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

7 files changed, 251 insertions, 126 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 000000000..88e14511a
--- /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 000000000..73ac6b9df
--- /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 000000000..0199b6cde
--- /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 000000000..110d3c413
--- /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 000000000..21b5ce9a0
--- /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
diff --git a/recipes-demo/kuksa-vss-init/files/kuksa_vss_init.py b/recipes-demo/kuksa-vss-init/files/kuksa_vss_init.py
deleted file mode 100644
index aa7876f6f..000000000
--- a/recipes-demo/kuksa-vss-init/files/kuksa_vss_init.py
+++ /dev/null
@@ -1,111 +0,0 @@
-#!/usr/bin/env python3
-# Copyright (c) 2022 Aakash Solanki, tech2aks@gmail.com
-#
-# 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.
-
-import kuksa_viss_client
-import time
-
-
-class VSS:
-    def __init__(self, client):
-        self.client = client
-
-        self.speed = "Vehicle.Speed"
-        self.engineRPM = "Vehicle.Powertrain.CombustionEngine.Speed"
-        self.fuelLevel = "Vehicle.Powertrain.FuelSystem.Level"
-        self.coolantTemp = "Vehicle.Powertrain.CombustionEngine.ECT"
-        self.leftIndicator = "Vehicle.Body.Lights.IsLeftIndicatorOn"
-        self.rightIndicator = "Vehicle.Body.Lights.IsRightIndicatorOn"
-        #   // Selected Gear output = > 0 = Neutral, 1/2/.. = Forward, -1/.. = Reverse, 126 = Park, 127 = Drive
-        self.selectedGear = "Vehicle.Powertrain.Transmission.SelectedGear"
-        self.lowBeamOn = "Vehicle.Body.Lights.IsLowBeamOn"
-        self.highBeamOn = "Vehicle.Body.Lights.IsHighBeamOn"
-        self.parkingLightOn = "Vehicle.Body.Lights.IsParkingOn"
-        self.hazardLightOn = "Vehicle.Body.Lights.IsHazardOn"
-        self.travelledDistance = "Vehicle.TravelledDistance"
-        self.trunkLocked = "Vehicle.Body.Trunk.Rear.IsLocked"
-        self.trunkOpen = "Vehicle.Body.Trunk.Rear.IsOpen"
-        #   // \"normal\", \"sport\", \"economy\", \"snow\", \"rain\"]
-        self.performanceMode = "Vehicle.Powertrain.Transmission.PerformanceMode"
-        self.ambientAirTemperature = "Vehicle.Exterior.AirTemperature"
-        self.mil = "Vehicle.OBD.Status.IsMILOn"
-        self.cruiseControlError = "Vehicle.ADAS.CruiseControl.IsError"
-        self.cruiseControlSpeedSet = "Vehicle.ADAS.CruiseControl.SpeedSet"
-        self.cruiseControlisActive = "Vehicle.ADAS.CruiseControl.IsActive"
-        self.batteryChargingStatus = "Vehicle.Powertrain.TractionBattery.Charging.IsCharging"
-        # 
-        self.currLat = "Vehicle.Cabin.CurrentLocation.Latitude"
-        self.currLng = "Vehicle.Cabin.CurrentLocation.Longitude"
-        self.desLat = "Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Latitude"
-        self.desLng = "Vehicle.Cabin.Infotainment.Navigation.DestinationSet.Longitude"
-        self.steeringInfo = "Vehicle.Cabin.SteeringWheel.Switches.Info"
-
-    def setInitialValues(self):
-        print("Setting values")
-        self.client.setValue(self.speed, '5')
-        self.client.setValue(self.engineRPM, '1000')
-        self.client.setValue(self.fuelLevel, '50')
-        self.client.setValue(self.coolantTemp, '70')
-        self.client.setValue(self.leftIndicator, "false")
-        self.client.setValue(self.rightIndicator, "false")
-        self.client.setValue(self.selectedGear, '127')
-        self.client.setValue(self.lowBeamOn, "true")
-        self.client.setValue(self.highBeamOn, "false")
-        self.client.setValue(self.parkingLightOn, "true")
-        self.client.setValue(self.hazardLightOn, "false")
-        self.client.setValue(self.travelledDistance, '100')
-        self.client.setValue(self.trunkLocked, "true")
-        self.client.setValue(self.trunkOpen, "false")
-        self.client.setValue(self.performanceMode, "normal")
-        self.client.setValue(self.ambientAirTemperature, '28')
-        self.client.setValue(self.mil, "false")
-        self.client.setValue(self.cruiseControlError, "false")
-        self.client.setValue(self.cruiseControlisActive, "false")
-        self.client.setValue(self.cruiseControlSpeedSet, '60')
-        self.client.setValue(self.batteryChargingStatus, "true")
-        # 
-        self.client.setValue(self.currLat, "31.708643")
-        self.client.setValue(self.currLng, "76.931882")
-        self.client.setValue(self.desLat, "31.781456")
-        self.client.setValue(self.desLng, "76.997469")
-        # Show the map
-        self.client.setValue(self.steeringInfo, "false")
-        print("All value set succesfully")
-
-
-def main():
-    config = {"ip": "localhost", "port": 8090, "insecure": False}
-    client = kuksa_viss_client.KuksaClientThread(config)
-    client.start()
-    token_file = open(
-    "/usr/lib/python3.10/site-packages/kuksa_certificates/jwt/all-read-write.json.token", "r")
-    token = token_file.read()
-    client.authorize(token, timeout=2)
-
-    vss = VSS(client)
-
-    time.sleep(2)
-
-    vss.setInitialValues()
-    client.stop()
-
-
-if __name__ == '__main__':
-    main()
diff --git a/recipes-demo/kuksa-vss-init/kuksa-vss-init.bb b/recipes-demo/kuksa-vss-init/kuksa-vss-init.bb
deleted file mode 100644
index a2aa949af..000000000
--- a/recipes-demo/kuksa-vss-init/kuksa-vss-init.bb
+++ /dev/null
@@ -1,15 +0,0 @@
-DESCRIPTION = "Initialize the Kuksa VSS data to some constant values"
-LICENSE = "MIT"
-LIC_FILES_CHKSUM = "file://${WORKDIR}/kuksa_vss_init.py;beginline=2;endline=20;md5=afe8bd5e80449c5209495644133c16a8"
-
-SRC_URI = "file://kuksa_vss_init.py"
-
-do_configure[noexec] = "1"
-do_compile[noexec] = "1"
-
-do_install() {
-    install -d ${D}${sbindir}
-    install -m 0755 ${WORKDIR}/kuksa_vss_init.py ${D}${sbindir}
-}
-
-RDEPENDS:${PN} = "python3"