recipes-connectivity/kuksa-val/kuksa-can-provider/0004-Enable-val2dbc-for-sensor-values.patch

   1 From 937218a357ac1914fe410cf3ad31a67d54a63270 Mon Sep 17 00:00:00 2001
   2 From: Scott Murray <scott.murray@konsulko.com>
   3 Date: Mon, 17 Jun 2024 17:07:44 -0400
   4 Subject: [PATCH 4/4] Enable val2dbc for sensor values
   5
   6 Rework to allow val2dbc mode to write out sensor values in
   7 addition to actuator target values.
   8
   9 Upstream-Status: pending
  10
  11 Signed-off-by: Scott Murray <scott.murray@konsulko.com>
  12 ---
  13  dbcfeeder.py                            |  8 ++++++--
  14  dbcfeederlib/databrokerclientwrapper.py | 18 ++++++++++++------
  15  dbcfeederlib/dbc2vssmapper.py           | 21 ++++++++++-----------
  16  dbcfeederlib/serverclientwrapper.py     |  2 +-
  17  mapping/README.md                       |  2 --
  18  5 files changed, 29 insertions(+), 22 deletions(-)
  19
  20 diff --git a/dbcfeeder.py b/dbcfeeder.py
  21 index c252503..c1e20c4 100755
  22 --- a/dbcfeeder.py
  23 +++ b/dbcfeeder.py
  24 @@ -289,19 +289,23 @@ class Feeder:
  25              log.debug("Processing %d VSS Data Entry updates", len(updates))
  26              dbc_signal_names: Set[str] = set()
  27              for update in updates:
  28 +                value = None
  29                  if update.entry.value is not None:
  30 -                    # This should never happen as we do not subscribe to current value
  31                      log.warning(
  32                          "Current value for %s is now: %s of type %s",
  33                          update.entry.path, update.entry.value.value, type(update.entry.value.value)
  34                      )
  35 +                    value = update.entry.value.value
  36
  37                  if update.entry.actuator_target is not None:
  38                      log.debug(
  39                          "Target value for %s is now: %s of type %s",
  40                          update.entry.path, update.entry.actuator_target, type(update.entry.actuator_target.value)
  41                      )
  42 -                    affected_signals = self._mapper.handle_update(update.entry.path, update.entry.actuator_target.value)
  43 +                    value = update.entry.actuator_target.value
  44 +
  45 +                if value != None:
  46 +                    affected_signals = self._mapper.handle_update(update.entry.path, value)
  47                      dbc_signal_names.update(affected_signals)
  48
  49              messages_to_send: Set[Message] = set()
  50 diff --git a/dbcfeederlib/databrokerclientwrapper.py b/dbcfeederlib/databrokerclientwrapper.py
  51 index 716ee6d..db2b80a 100644
  52 --- a/dbcfeederlib/databrokerclientwrapper.py
  53 +++ b/dbcfeederlib/databrokerclientwrapper.py
  54 @@ -199,14 +199,20 @@ class DatabrokerClientWrapper(clientwrapper.ClientWrapper):
  55      def supports_subscription(self) -> bool:
  56          return True
  57
  58 -    async def subscribe(self, vss_names: List[str], callback):
  59 +    async def subscribe(self, vss_entries: dict[str, str], callback):
  60          """Create a subscription and invoke the callback when data received."""
  61          entries: List[SubscribeEntry] = []
  62 -        for name in vss_names:
  63 -            # Always subscribe to target
  64 -            subscribe_entry = SubscribeEntry(name, View.FIELDS, [Field.ACTUATOR_TARGET])
  65 -            log.info("Subscribe entry: %s", subscribe_entry)
  66 -            entries.append(subscribe_entry)
  67 +        for name, signal_type in vss_entries.items():
  68 +            if signal_type == "actuator":
  69 +                subscribe_entry = SubscribeEntry(name, View.FIELDS, [Field.ACTUATOR_TARGET])
  70 +                log.info("Subscribe entry: %s", subscribe_entry)
  71 +                entries.append(subscribe_entry)
  72 +            if signal_type == "sensor":
  73 +                subscribe_entry = SubscribeEntry(name, View.FIELDS, [Field.VALUE])
  74 +                log.info("Subscribe entry: %s", subscribe_entry)
  75 +                entries.append(subscribe_entry)
  76 +        if not entries:
  77 +            return
  78
  79          # If there is a path VSSClient will request a secure connection
  80          if self._tls and self._root_ca_path:
  81 diff --git a/dbcfeederlib/dbc2vssmapper.py b/dbcfeederlib/dbc2vssmapper.py
  82 index 218f693..2be5e98 100644
  83 --- a/dbcfeederlib/dbc2vssmapper.py
  84 +++ b/dbcfeederlib/dbc2vssmapper.py
  85 @@ -69,12 +69,13 @@ class VSSMapping:
  86      parser: Parser = Parser()
  87
  88      def __init__(self, vss_name: str, dbc_name: str, transform: dict, interval_ms: int,
  89 -                 on_change: bool, datatype: str, description: str):
  90 +                 on_change: bool, signal_type: str, datatype: str, description: str):
  91          self.vss_name = vss_name
  92          self.dbc_name = dbc_name
  93          self.transform = transform
  94          self.interval_ms = interval_ms
  95          self.on_change = on_change
  96 +        self.signal_type = signal_type
  97          self.datatype = datatype
  98          self.description = description
  99          # For time comparison (interval_ms) we store last value used for comparison. Unit seconds.
 100 @@ -347,7 +348,7 @@ class Mapper(DBCParser):
 101          if can_signal_name not in self._dbc2vss_mapping:
 102              self._dbc2vss_mapping[can_signal_name] = []
 103          mapping_entry = VSSMapping(expanded_name, can_signal_name, transformation_definition, interval, on_change,
 104 -                                   node["datatype"], node["description"])
 105 +                                   node["type"], node["datatype"], node["description"])
 106          self._dbc2vss_mapping[can_signal_name].append(mapping_entry)
 107
 108          for msg_def in self.get_messages_for_signal(can_signal_name):
 109 @@ -398,7 +399,7 @@ class Mapper(DBCParser):
 110              log.warning("Ignoring \"interval_ms\" property of mapping definition for %s", expanded_name)
 111
 112          mapping_entry = VSSMapping(expanded_name, can_signal_name, transform, interval, on_change,
 113 -                                   node["datatype"], node["description"])
 114 +                                   node["type"], node["datatype"], node["description"])
 115          if can_signal_name not in self._vss2dbc_mapping:
 116              self._vss2dbc_mapping[expanded_name] = []
 117          self._vss2dbc_mapping[expanded_name].append(mapping_entry)
 118 @@ -426,12 +427,7 @@ class Mapper(DBCParser):
 119          if dbc2vss_def is not None:
 120              self._analyze_dbc2vss(expanded_name, node, dbc2vss_def)
 121          if "vss2dbc" in node:
 122 -            if node["type"] == "actuator":
 123 -                self._analyze_vss2dbc(expanded_name, node, node["vss2dbc"])
 124 -            else:
 125 -                # vss2dbc is handled by subscription to target value, so only makes sense for actuators
 126 -                log.error("vss2dbc only allowed for actuators, VSS signal %s is not an actuator!", expanded_name)
 127 -                sys.exit(-1)
 128 +            self._analyze_vss2dbc(expanded_name, node, node["vss2dbc"])
 129
 130      def _traverse_vss_node(self, name, node, prefix=""):
 131          """
 132 @@ -474,9 +470,12 @@ class Mapper(DBCParser):
 133          """Get all CAN signal names for which a mapping to a VSS Data Entry exists."""
 134          return self._dbc2vss_mapping.keys()
 135
 136 -    def get_vss2dbc_entries(self) -> KeysView[str]:
 137 +    def get_vss2dbc_entries(self) -> Dict[str, str]:
 138          """Get all VSS Data Entry paths for which a mapping to a CAN signal name exists."""
 139 -        return self._vss2dbc_mapping.keys()
 140 +        entries: Dict[str, str] = {}
 141 +        for name, mappings in self._vss2dbc_mapping.items():
 142 +            entries[name] = mappings[0].signal_type
 143 +        return entries
 144
 145      def get_vss_names(self) -> Set[str]:
 146          """Get all VSS names used in mappings, both vss2dbc and dbc2vss"""
 147 diff --git a/dbcfeederlib/serverclientwrapper.py b/dbcfeederlib/serverclientwrapper.py
 148 index fa43d28..86b2ceb 100644
 149 --- a/dbcfeederlib/serverclientwrapper.py
 150 +++ b/dbcfeederlib/serverclientwrapper.py
 151 @@ -122,6 +122,6 @@ class ServerClientWrapper(clientwrapper.ClientWrapper):
 152          log.info("Feature not implemented")
 153          return False
 154
 155 -    async def subscribe(self, vss_names: List[str], callback):
 156 +    async def subscribe(self, vss_entries: dict[str, str], callback):
 157          log.error("Feature not implemented")
 158          return
 159 diff --git a/mapping/README.md b/mapping/README.md
 160 index 2155f28..ea6de07 100644
 161 --- a/mapping/README.md
 162 +++ b/mapping/README.md
 163 @@ -44,8 +44,6 @@ This is built on the assumption that the DBC provider always send target values
 164  Having separate configurations (`dbc2vss` and `vss2dbc`) is needed as wanted value and actual value never are sent
 165  by the same DBC signal, they are not even part of the same CAN-frame.
 166
 167 -*This means that `vss2dbc` only can be used for actuators, as only actuators have target values!*
 168 -
 169  ## Example mapping files
 170
 171  Example mapping files for various VSS versions can be found in this folder.
 172 --
 173 2.44.0
 174