From 937218a357ac1914fe410cf3ad31a67d54a63270 Mon Sep 17 00:00:00 2001 From: Scott Murray Date: Mon, 17 Jun 2024 17:07:44 -0400 Subject: [PATCH 4/4] 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 --- dbcfeeder.py | 8 ++++++-- dbcfeederlib/databrokerclientwrapper.py | 18 ++++++++++++------ dbcfeederlib/dbc2vssmapper.py | 21 ++++++++++----------- dbcfeederlib/serverclientwrapper.py | 2 +- mapping/README.md | 2 -- 5 files changed, 29 insertions(+), 22 deletions(-) diff --git a/dbcfeeder.py b/dbcfeeder.py index c252503..c1e20c4 100755 --- a/dbcfeeder.py +++ b/dbcfeeder.py @@ -289,19 +289,23 @@ class Feeder: log.debug("Processing %d VSS Data Entry updates", len(updates)) dbc_signal_names: Set[str] = set() for update in updates: + value = None if update.entry.value is not None: - # This should never happen as we do not subscribe to current value log.warning( "Current value for %s is now: %s of type %s", update.entry.path, update.entry.value.value, type(update.entry.value.value) ) + value = update.entry.value.value if update.entry.actuator_target is not None: log.debug( "Target value for %s is now: %s of type %s", update.entry.path, update.entry.actuator_target, type(update.entry.actuator_target.value) ) - affected_signals = self._mapper.handle_update(update.entry.path, update.entry.actuator_target.value) + value = update.entry.actuator_target.value + + if value != None: + affected_signals = self._mapper.handle_update(update.entry.path, value) dbc_signal_names.update(affected_signals) messages_to_send: Set[Message] = set() diff --git a/dbcfeederlib/databrokerclientwrapper.py b/dbcfeederlib/databrokerclientwrapper.py index 716ee6d..db2b80a 100644 --- a/dbcfeederlib/databrokerclientwrapper.py +++ b/dbcfeederlib/databrokerclientwrapper.py @@ -199,14 +199,20 @@ 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): """Create a subscription and invoke the callback when data received.""" entries: List[SubscribeEntry] = [] - for name in vss_names: - # Always subscribe to target - subscribe_entry = SubscribeEntry(name, View.FIELDS, [Field.ACTUATOR_TARGET]) - log.info("Subscribe entry: %s", 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("Subscribe entry: %s", subscribe_entry) + entries.append(subscribe_entry) + if signal_type == "sensor": + subscribe_entry = SubscribeEntry(name, View.FIELDS, [Field.VALUE]) + log.info("Subscribe entry: %s", 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/dbcfeederlib/dbc2vssmapper.py b/dbcfeederlib/dbc2vssmapper.py index 218f693..2be5e98 100644 --- a/dbcfeederlib/dbc2vssmapper.py +++ b/dbcfeederlib/dbc2vssmapper.py @@ -69,12 +69,13 @@ 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. @@ -347,7 +348,7 @@ class Mapper(DBCParser): if can_signal_name not in self._dbc2vss_mapping: self._dbc2vss_mapping[can_signal_name] = [] mapping_entry = VSSMapping(expanded_name, can_signal_name, transformation_definition, interval, on_change, - node["datatype"], node["description"]) + node["type"], node["datatype"], node["description"]) self._dbc2vss_mapping[can_signal_name].append(mapping_entry) for msg_def in self.get_messages_for_signal(can_signal_name): @@ -398,7 +399,7 @@ class Mapper(DBCParser): log.warning("Ignoring \"interval_ms\" property of mapping definition for %s", expanded_name) mapping_entry = VSSMapping(expanded_name, can_signal_name, transform, interval, on_change, - node["datatype"], node["description"]) + node["type"], node["datatype"], node["description"]) if can_signal_name not in self._vss2dbc_mapping: self._vss2dbc_mapping[expanded_name] = [] self._vss2dbc_mapping[expanded_name].append(mapping_entry) @@ -426,12 +427,7 @@ class Mapper(DBCParser): if dbc2vss_def is not None: self._analyze_dbc2vss(expanded_name, node, dbc2vss_def) if "vss2dbc" in node: - if node["type"] == "actuator": - self._analyze_vss2dbc(expanded_name, node, node["vss2dbc"]) - else: - # vss2dbc is handled by subscription to target value, so only makes sense for actuators - log.error("vss2dbc only allowed for actuators, VSS signal %s is not an actuator!", expanded_name) - sys.exit(-1) + self._analyze_vss2dbc(expanded_name, node, node["vss2dbc"]) def _traverse_vss_node(self, name, node, prefix=""): """ @@ -474,9 +470,12 @@ class Mapper(DBCParser): """Get all CAN signal names for which a mapping to a VSS Data Entry exists.""" return self._dbc2vss_mapping.keys() - def get_vss2dbc_entries(self) -> KeysView[str]: + def get_vss2dbc_entries(self) -> Dict[str, str]: """Get all VSS Data Entry paths for which a mapping to a CAN signal name exists.""" - return self._vss2dbc_mapping.keys() + entries: Dict[str, str] = {} + for name, mappings in self._vss2dbc_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/dbcfeederlib/serverclientwrapper.py b/dbcfeederlib/serverclientwrapper.py index fa43d28..86b2ceb 100644 --- a/dbcfeederlib/serverclientwrapper.py +++ b/dbcfeederlib/serverclientwrapper.py @@ -122,6 +122,6 @@ 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 diff --git a/mapping/README.md b/mapping/README.md index 2155f28..ea6de07 100644 --- a/mapping/README.md +++ b/mapping/README.md @@ -44,8 +44,6 @@ This is built on the assumption that the DBC provider always send target values Having separate configurations (`dbc2vss` and `vss2dbc`) is needed as wanted value and actual value never are sent by the same DBC signal, they are not even part of the same CAN-frame. -*This means that `vss2dbc` only can be used for actuators, as only actuators have target values!* - ## Example mapping files Example mapping files for various VSS versions can be found in this folder. -- 2.44.0