Enable testing without CAN hardwarequillback_16.93.0quillback_16.92.0quillback_16.91.1quillback_16.91.0quillback/16.93.0quillback/16.92.0quillback/16.91.1quillback/16.91.0pike_15.92.0pike_15.91.1pike_15.91.0pike/15.92.0pike/15.91.1pike/15.91.0octopus_14.94.0octopus_14.93.0octopus_14.92.0octopus_14.91.0octopus/14.94.0octopus/14.93.0octopus/14.92.0octopus/14.91.0needlefish_13.93.0needlefish_13.92.0needlefish_13.91.0needlefish/13.93.0needlefish/13.92.0needlefish/13.91.0marlin_12.93.0marlin_12.92.0marlin_12.91.0marlin_12.90.1marlin_12.90.0marlin/12.93.0marlin/12.92.0marlin/12.91.0marlin/12.90.1marlin/12.90.0lamprey_11.92.0lamprey_11.91.0lamprey/11.92.0lamprey/11.91.0koi_10.93.0koi_10.92.0koi_10.91.0koi/10.93.0koi/10.92.0koi/10.91.016.93.016.92.016.91.116.91.015.92.015.91.115.91.014.94.014.93.014.92.014.91.013.93.013.92.013.91.012.93.012.92.012.91.012.90.112.90.011.92.011.91.010.93.010.92.010.91.0

Changes:
- Add can-dev-mapping-helper support changes from meta-agl-demo.
  It is less than ideal to duplicate them, but the timing of the
  planned layer reorganization and slimming down of meta-agl makes
  this seem less hassle.  Once the shift to the new layout is done,
  things can be rationalized as necessary.
- Also add the simple_can_simulator.py script, since without any
  physical CAN connection something is needed to drive testing.

Bug-AGL: SPEC-3689

Signed-off-by: Scott Murray <scott.murray@konsulko.com>
Change-Id: I655409806026024c804942415ac476e59b916c28

2 files changed, 396 insertions, 0 deletions

diff --git a/recipes-demo/simple-can-simulator/files/simple_can_simulator.py b/recipes-demo/simple-can-simulator/files/simple_can_simulator.py
new file mode 100755
index 0000000..83f8870
--- /dev/null
+++ b/recipes-demo/simple-can-simulator/files/simple_can_simulator.py
@@ -0,0 +1,381 @@
+#!/usr/bin/env python3
+# Copyright (c) 2016 Alex Bencz
+# Copyright (c) 2019 Konsulko Group, smurray@konsulko.com
+# Copyright (c) 2020 The Linux Foundation, jsmoeller@linuxfoundation.org
+#
+# 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.
+
+#
+# CANSocket from:
+#
+# https://github.com/abencz/python_socketcan/blob/master/python_socketcan_example.py
+#
+
+import sys
+import socket
+import argparse
+import struct
+import errno
+import threading
+import time
+
+class CANSocket(object):
+    FORMAT = "<IB3x8s"
+    FD_FORMAT = "<IB3x64s"
+
+    def __init__(self, interface=None):
+        self.sock = socket.socket(socket.PF_CAN, socket.SOCK_RAW, socket.CAN_RAW)
+        if interface is not None:
+            self.bind(interface)
+
+    def bind(self, interface):
+        self.sock.bind((interface,))
+        self.sock.setsockopt(socket.SOL_CAN_RAW, socket.CAN_RAW_FD_FRAMES, 1)
+
+    def send(self, can_id, data, flags=0):
+        can_id = can_id | flags
+        can_pkt = struct.pack(self.FORMAT, can_id, len(data), data)
+        self.sock.send(can_pkt)
+
+    def sendfd(self, can_id, data, flags=0):
+        can_id = can_id | flags
+        datafd = data.ljust(64, b'\x00');
+        can_pkt = struct.pack(self.FD_FORMAT, can_id, len(datafd), datafd)
+        self.sock.send(can_pkt)
+
+    def recv(self, flags=0):
+        can_pkt = self.sock.recv(72)
+
+        if len(can_pkt) == 16:
+            can_id, length, data = struct.unpack(self.FORMAT, can_pkt)
+        else:
+            can_id, length, data = struct.unpack(self.FD_FORMAT, can_pkt)
+
+        can_id &= socket.CAN_EFF_MASK
+        return (can_id, data[:length])
+
+class VehicleSimulator(object):
+    DEFAULT_IDLE_RPM = 600
+
+    def __init__(self):
+        self.CRUISEMODE = False
+        self.CRUISEACTIVE = False
+        self.CRUISESPEED = 0
+        self.CRUISERPM = 0
+        self.freq = 10
+        self.vehicle_speed = 0
+        self.engine_speed = self.DEFAULT_IDLE_RPM
+        self.thread = threading.Thread(target=self.run, daemon=True)
+        self.lock = threading.Lock()
+
+    def reset(self):
+        with self.lock:
+            self.vehicle_speed = 0
+            self.engine_speed = self.DEFAULT_IDLE_RPM
+
+    def start(self):
+        self.thread.start()
+
+    def get_engine_speed(self):
+        with self.lock:
+            return int(self.engine_speed)
+
+    def get_vehicle_speed(self):
+        with self.lock:
+            return int(self.vehicle_speed)
+
+    def accelerate(self, target_speed, target_rpm, duration, bycruise = False):
+        if target_speed <= self.vehicle_speed:
+            return
+        v = (target_speed - self.vehicle_speed) / (duration * self.freq)
+        r = (target_rpm - self.engine_speed) / (duration * self.freq)
+        while self.vehicle_speed < target_speed and (not self.CRUISEACTIVE or bycruise):
+            with self.lock:
+                self.vehicle_speed += v;
+                self.engine_speed += r;
+            time.sleep(1 / self.freq)
+
+    def brake(self, target_speed, target_rpm, duration, bycruise = False):
+        if target_speed >= self.vehicle_speed:
+            return
+        v = (self.vehicle_speed - target_speed) / (duration * self.freq)
+        r = (self.engine_speed - target_rpm) / (duration * self.freq)
+        while self.vehicle_speed > target_speed and (not self.CRUISEACTIVE or bycruise):
+            with self.lock:
+                self.vehicle_speed -= v;
+                self.engine_speed -= r;
+            time.sleep(1 / self.freq)
+
+    def increase(self, bycruise = True):
+        if self.CRUISEACTIVE:
+            target_speed = self.vehicle_speed + 5
+            target_rpm = self.engine_speed * 1.1
+            self.accelerate(target_speed, target_rpm, 2, bycruise)
+
+    def decrease(self, bycruise = True):
+        if self.CRUISEACTIVE:
+            target_speed = self.vehicle_speed - 5
+            target_rpm = self.engine_speed * 0.9
+            self.brake(target_speed, target_rpm, 2, bycruise)
+
+    def resume(self, bycruise = True):
+        target_speed = self.CRUISESPEED
+        target_rpm = self.CRUISERPM
+        current_speed = self.get_vehicle_speed()
+        if target_speed > current_speed:
+            self.accelerate(target_speed, target_rpm, 2, bycruise)
+        else:
+            self.brake(target_speed, target_rpm, 2, bycruise)
+
+    def run(self):
+        while True:
+            if not self.CRUISEACTIVE:
+                self.accelerate(80, 3000, 5)
+                self.accelerate(104, 4000, 3)
+                self.brake(80, 3000, 3)
+                self.accelerate(104, 4000, 6)
+                self.brake(40, 2000, 4)
+                self.accelerate(90, 3000, 5)
+                self.brake(1, 650, 5)
+                if not self.CRUISEACTIVE:
+                    self.reset()
+            time.sleep(5)
+
+class DiagnosticMessageHandler(object):
+    def __init__(self, can_sock, simulator, verbose=False):
+        self.can_sock = can_sock
+        self.simulator = simulator
+        self.verbose = verbose
+        self.thread = threading.Thread(target=self.run, daemon=True)
+
+    def start(self):
+        self.thread.start()
+
+    def run(self):
+        while True:
+            can_id, data = self.can_sock.recv()
+            #print('%03X#%s' % (can_id, ''.join(format(x, '02X') for x in data)))
+            if can_id == 0x7df:
+                # OBD-II request
+                if data[1] == 0x01 and data[2] == 0x0C:
+                    # Engine speed
+                    speed = self.simulator.get_engine_speed()
+                    #print('engine speed = %d' % speed)
+                    if speed > 16383.75:
+                        speed = 16383.75
+                    reply = [ 0x04, 0x41, 0x0C ]
+                    reply.append(4 * speed // 256)
+                    reply.append(4 * speed % 256)
+                    # pad remaining bytes to make 8
+                    reply.append(0)
+                    reply.append(0)
+                    reply.append(0)
+                    self.can_sock.send(0x7e8, bytes(reply), 0)
+                elif data[1] == 0x01 and data[2] == 0x0D:
+                    # Vehicle speed
+                    speed = int(self.simulator.get_vehicle_speed()) % 256
+                    #print('vehicle speed = %d' % speed)
+                    reply = [ 0x03, 0x41, 0x0D ]
+                    reply.append(speed)
+                    # pad remaining bytes to make 8
+                    reply.append(0)
+                    reply.append(0)
+                    reply.append(0)
+                    reply.append(0)
+                    self.can_sock.send(0x7e8, bytes(reply), 0)
+
+class SteeringWheelMessageHandler(object):
+    def __init__(self, can_sock, simulator, verbose=False):
+        self.can_sock = can_sock
+        self.simulator = simulator
+        self.verbose = verbose
+        self.thread = threading.Thread(target=self.run, daemon=True)
+        self.buttonpressed = False
+        self.buttonenabled = False
+        self.buttoncancel = False
+        self.buttondec = False
+        self.buttoninc = False
+        self.cruisemode = False
+        self.cruiseactive = False
+
+    def start(self):
+        self.thread.start()
+
+    def run(self):
+        while True:
+            can_id, data = self.can_sock.recv()
+            #print('%03X#%s' % (can_id, ''.join(format(x, '02X') for x in data)))
+            if can_id == 0x21:
+                #print('%03X#%s' % (can_id, ''.join(format(x, '02X') for x in data)))
+                if data:
+                    #if data[6]:
+                        #print('data6: %02X' % (data[6]))
+                    if data[6] == 0x80 and not self.buttonpressed:
+                        # we do skip any further lin messages
+                        # two buttons at the same time won't work
+                        # (aka unlikely w/o twisting fingers)
+                        self.buttonpressed = True
+                        self.buttonenabled = True
+                    if data[6] == 0x08 and not self.buttonpressed:
+                        self.buttonpressed = True
+                        self.buttoncancel = True
+                    if data[6] == 0x10 and not self.buttonpressed:
+                        self.buttonpressed = True
+                        self.buttondec = True
+                    if data[6] == 0x40 and not self.buttonpressed:
+                        self.buttonpressed = True
+                        self.buttoninc = True
+                    if data[6] == 0x00 and self.buttonpressed:
+                        #now handle it as the button was released
+                        if self.buttonenabled:
+                            self.buttonenabled = False
+                            self.cruisemode = not self.cruisemode
+                            #print("set cruisemode to %s" % self.cruisemode)
+                            self.simulator.CRUISEMODE = self.cruisemode
+                            # disable/reset all if going off
+                            if not self.cruisemode:
+                                self.cruiseactive = False
+                                self.simulator.CRUISEACTIVE = self.cruiseactive
+                                self.simulator.CRUISESPEED = 0
+                                self.simulator.CRUISERPM = 0
+                            #print("set cruiseactive to %s" % self.cruiseactive)
+                        if self.buttoncancel:
+                            self.buttoncancel = False
+                            self.simulator.CRUISESPEED = self.simulator.get_vehicle_speed()
+                            self.simulator.CRUISERPM = self.simulator.get_engine_speed()
+                            #print("set cruisespeed to %d" % self.simulator.CRUISESPEED )
+                            #print("set cruiserpm to %d" % self.simulator.CRUISERPM )
+                            self.cruiseactive = False
+                            #print("set cruiseactive to %s" % self.cruiseactive )
+                            self.simulator.CRUISEACTIVE = self.cruiseactive
+                        if self.buttondec:
+                            self.buttondec = False
+                            if self.cruiseactive:
+                                #print("decrease")
+                                self.simulator.decrease()
+                            else:
+                                # set speed
+                                #print("set speed")
+                                self.simulator.CRUISESPEED = self.simulator.get_vehicle_speed()
+                                self.simulator.CRUISERPM = self.simulator.get_engine_speed()
+                                #print("set cruisespeed to %d" % self.simulator.CRUISESPEED )
+                                #print("set cruiserpm to %d" % self.simulator.CRUISERPM )
+                                self.cruiseactive = not self.cruiseactive
+                                #print("set cruiseactive to %s" % self.cruiseactive )
+                                self.simulator.CRUISEACTIVE = self.cruiseactive
+                        if self.buttoninc:
+                            self.buttoninc = False
+                            if self.cruiseactive:
+                                #print("increase")
+                                self.simulator.increase()
+                            else:
+                                if self.simulator.CRUISESPEED > 0:
+                                    # resume
+                                    self.cruiseactive = not self.cruiseactive
+                                    self.simulator.CRUISEACTIVE = self.cruiseactive
+                                    #print("set cruiseactive to %s" % self.cruiseactive )
+                                    #print("resume")
+                                    self.simulator.resume()
+                        self.buttonpressed = False
+
+
+class StatusMessageSender(object):
+    def __init__(self, can_sock, simulator, verbose=False):
+        self.can_sock = can_sock
+        self.simulator = simulator
+        self.verbose = verbose
+        self.thread = threading.Thread(target=self.run, daemon=True)
+
+    def start(self):
+        self.thread.start()
+
+    def run(self):
+        while True:
+            # Engine speed
+            speed = self.simulator.get_engine_speed()
+            if self.verbose:
+                print('engine speed = %d' % speed)
+            if speed > 16383.75:
+                speed = 16383.75
+            # Message is 1 byte unknown, 1 byte fuel level, 2 bytes engine speed (4x), fuel low @ bit 55
+            msg = [ 0, 0 ]
+            speed *= 4
+            msg.append(speed // 256)
+            msg.append(speed % 256)
+            # pad remaining bytes to make 8
+            msg.append(0)
+            msg.append(0)
+            msg.append(0)
+            msg.append(0)
+            self.can_sock.send(0x3d9, bytes(msg), 0)
+
+            # Vehicle speed
+            speed = int(self.simulator.get_vehicle_speed()) % 256
+            if self.verbose:
+                print('vehicle speed = %d' % speed)
+            # Message is 15 bits speed (64x), left aligned
+            msg = [ ]
+            # Note: extra 2x to yield required left-alignment
+            speed *= 128
+            msg.append(speed // 256)
+            msg.append(speed % 256)
+            # pad remaining bytes to make 8
+            msg.append(0)
+            msg.append(0)
+            msg.append(0)
+            msg.append(0)
+            msg.append(0)
+            msg.append(0)
+            self.can_sock.send(0x3e9, bytes(msg), 0)
+
+            # Sleep 100 ms
+            time.sleep(0.1)
+
+def main():
+    parser = argparse.ArgumentParser(description='Simple CAN vehicle simulator.')
+    parser.add_argument('interface', type=str, help='interface name (e.g. vcan0)')
+    parser.add_argument('-v', '--verbose', help='increase output verbosity', action='store_true')
+    args = parser.parse_args()
+
+    try:
+        can_sock = CANSocket(args.interface)
+        diag_can_sock = CANSocket(args.interface)
+        steeringwheel_can_sock = CANSocket(args.interface)
+    except OSError as e:
+        sys.stderr.write('Could not listen on interface {0}\n'.format(args.interface))
+        sys.exit(e.errno)
+
+    print('Using {0}'.format(args.interface))
+    sim = VehicleSimulator()
+    status_sender = StatusMessageSender(can_sock, sim, args.verbose)
+    diag_handler = DiagnosticMessageHandler(diag_can_sock, sim, args.verbose)
+    steeringwheel_handler = SteeringWheelMessageHandler(steeringwheel_can_sock, sim, args.verbose)
+    sim.start()
+    status_sender.start()
+    diag_handler.start()
+    steeringwheel_handler.start()
+    try:
+        while True:
+            time.sleep(60)
+    except (KeyboardInterrupt, SystemExit):
+        #sim.stop()
+        sys.exit(0)
+
+if __name__ == '__main__':
+    main()
diff --git a/recipes-demo/simple-can-simulator/simple-can-simulator.bb b/recipes-demo/simple-can-simulator/simple-can-simulator.bb
new file mode 100644
index 0000000..bca4487
--- /dev/null
+++ b/recipes-demo/simple-can-simulator/simple-can-simulator.bb
@@ -0,0 +1,15 @@
+DESCRIPTION = "Simulator that generates CAN messages of a driving car"
+LICENSE = "GPLv2"
+LIC_FILES_CHKSUM = "file://${COMMON_LICENSE_DIR}/GPL-2.0;md5=801f80980d171dd6425610833a22dbe6"
+
+SRC_URI = "file://simple_can_simulator.py"
+
+do_configure[noexec] = "1"
+do_compile[noexec] = "1"
+
+do_install() {
+    install -d ${D}${sbindir}
+    install -m 0755 ${WORKDIR}/simple_can_simulator.py ${D}${sbindir}
+}
+
+RDEPENDS_${PN} = "python3"