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
6 Rework to allow val2dbc mode to write out sensor values in
7 addition to actuator target values.
9 Upstream-Status: pending
11 Signed-off-by: Scott Murray <scott.murray@konsulko.com>
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(-)
20 diff --git a/dbcfeeder.py b/dbcfeeder.py
21 index c252503..c1e20c4 100755
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:
29 if update.entry.value is not None:
30 - # This should never happen as we do not subscribe to current value
32 "Current value for %s is now: %s of type %s",
33 update.entry.path, update.entry.value.value, type(update.entry.value.value)
35 + value = update.entry.value.value
37 if update.entry.actuator_target is not None:
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)
42 - affected_signals = self._mapper.handle_update(update.entry.path, update.entry.actuator_target.value)
43 + value = update.entry.actuator_target.value
46 + affected_signals = self._mapper.handle_update(update.entry.path, value)
47 dbc_signal_names.update(affected_signals)
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:
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)
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()
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)
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)
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"])
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)
128 + self._analyze_vss2dbc(expanded_name, node, node["vss2dbc"])
130 def _traverse_vss_node(self, name, node, prefix=""):
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()
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
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")
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")
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.
167 -*This means that `vss2dbc` only can be used for actuators, as only actuators have target values!*
169 ## Example mapping files
171 Example mapping files for various VSS versions can be found in this folder.