3 * An AGL system installed with latest Chinook version \(>3.0.2\).
5 * Make sure you built the AGL generator else you will not be able to generate custom low-level CAN binding. Generator can be found [here](http://github.com/iotbzh/can-config-generator) with the attached instruction to install and run it.
7 It will produce a _configuration-generated.cpp_ file to paste in the source, _src/_, directory.
9 * Make sure you already set up the AGL SDK using the following [guide](http://docs.iot.bzh/docs/getting_started/en/dev/reference/setup-sdk-environment.html).
11 To get the correct SDK version installed, you **must** prepare your environment with the **chinook-next** version. To do so, run the following command in your docker image:
13 > **NOTE** This command assume that proprietary graphic drivers for Renesas Porter board are located in `/home/devel/share/proprietary-renesas-rcar` directory.
16 $ prepare_meta -f chinook-next -o /xdt -l /home/devel/mirror -p /home/devel/share/proprietary-renesas-rcar/ -t porter -e wipeconfig -e rm_work
19 * Check that you updated git submodules, executing the following commands from this repository:
22 $ git clone https://github.com/iotbzh/CAN_signaling
25 $ git submodule update
28 * An [USB CAN adapter](http://shop.8devices.com/usb2can) connected to connector through the [right cable](http://www.mouser.fr/ProductDetail/EasySync/OBD-M-DB9-F-ES/)).
32 ## Use of CAN config generator
34 ### Build requirements
36 * CMake version 3.0 or later
37 * G++, Clang++ or any C++11 complient compiler.
43 You can install any of these using your package manager. For instance, inside the iotbzh's docker image, you must enter this command :
47 $ sudo apt-get install cmake libboost-system-dev libboost-filesystem-dev libboost-program-options-dev
50 You may want to install `libboost-all-dev` to get all boost components even if it's not required.
54 > **CAUTION** It is **very important** that you do not source the SDK environment file to compile this project because some build requirements aren't installed in the AGL SDK for now.
57 $ git clone https://github.com/iotbzh/can-config-generator.git
58 Cloning into 'can-config-generator'...
59 remote: Counting objects: 74, done.
60 remote: Compressing objects: 100% (42/42), done.
61 remote: Total 74 (delta 30), reused 67 (delta 27), pack-reused 0
62 Unpacking objects: 100% (74/74), done.
63 Checking connectivity... done.
65 <b>devel@bsp-devkit:~/projects/$</b> cd can-config-generator
66 <b>devel@bsp-devkit:~/projects/can-config-generator/(master)$</b> mkdir build
67 <b>devel@bsp-devkit:~/projects/can-config-generator/build(master)$</b> cmake -G "Unix Makefiles" ..
68 -- The C compiler identification is GNU 4.9.2
69 -- The CXX compiler identification is GNU 4.9.2
70 -- Check for working C compiler: /usr/bin/cc
71 -- Check for working C compiler: /usr/bin/cc -- works
72 -- Detecting C compiler ABI info
73 -- Detecting C compiler ABI info - done
74 -- Check for working CXX compiler: /usr/bin/c++
75 -- Check for working CXX compiler: /usr/bin/c++ -- works
76 -- Detecting CXX compiler ABI info
77 -- Detecting CXX compiler ABI info - done
78 -- Boost version: 1.55.0
79 -- Found the following Boost libraries:
85 -- Build files have been written to: /home/devel/projects/can-config-generator/build
86 <b>devel@bsp-devkit:~/projects/can-config-generator/build(master)$</b> make
87 Scanning dependencies of target can-config-generator
88 [ 12%] Building CXX object CMakeFiles/can-config-generator.dir/src/main.cpp.o
89 [ 25%] Building CXX object CMakeFiles/can-config-generator.dir/src/openxc/message_set.cpp.o
90 [ 37%] Building CXX object CMakeFiles/can-config-generator.dir/src/openxc/can_bus.cpp.o
91 [ 50%] Building CXX object CMakeFiles/can-config-generator.dir/src/openxc/can_message.cpp.o
92 [ 62%] Building CXX object CMakeFiles/can-config-generator.dir/src/openxc/command.cpp.o
93 [ 75%] Building CXX object CMakeFiles/can-config-generator.dir/src/openxc/diagnostic_message.cpp.o
94 [ 87%] Building CXX object CMakeFiles/can-config-generator.dir/src/openxc/mapping.cpp.o
95 [100%] Building CXX object CMakeFiles/can-config-generator.dir/src/openxc/signal.cpp.o
96 Linking CXX executable can-config-generator
97 [100%] Built target can-config-generator
100 ### Naming convention
102 We choose a doted naming convention because it's a well know schema.
104 It separates and organize names into hierarchy. From the left to right, you describe your names using the more common ancestor at the left then more you go to the right the more it will be accurate.
106 Let's take an example, here is an example about standard PID name following this convention:
110 engine.coolant.temperature
112 intake.manifold.pressure
115 intake.air.temperature
122 commanded.throttle.position
123 ethanol.fuel.percentage
124 accelerator.pedal.position
125 hybrid.battery-pack.remaining.life
126 engine.oil.temperature
130 > **NOTE** It's recommended that you follow this naming convention to named your CAN signals.
131 > There is only character `*` that is forbidden in names because it's used as wildcard for subscription and unsubscrition.
132 > This described in the below chapter.
134 ### Generating JSON from Vector CANoe Database
136 If you use Canoe to store your `gold standard` CAN signal definitions, you may be able to use the OpenXC `xml_to_json.py` script to make your JSON for you. First, export the Canoe .dbc file as XML - you can do this with Vector CANdb++. Next, create a JSON file according to the format defined above, but only define:
139 - Name of CAN signals within messages and their generic_name.
140 - Optionnaly name of diagnostic messages and their name.
142 To install the OpenXC utilities and runs `xml_to_json.py` script:
145 $ sudo pip install openxc
146 $ cd /usr/local/lib/python2.7/dist-packages/openxc-0.13.0-py2.7.egg/openxc/generator
149 Assuming the data exported from Vector is in `signals.xml` and your minimal mapping file is `mapping.json`, run the script:
152 $ ./xml_to_json.py signals.xml mapping.json signals.json
155 The script scans `mapping.json` to identify the CAN messages and signals that you want to use from the XML file. It pulls the neccessary details of the messages (bit position, bit size, offset, etc) and outputs the resulting subset as JSON into the output file, `signals.json`.
157 The resulting file together with `mapping.json` will work as input to the code generation script.
159 ### Generate your config file
161 To generate your config file you just have to run the generator using the `-m` option to specify your JSON file.
164 $ can-config-generator -m ../tests/basic.json -o configuration-generated.cpp
167 If you omit the `-o` option, then code is generated on the stdout.
168 You also can specify a header and a footer file.
169 These files must be valid C++ fragment as long as they will be inserted as is.
170 Use the `-h` option to display help.
172 > **CAUTION:** Each `diagnostic_message` must define the same `bus` as the binding will use only one bus.
174 ### Supported OpenXC items
176 About now, compliance with OpenXC reference is in progress, can-config-generator and CAN\_signaling will implement them soon.
177 `initializers`, `loopers`, `commands` and `handlers` nodes are ignored for now.
179 This generator will follow OpenXC support status of the low level CAN signaling binding.
181 > **NOTE**: The `buses` item will not be supported by this generator because the binding use another way to declare and configure buses. Please refer to the binding's documentation.
183 ## Compile and install the binding
185 With an AGL SDK environment correctly configured and **sourced**, I suggest you to set the TARGET variable in the root CMakeLists.txt file if you have an AGL target already running in your network.
187 Then you can directly build and install the binding and source directory on your target system.
189 Execute these commands to get your binding compile :
198 And if you have set TARGET variable, you can install it on your AGL system :
202 [ 16%] Built target bitfield
203 [ 27%] Built target isotp
204 [ 40%] Built target openxc
205 [ 48%] Built target uds
206 [ 97%] Built target low-can-binding
207 [100%] Built target widget
208 Install the project...
209 -- Install configuration: ""
211 { "added": "low-can-binding@0.1" }
214 It's possible that you'll see the following message :
217 Error org.freedesktop.DBus.Error.Failed: "system error"
220 It's because installation remove the binding before installing it.
222 If it is the first time that you make the installation then you'll have this message in place of _**true**_.
224 To install it manually, you need to copy the _low-can-binding.wgt_ file on your target, then from it execute the following commands :
226 On your host, to copy over the network :
229 $ scp low-can-binding.wgt root@<target_IP>:~
232 On the target, assuming _**wgt**_ file is in the root home directory :
235 ~# afm-util install low-can-binding.wgt
236 { "added": "low-can-binding@0.1" }