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seat_service

README.md

Seat Service Example

Overview

This represents the example seat control service. More elaborate or completely differing implementations are target of particular projects providing a vehicle abstraction layer.

Context

SeatService_context

Internals

SeatService_internal

Development environment

Building/testing in Github codespaces

For aarch64 hosts or for quickly testing a pull request it is easier to use Github codespaces.

  • Create a codespace from here
  • Choose: Configure and create codespace
  • Choose a branch to run on. If you just see main and need to test a PR, you can select Files changed in the PR, then Review in codespace
  • Wait several minutes for building codespace devcontainer.
  • If everything is OK, you'll see several vscode tasks running sequentially (e.g run-<component>)
  • run-seatservice will build the Seat Service from sources using build-release.sh
  • If you need to start another vscode task / or stop them all, use F1, Tasks: Run Task, select desired task
  • There are 2 integration-test tasks for testing local versions or released containers

Local development

Prerequisites

  1. Install and configure (if needed) local authentication proxy e.g. CNTLM or Px

  2. Install and configure docker: Get Docker

  3. Build base development docker. Go to the top-level of the repo

    cd ..
docker build -t oci_kuksa-val-services-ci:latest -f tools/Dockerfile .
# NOTE: If you need to cross compile for different arch:
DOCKER_BUILDKIT=1 docker buildx build --platform linux/arm64 -t oci_kuksa-val-services-ci:arm64 -f tools/Dockerfile --load .

Usage on CLI

NOTE: Building Seat Service on aarch64 host is not supported at the moment.

Building on Ubuntu 20.04

You can use dedicated build docker script docker-build.sh if host environment matches target (Ubuntu 20.04):

# Linux: [Ubuntu 20.04]
./seat_service/docker-build.sh

USAGE: ./docker-build.sh [OPTIONS] TARGETS
Standalone build helper for seat_service docker image.

OPTIONS:
  -l, --local      local docker import (does not export tar)
  -v, --verbose    enable plain docker output and disable cache
      --help       show help

TARGETS:
  x86_64|amd64, aarch64|amd64    Target arch to build for, if not set - defaults to multiarch

Building in DevContainer

If you are using different distro / version, you may use the devcontainer to compile seat service binaries.

From the checked-out git folder, to enter a shell execute:

# Linux: [x86_64, any version]
docker run --rm -it -v $(pwd):/workspace oci_kuksa-val-services-ci:latest <build-command>

# Windows (cmd)
docker run --rm -it -v %cd%:/workspace oci_kuksa-val-services-ci:latest <build-command>

# Windows (Powershell)
docker run --rm -it -v ${PWD}:/workspace oci_kuksa-val-services-ci:latest <build-command>
Build Seat Service binaries

Building the seat service via dev container must be triggered from the project root folder (seat service is referencing kuksa_data_broker/proto), e.g.:

# Linux

# Cleanup any build artifacts
rm -rf seat_service/bin_vservice-seat_*.tar.gz seat_service/target/

# Generate seat_service/bin_vservice-seat_*.tar.gz files for packing seat service container
docker run --rm -it -v $(pwd):/workspace oci_kuksa-val-services-ci:latest /bin/bash -c \
  "cd seat_service/; ./build-release.sh --pack"

# Check if release package is build
ls -la seat_service/bin_vservice-seat_*.tar.gz
Build Seat Service container

Build the container using pre-built binaries: seat_service/bin_vservice-seat_*.tar.gz

# Linux
docker build -t seat_service -f seat_service/Dockerfile .

Usage in Visual Studio Code

It is also possible to open the repo as a remote container in VScode using the approach Developing inside a Container. All needed tools for VScode are automatically installed in this case

  1. Install VScode extension with ID ms-vscode-remote.remote-containers
  2. Hit F1 and type Remote-Containers: Reopen in Container

Configuration

Command line arguments

./seat_service can_if_name [listen_address [listen_port]]
cli parameter default value description
can_if_name - Use socketCAN device
listen_address "localhost" Listen address for grpc calls
listen_port 50051 Listen port for grpc calls

Environment variables

Environment variable default value description
BROKER_ADDR "localhost:55555" Connect to databroker host:port
VSS 4 VSS compatibility mode [3, 4]
DAPR_GRPC_PORT 55555 Dapr mode: override databroker port replacing port value in $BROKER_ADDR
VEHICLEDATABROKER_DAPR_APP_ID "vehicledatabroker" Dapr app id for databroker
SEAT_DEBUG 1 Seat Service debug: 0=ERR, 1=INFO, ...
DBF_DEBUG 1 DatabrokerFeeder debug: 0=ERR, 1=INFO, ...

Entrypoint script variables

There is dedicated entry point script val_start.sh that runs seat service with additional Environment variable configuration:

Environment variable default value description
CAN "can0" Overrides can_if_name cli argument
SERVICE_HOST "0.0.0.0" Overrides listen_address cli argument
SERVICE_PORT 50051 Overrides listen_port cli argument
SC_RESET - If != "0", executes ecu-reset script to calibrate seat motors

NOTE: Check val_start.sh script comments for less-important Environment variables.

Seat Controller configuration

Further configuration of the seat controller see Seat Controller Documentation.

Seat Controller Documentation

Seat Controller module handles SocketCAN messaging and provides Control Loop for moving a seat to desired position. It also provides cansim module for simulating a HW Seat ECU even without vcan support (e.g. CI pipeline).

For more details about Seat Controller, Seat CAN Simulator and related tools, check SeatController README

Generate documentation

  • Run Doxygen: doxygen is able to run with the following command from the main directory:

    doxygen ./docs/doxygen/doxyfile

    or using:

    build-docu.sh

  • The output will be stored to ./docs/out. You can watch the documentation with open the following file in the browser: ./docs/doxygen/out/html/index.html