agl-vss-helper.service b/recipes-demo/agl-vss-helper/files/agl-vss-helper.service
new file mode 100644
index 00000000..0199b6cd
--- /dev/null
+++ b/recipes-demo/agl-vss-helper/files/agl-vss-helper.service
@@ -0,0 +1,11 @@
+[Unit]
+Wants=network.target kuksa-databroker.service
+After=network.target kuksa-databroker.service
+
+[Service]
+Type=notify
+ExecStart=/usr/bin/python3 -u /usr/sbin/agl-vss-helper.py
+Restart=on-failure
+
+[Install]
+WantedBy=multi-user.target
diff --git a/recipes-demo/agl-vss-helper/files/agl-vss-helper.token b/recipes-demo/agl-vss-helper/files/agl-vss-helper.token
new file mode 100644
index 00000000..110d3c41
--- /dev/null
+++ b/recipes-demo/agl-vss-helper/files/agl-vss-helper.token
@@ -0,0 +1 @@
+eyJ0eXAiOiJKV1QiLCJhbGciOiJSUzI1NiJ9.eyJzdWIiOiJsb2NhbCBkZXYiLCJpc3MiOiJjcmVhdGVUb2tlbi5weSIsImF1ZCI6WyJrdWtzYS52YWwiXSwiaWF0IjoxNTE2MjM5MDIyLCJleHAiOjE3NjcyMjU1OTksInNjb3BlIjoiYWN0dWF0ZSBwcm92aWRlIn0.x-bUZwDCC663wGYrWCYjQZwQWhN1CMuKgxuIN5dUF_izwMutiqF6Xc-tnXgZa93BbT3I74WOMk4awKHBUSTWekGs3-qF6gajorbat6n5180TOqvNu4CXuIPZN5zpngf4id3smMkKOT699tPnSEbmlkj4vk-mIjeOAU-FcYA-VbkKBTsjvfFgKa2OdB5h9uZARBg5Rx7uBN3JsH1I6j9zoLid184Ewa6bhU2qniFt5iPsGJniNsKsRrrndN1KzthO13My44s56yvwSHIOrgDGbXdja_eLuOVOq9pHCjCtorPScgEuUUE4aldIuML-_j397taNP9Y3VZYVvofEK7AuiePTbzwxrZ1RAjK74h1-4ued3A2gUTjr5BsRlc9b7eLZzxLJkrqdfGAzBh_rtrB7p32TbvpjeFP30NW6bB9JS43XACUUm_S_RcyI7BLuUdnFyQDQr6l6sRz9XayYXceilHdCxbAVN0HVnBeui5Bb0mUZYIRZeY8k6zcssmokANTD8ZviDMpKlOU3t5AlXJ0nLkgyMhV9IUTwPUv6F8BTPc-CquJCUNbTyo4ywTSoODWbm3PmQ3Y46gWF06xqnB4wehLscBdVk3iAihQp3tckGhMnx5PI_Oy7utIncr4pRCMos63TnBkfrl7d43cHQTuK0kO76EWtv4ODEHgLvEAv4HA
\ No newline at end of file
diff --git a/recipes-demo/agl-vss-helper/files/agl-vss-helper.yaml b/recipes-demo/agl-vss-helper/files/agl-vss-helper.yaml
new file mode 100644
index 00000000..21b5ce9a
--- /dev/null
+++ b/recipes-demo/agl-vss-helper/files/agl-vss-helper.yaml
@@ -0,0 +1,108 @@
+initialize:
+- signal: Vehicle.Speed
+  value: 0
+- signal: Vehicle.Powertrain.CombustionEngine.Speed
+  value: 600
+- signal: Vehicle.Powertrain.FuelSystem.RelativeLevel
+  value: 70
+- signal: Vehicle.Powertrain.FuelSystem.Range
+  value: 300000
+- signal: Vehicle.Powertrain.CombustionEngine.ECT
+  value: 70
+- signal: Vehicle.Body.Lights.DirectionIndicator.Left.IsSignaling
+  value: false
+- signal: Vehicle.Body.Lights.DirectionIndicator.Right.IsSignaling
+  value: false
+- signal: Vehicle.Powertrain.Transmission.SelectedGear
+  value: 127
+- signal: Vehicle.Body.Lights.Beam.Low.IsOn
+  value: true
+- signal: Vehicle.Body.Lights.Beam.High.IsOn
+  value: false
+- signal: Vehicle.Body.Lights.Parking.IsOn
+  value: false
+- signal: Vehicle.Body.Lights.Hazard.IsSignaling
+  value: false
+- signal: Vehicle.TraveledDistance
+  value: 1763
+- signal: Vehicle.TraveledDistanceSinceStart
+  value: 0
+- signal: Vehicle.Body.Trunk.Rear.IsLocked
+  value: true
+- signal: Vehicle.Body.Trunk.Rear.IsOpen
+  value: false
+- signal: Vehicle.Powertrain.Transmission.PerformanceMode
+  value: "NORMAL"
+- signal: Vehicle.Cabin.HVAC.AmbientAirTemperature
+  value: 22
+- signal: Vehicle.Exterior.AirTemperature
+  value: 24
+- signal: Vehicle.Chassis.Axle.Row1.Wheel.Left.Tire.Pressure
+  value: 220
+- signal: Vehicle.Chassis.Axle.Row1.Wheel.Right.Tire.Pressure
+  value: 216
+- signal: Vehicle.Chassis.Axle.Row2.Wheel.Left.Tire.Pressure
+  value: 217
+- signal: Vehicle.Chassis.Axle.Row2.Wheel.Right.Tire.Pressure
+  value: 222
+- signal: Vehicle.OBD.Status.IsMILOn
+  value: false
+- signal: Vehicle.Cabin.Infotainment.HMI.DistanceUnit
+  value: "KILOMETERS"
+- signal: Vehicle.Cabin.Infotainment.HMI.TemperatureUnit
+  value: "C"
+- signal: Vehicle.Cabin.Infotainment.HMI.TirePressureUnit
+  value: "KPA"
+- signal: Vehicle.ADAS.CruiseControl.IsEnabled
+  value: false
+- signal: Vehicle.ADAS.CruiseControl.IsActive
+  value: false
+- signal: Vehicle.ADAS.CruiseControl.SpeedSet
+  value: false
+- signal: Vehicle.ADAS.CruiseControl.IsError
+  value: false
+- signal: Vehicle.Powertrain.TractionBattery.Charging.IsCharging
+  value: false
+- signal: Vehicle.Powertrain.TractionBattery.Charging.IsChargingCableConnected
+  value: false
+- signal: Vehicle.Powertrain.TractionBattery.Charging.IsChargingCableLocked
+  value: false
+- signal: Vehicle.Powertrain.TractionBattery.Charging.IsDischarging
+  value: false
+#- signal: Vehicle.CurrentLocation.Latitude
+#  value:
+#- signal: Vehicle.CurrentLocation.Longitude
+#  value:
+#
+# AGL specific signals
+#
+- signal: Vehicle.Cabin.Infotainment.Navigation.State
+  value: "STOPPED"
+- signal: Vehicle.Cabin.Infotainment.Navigation.ElapsedDistance
+  value: 0.0
+#- signal: Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude
+#  value:
+#- signal: Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude
+#  value:
+- signal: Vehicle.Cabin.SteeringWheel.Switches.Info
+  value: false
+- signal: Vehicle.Cabin.SteeringWheel.Switches.VolumeUp
+  value: false
+- signal: Vehicle.Cabin.SteeringWheel.Switches.VolumeDown
+  value: false
+- signal: Vehicle.Cabin.SteeringWheel.Switches.VolumeMute
+  value: false
+- signal: Vehicle.Cabin.SteeringWheel.Switches.Next
+  value: false
+- signal: Vehicle.Cabin.SteeringWheel.Switches.Previous
+  value: false
+- signal: Vehicle.Cabin.SteeringWheel.Switches.Mode
+  value: false
+
+mock:
+- Vehicle.Cabin.Infotainment.HMI.DistanceUnit
+- Vehicle.Cabin.Infotainment.HMI.TemperatureUnit
+- Vehicle.Cabin.Infotainment.HMI.TirePressureUnit
+- Vehicle.ADAS.CruiseControl.IsEnabled
+- Vehicle.ADAS.CruiseControl.IsActive
+- Vehicle.ADAS.CruiseControl.SpeedSet