-# Install AFB Websocket CLI client to test the binding.
+# Configure the AGL system
-You can test it using afb-client-demo CLI tool provided by the RPM package *libafbwsc-dev*.
+## Virtual CAN device
-You can find this package in your build environment, using docker SDK recommended setup the file is `/xdt/build/tmp/deploy/rpm/<your-target-arch>/`.
-
-After a successful bitbake build and using Renesas RCar Gen2, Porter, you have to copy the file if your board is connected to your network and you know its IP address:
+Connected to the target, here is how to load the virtual CAN device driver and set up a new vcan device :
```bash
-$ scp /xdt/build/tmp/deploy/rpm/cortex15hf_neon/libafbwsc-dev-1.0-r0.cortexa15hf_neon.rpm root@<target_IP>:~
+modprobe vcan
+ip link add vcan0 type vcan
+ip link set vcan0 up
```
-Else, you have to copy into the SDcard with the AGL image installed on it.
+You also can named your linux CAN device like you want and if you need name it `can0` :
-From the docker image copy RPM to the shared directory between docker image and your host:
```bash
-$ cp /xdt/build/tmp/deploy/rpm/cortex15hf_neon/libafbwsc-dev-1.0-r0.cortexa15hf_neon.rpm ~/share
+modprobe vcan
+ip link add can0 type vcan
+ip link set can0 up
```
-Then plugin you SDcard in your Linux host (Windows can't read ext4 filesystem AGL runs on) and copy RPM file on it.
-
-From your host, identify SDcard block device node here it is **sdc** with the correct capacity automounted by the desktop manager:
-
-```bash
-$ lsblk
-loop1 7:1 0 2G 0 loop
-└─docker-253:0-3146365-pool 253:3 0 100G 0 dm
- └─docker-253:0-3146365-e9f80849a2681e18549d3a4238cbf031e44052e36cd88a0abf041804b799b61c
- 253:4 0 10G 0 dm /var/lib/docker/devicemapper/mnt/e9f80849a2681e18549d3a4238cbf031e44052e36cd88a0abf041804b799b61c
-sdb 8:16 0 238.5G 0 disk
-├─sdb2 8:18 0 238G 0 part
-│ └─Shamash-agl 253:1 0 238G 0 lvm /home/claneys/Workspace/agl-docker
-└─sdb1 8:17 0 500M 0 part /boot
-sr0 11:0 1 1024M 0 rom
-loop0 7:0 0 100G 0 loop
-└─docker-253:0-3146365-pool 253:3 0 100G 0 dm
- └─docker-253:0-3146365-e9f80849a2681e18549d3a4238cbf031e44052e36cd88a0abf041804b799b61c
- 253:4 0 10G 0 dm /var/lib/docker/devicemapper/mnt/e9f80849a2681e18549d3a4238cbf031e44052e36cd88a0abf041804b799b61c
-sdc 8:32 1 14.9G 0 disk
-└─sdc1 8:33 1 2G 0 part /run/media/claneys/97f418a5-612f-44e9-b968-a19505695151
-sda 8:0 0 931.5G 0 disk
-├─sda2 8:2 0 500G 0 part
-│ ├─Shamash-home 253:2 0 150G 0 lvm /home
-│ └─Shamash-root 253:0 0 50G 0 lvm /
-└─sda1 8:1 0 16G 0 part [SWAP]
-```
-
-Copy, still from your host:
-
-> **CAUTION** Make sure to sync IO with sync command before unplug your SDcard. It could be corrupted if removed before all pending IO aren't done.
-
-```bash
-$ sudo cp ~/devel/docker/share/libafbwsc-dev-1.0-r0.cortexa15hf_neon.rpm /run/media/claneys/97f418a5-612f-44e9-b968-a19505695151/home/root
-$ sync
-```
-
-Insert the modified SDcard in your Porter board and boot from it. You are ready to go.
-
-## 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
- ```
-
-### CAN device using the USB CAN adapter
+## 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 :
+Once connected, launch `dmesg` command and search which device to use :
```bash
-# dmesg
+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)
[ 1872.809356] usbcore: registered new interface driver usb_8dev
```
-Here device is named **can0**.
+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
+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
clock 16000000
```
-## Configure the binding
+On a Rcar Gen3 board, you'll have your CAN device as `can1` because `can0` already exists as an embedded device.
-Configure the binding specifying in the JSON configuration file the CAN device(s) that it will to connect to. Edit file */var/lib/afm/applications/low-can-binding/0.1/can_buses.json* and change the CAN device name to the one you have :
+The instructions will be the same:
-```json
-{
- "canbus": "can0"
-}
+```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
```
-If you have several specify CAN bus devices use an array:
+## Rename an existing CAN device
-```json
-{
- "canbus": [ "vcan0", "can0" ]
-}
+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-mappping.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"
```
-> **WARNING** 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](http://github.com/iotbzh/can-config-generator).
+> **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 !
+# 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-binding@0.1
+afm-util run low-can-service@4.0
1
```
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, we will use port **1234** and left empty security token for testing purpose:
+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 --ldpaths=/usr/lib/afb:/var/lib/afm/applications/low-can-binding/0.1/libs/ --rootdir=/var/lib/afm/applications/low-can-binding/0.1/ --port=1234 --token=
+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-binding/0.1/libs//low-can-binding.so] calling registering function afbBindingV1Register
-NOTICE: binding /var/lib/afm/applications/low-can-binding/0.1/libs//low-can-binding.so loaded with API prefix low-can
-NOTICE: Waiting port=1234 rootdir=/var/lib/afm/applications/low-can-binding/0.1/
+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
-NOTICE: vcan0 device opened and reading {binding low-can}
-NOTICE: Initialized 1/1 can bus device(s) {binding low-can}
```
-Then connect to the binding using previously installed ***AFB Websocket CLI*** tool :
+On another terminal, connect to the binding using previously installed _**AFB Websocket CLI**_ tool:
```bash
-# afb-client-demo ws://localhost:1234/api?token=
+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 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.
+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 :
+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" }***
+* API : _**low-can**_.
+* Verb : _**subscribe**_ or _**unsubscribe**_
+* Arguments : _**{ "event": "driver.doors.open" }**_
-### Subscription and unsubscription
+## 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.
+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.
+> **NOTE:** If no argument is provided, then you'll subscribe to all signals at once.
For example from a websocket session:
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.
+Subscription and unsubscription can take wildcard in their _event_ value.
-To reveive all doors events :
+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*
+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},"jtype":"afb-event"})
+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*.
+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 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:
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", "value": 1256}
+```
+
+## 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
+```
Code Review / apps / agl-service-can-low-level.git / blobdiff