summaryrefslogtreecommitdiffstats
path: root/recipes-connectivity/kuksa-val/kuksa-can-provider/0004-Enable-val2dbc-for-sensor-values.patch
blob: e45fb4cf5d50ca039d329e0df64f338f946570a2 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
From 937218a357ac1914fe410cf3ad31a67d54a63270 Mon Sep 17 00:00:00 2001
From: Scott Murray <scott.murray@konsulko.com>
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 <scott.murray@konsulko.com>
---
 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