Widget packaging rework - meta-agl - meta-agl layer (core AGL)

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author	Scott Murray <scott.murray@konsulko.com>	2020-04-28 21:10:50 +0000
committer	Jan-Simon Moeller <jsmoeller@linuxfoundation.org>	2020-05-12 12:51:12 +0000
commit	406020ff1b649c4a02248cef5e82abf5315d44d6 (patch)
tree	de7f7e96fa6db3da02e452d0be8baa59e5be518e /meta-agl-bsp/recipes-kernel
parent	77a17c57856077a5eb2bfb5336710a75f1af95af (diff)

Widget packaging rework

aglwgt.bbclass changes: - Made the autobuild/agl/autobuild script a hard requirement, as all upstream widgets have it, and this is the first step to actually using it in the class to drive building the widgets after a subsequent round of autobuild script updates. - Reworked wgt packaging to simplify the logic and split the test, debug, and coverage widgets into separate packages to allow installing them separately. - The on target install directories for the widgets have been changed to release, test, debug, and coverage under /usr/AGL/apps, with the previous logic with respect to the AGLWGT_AUTOINSTALL variable being retained for the few widgets that need to go into the manualinstall directory. An "autoinstall" symlink has been added to point at the release directory to maintain previous behavior. This should allow a simple path to configuring installation of the debug or coverage widgets on first boot with future changes. - Added logic to only assume test widgets exist for recipes with names starting with "agl-service-". This can be over-ridden by defining AGLWGT_HAVE_TESTS as "true" in a recipe. - Added AGLWGT_EXTRA_BUILD_ARGS variable for passing extra arguments to widget builds. Currently its default value includes the previous VERBOSE=true that was passed to every autobuild invocation, and "${PARALLEL_MAKE}" which has been added to improve build speed. - Added AGLWGT_PACKAGE_WARN variable to control extra warnings around the existence of test/debug/coverage widgets when packaging. Once further build rework is done, the default for this will likely be changed to "true", currently the output is too verbose to do so. - Removed over-rides to force building of test widget when building with the agl-ptest feature set, as it is now unnecessary and will result in an undesired extra copy of the test widget in the release folder. Other changes: - Created new devel and test packagegroup variants for several of the existing packagegroups to contain the associated widgets. - Added agl-devel-wgt and agl-test-wgt IMAGE_FEATURES to control the addition of dbg/coverage and test widgets to images. Additions to the FEATURE_PACKAGES variables have been added in several places to add the corresponding widget packagegroups. - Added the agl-devel-wgt image feature to the agl-devel feature template definition to match current behavior. Bug-AGL: SPEC-3300 Signed-off-by: Scott Murray <scott.murray@konsulko.com> Change-Id: I3a28615db94bbc04e30e98ac3dce8cae942a499f

Diffstat (limited to 'meta-agl-bsp/recipes-kernel')

0 files changed, 0 insertions, 0 deletions

# Configure the AGL system ## Virtual CAN device Connected to the target, here is how to load the virtual CAN device driver and set up a new vcan device : ```bash modprobe vcan ip link add vcan0 type vcan ip link set vcan0 up ``` You also can named your linux CAN device like you want and if you need name it `can0` : ```bash modprobe vcan ip link add can0 type vcan ip link set can0 up ``` ## CAN device using the USB CAN adapter Using real connection to CAN bus of your car using the USB CAN adapter connected to the OBD2 connector. Once connected, launch `dmesg` command and search which device to use: ```bash dmesg [...] [ 131.871441] usb 1-3: new full-speed USB device number 4 using ohci-pci [ 161.860504] can: controller area network core (rev 20120528 abi 9) [ 161.860522] NET: Registered protocol family 29 [ 177.561620] usb 1-3: USB disconnect, device number 4 [ 191.061423] usb 1-2: USB disconnect, device number 3 [ 196.095325] usb 1-2: new full-speed USB device number 5 using ohci-pci [ 327.568882] usb 1-2: USB disconnect, device number 5 [ 428.594177] CAN device driver interface [ 1872.551543] usb 1-2: new full-speed USB device number 6 using ohci-pci [ 1872.809302] usb_8dev 1-2:1.0 can0: firmware: 1.7, hardware: 1.0 [ 1872.809356] usbcore: registered new interface driver usb_8dev ``` Here device is named `can0`. This instruction assuming a speed of 500000kbps for your CAN bus, you can try others supported bitrate like 125000, 250000 if 500000 doesn't work: ```bash ip link set can0 type can bitrate 500000 ip link set can0 up ip link show can0 can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10 link/can can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0 bitrate 500000 sample-point 0.875 tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1 sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1 clock 16000000 ``` On a Rcar Gen3 board, you'll have your CAN device as `can1` because `can0` already exists as an embedded device. The instructions will be the same: ```bash ip link set can1 type can bitrate 500000 ip link set can1 up ip link show can1 can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10 link/can can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0 bitrate 500000 sample-point 0.875 tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1 sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1 clock 16000000 ``` ## Rename an existing CAN device You can rename an existing CAN device using following command and doing so move an existing `can0` device to anything else and then use another device as `can0` . For a Rcar Gen3 board do the following by example: ```bash sudo ip link set can0 down sudo ip link set can0 name bsp-can0 sudo ip link set bsp-can0 up ``` Then connect your USB CAN device that will be named `can0` by default. # Configure the binding The binding reads system configuration file _/etc/dev-mapping.conf_ at start to map logical name from signals described in JSON file to linux devices name initialized by the system. Edit file _/etc/dev-mapping.conf_ and add mapping in section `CANbus-mapping`. Default binding configuration use a CAN bus named `hs` so you need to map it to the real one, here are some examples: * Using virtual CAN device as described in the previous chapter: ```ini [CANbus-mapping] hs="vcan0" ls="vcan1" ``` * Using real CAN device, this example assume CAN bus traffic will be on can0. ```ini [CANbus-mapping] hs="can0" ls="can1" ``` * On a Rcar Gen3 board there is an embedded CAN device so `can0` already exists. So you might want to use your USB CAN adapter plugged to the OBD2 connector, in this case use `can1`: ```ini [CANbus-mapping] hs="can1" ``` * You can use this configuration for j1939: ```ini [CANbus-mapping] hs="can0" ls="can1" j1939="can2" ``` > **CAUTION VERY IMPORTANT:** Make sure the CAN bus$es$ you specify in your > configuration file match those specified in your generated source file with > the `CAN-config-generator`. # Run it, test it, use it. You can run the binding using **afm-util** tool, here is the classic way to go : ```bash afm-util run low-can-service@4.0 1 ``` You can find instructions to use afm-util tool [here](../../reference/af-main/1-afm-daemons.html#using-afm-util), as well as documentation about Application Framework. But you can't control nor interact with it because you don't know security token that **Application Framework** gaves it at launch. So, to test it, it is better to launch the binding manually. In the following example, it will use port **1234** and left empty security token for testing purpose: ```bash afb-daemon --binding=/var/lib/afm/applications/low-can-service/4.0/lib/afb-low-can.so --rootdir=/var/lib/afm/applications/low-can-service/4.0/ --port=1234 --token=1 NOTICE: binding [/usr/lib/afb/afb-dbus-binding.so] calling registering function afbBindingV1Register NOTICE: binding /usr/lib/afb/afb-dbus-binding.so loaded with API prefix dbus NOTICE: binding [/usr/lib/afb/authLogin.so] calling registering function afbBindingV1Register NOTICE: binding /usr/lib/afb/authLogin.so loaded with API prefix auth NOTICE: binding [/var/lib/afm/applications/low-can-service/4.0/libs//low-can-binding.so] calling registering function afbBindingV1Register NOTICE: binding /var/lib/afm/applications/low-can-service/4.0/libs//low-can-binding.so loaded with API prefix low-can NOTICE: Waiting port=1234 rootdir=/var/lib/afm/applications/low-can-service/4.0/ NOTICE: Browser URL= http:/*localhost:1234 ``` On another terminal, connect to the binding using previously installed **AFB Websocket CLI** tool: ```bash afb-client-demo ws://localhost:1234/api?token=1 ``` You will be on an interactive session where you can communicate directly with the binding API. The binding provides at this moment 2 verbs, _subscribe_ and _unsubscribe_, which can take argument by a JSON **event** object. The argument value is the CAN message **generic\_name** as described in the JSON file used to generate cpp file for the binding. To use the _**AFB Websocket CLI**_ tool, a command line will be like the following: ``` <api> <verb> <arguments> ``` Where: * API : _**low-can**_. * Verb : _**subscribe**_ or _**unsubscribe**_ * Arguments : _**{ "event": "driver.doors.open" }**_ ## Subscription and unsubscription You can ask to subscribe to chosen CAN event with a call to _subscribe_ API verb with the CAN messages name as JSON argument. > **NOTE:** If no argument is provided, then you'll subscribe to all signals > at once. For example from a websocket session: ```json low-can subscribe { "event": "doors.driver.open" } ON-REPLY 1:low-can/subscribe: {"jtype":"afb-reply","request":{"status":"success","uuid":"a18fd375-b6fa-4c0e-a1d4-9d3955975ae8"}} ``` Subscription and unsubscription can take wildcard in their _event_ value. To receive all doors events : ```json low-can subscribe { "event" : "doors*" } ON-REPLY 1:low-can/subscribe: {"jtype":"afb-reply","request":{"status":"success","uuid":"511c872e-d7f3-4f3b-89c2-aa9a3e9fbbdb"}} ``` Then you will receive an event each time a CAN message is decoded for the event named _doors.driver.open_ with its received timestamp if available: ```json ON-EVENT low-can/messages.doors.driver.open({"event":"low-can\/messages.doors.driver.open","data":{"name":"messages.doors.driver.open","value":true, "timestamp": 1505812906020023},"jtype":"afb-event"}) ``` Notice that event shows you that the CAN event is named _messages.doors.driver.open_ but you ask for event about _doors.driver.open_. This is because all CAN messages or diagnostic messages are prefixed by the JSON parent node name, **messages** for CAN messages and **diagnostic\_messages** for diagnostic messages like OBD2. This will let you subscribe or unsubcribe to all signals at once, not recommended, and better make filter on subscribe operation based upon their type. Examples: ```json low-can subscribe { "event" : "*speed*" } --> will subscribe to all messages with speed in their name. Search will be make without prefix for it. low-can subscribe { "event" : "speed*" } --> will subscribe to all messages begin by speed in their name. Search will be make without prefix for it. low-can subscribe { "event" : "messages*speed*" } --> will subscribe to all CAN messages with speed in their name. Search will be on prefixed messages here. low-can subscribe { "event" : "messages*speed" } --> will subscribe to all CAN messages ending with speed in their name. Search will be on prefixed messages here. low-can subscribe { "event" : "diagnostic*speed*" } --> will subscribe to all diagnostic messages with speed in their name. Search will be on prefixed messages here. low-can subscribe { "event" : "diagnostic*speed" } --> will subscribe to all diagnostic messages ending with speed in their name. Search will be on prefixed messages here. ``` You can also subscribe to an event with the ID or the PGN of the message definition : ```json low-can subscribe { "id" : 1568} low-can subscribe { "pgn" : 61442} ``` You can stop receiving event from it by unsubscribe the signal the same way you did for subscribe ```json low-can unsubscribe { "event": "doors.driver.open" } ON-REPLY 2:low-can/unsubscribe: {"jtype":"afb-reply","request":{"status":"success"}} low-can unsubscribe { "event" : "doors*" } ON-REPLY 3:low-can/unsubscribe: {"jtype":"afb-reply","request":{"status":"success"}} ``` ### Filtering capabilities It is possible to limits received event notifications into minimum and maximum boundaries as well as doing frequency thinning. This is possible using the argument filter with one or more of the filters available : * frequency: specify in Hertz the frequency which will be used to getting notified of new CAN events for the designated signal. If, during the blocked time, further changed CAN messages are received, the last valid one will be transferred after the lockout with a RX_CHANGED. * min: Minimum value that the decoded value needs to be above to get pushed to the subscribed client(s). * max: Maximum value that the decoded value needs to be below to get pushed to the subscribed client(s) Order doesn't matter neither the number of filters chosen, you can use one, two or all of them at once. Usage examples : ```json low-can subscribe {"event": "messages.engine.speed", "filter": { "frequency": 3, "min": 1250, "max": 3500}} low-can subscribe {"event": "messages.engine.load", "filter": { "min": 30, "max": 100}} low-can subscribe {"event": "messages.vehicle.speed", "filter": { "frequency": 2}} ``` ## Get last signal value and list of configured signals You can also ask for a particular signal value on one shot using **get** verb, like this: ```json low-can get {"event": "messages.engine.speed"} ON-REPLY 1:low-can/get: {"response":[{"event":"messages.engine.speed","value":0}],"jtype":"afb-reply","request":{"status":"success"}} ``` > **CAUTION** Only one event could be requested. Also, if you want to know the supported CAN signals loaded by **low-can**, use verb **list** ```json low-can list ON-REPLY 2:low-can/list: {"response":["messages.hvac.fan.speed","messages.hvac.temperature.left","messages.hvac.temperature.right","messages.hvac.temperature.average","messages.engine.speed","messages.fuel.level.low","messages.fuel.level","messages.vehicle.average.speed","messages.engine.oil.temp","messages.engine.oil.temp.high","messages.doors.boot.open","messages.doors.front_left.open","messages.doors.front_right.open","messages.doors.rear_left.open","messages.doors.rear_right.open","messages.windows.front_left.open","messages.windows.front_right.open","messages.windows.rear_left.open","messages.windows.rear_right.open","diagnostic_messages.engine.load","diagnostic_messages.engine.coolant.temperature","diagnostic_messages.fuel.pressure","diagnostic_messages.intake.manifold.pressure","diagnostic_messages.engine.speed","diagnostic_messages.vehicle.speed","diagnostic_messages.intake.air.temperature","diagnostic_messages.mass.airflow","diagnostic_messages.throttle.position","diagnostic_messages.running.time","diagnostic_messages.EGR.error","diagnostic_messages.fuel.level","diagnostic_messages.barometric.pressure","diagnostic_messages.ambient.air.temperature","diagnostic_messages.commanded.throttle.position","diagnostic_messages.ethanol.fuel.percentage","diagnostic_messages.accelerator.pedal.position","diagnostic_messages.hybrid.battery-pack.remaining.life","diagnostic_messages.engine.oil.temperature","diagnostic_messages.engine.fuel.rate","diagnostic_messages.engine.torque"],"jtype":"afb-reply","request":{"status":"success","uuid":"32df712a-c7fa-4d58-b70b-06a87f03566b"}} ``` ## Write on CAN buses A new capability as been introcuded to be able to write on handled CAN buses. Two modes could be used for that which is either specifying the CAN bus and a *RAW* CAN message either by specifying a defined signal and its value. Examples: ```json # Write a raw can frame to the CAN id 0x620 low-can write { "bus_name": "hs", "frame": { "can_id": 1568, "can_dlc": 8, "can_data": [ 255,255,255,255,255,255,255,255]} } # Write a signal's value. low-can write { "signal_name": "engine.speed", "signal_value": 1256} ``` To be able to use write capability, you need to add the permission ```urn:AGL:permission::platform:can:write``` to your package configuration file that need to write on CAN bus through **low-can** api. Then in order to write on bus, your app needs to call verb **auth** before calling **write**, to raise its **LOA**, Level Of Assurance, which controls usage of verb **write**. ## Using CAN utils to monitor CAN activity You can watch CAN traffic and send custom CAN messages using can-utils preinstalled on AGL target. To watch watch going on a CAN bus use: ```bash candump can0 ``` Or for an USB CAN adapter connected to porter board: ```bash candump can1 ``` Send a custom message: ```bash cansend can0 ID#DDDDAAAATTTTAAAA ``` You can also replay a previously dumped CAN logfiles. These logfiles can be found in _can_samples_ directory under Git repository. Following examples use a real trip from an Auris Toyota car. Trace has been recorded from a CAN device `can0` so you have to map it to the correct one you use for your tests. Replay on a virtual CAN device `vcan0`: ```bash canplayer -I trip_test_with_obd2_vehicle_speed_requests vcan0=can0 ``` Replay on a CAN device `can0`: ```bash canplayer -I trip_test_with_obd2_vehicle_speed_requests can0 ``` Replay on a CAN device `can1` (porter by example): ```bash canplayer -I trip_test_with_obd2_vehicle_speed_requests can1=can0 ```


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