Actuate all three motors of the seat

integration_test/test_val_seat.py

@@ -98,13 +98,13 @@ async def test_vdb_metadata_get(setup_helper: VDBHelper) -> None:
 
 
 @pytest.mark.asyncio
-async def test_subscribe_seat_pos_0(setup_helper: VDBHelper) -> None:
+async def test_subscribe_seat_pos_10(setup_helper: VDBHelper) -> None:
     helper: VDBHelper = setup_helper
     name = os.getenv("TEST_NAME", DEFAULT_VSS_PATH)
     query = "SELECT {}".format(name)
 
     start_value = int(os.getenv("TEST_START_VALUE", "500"))
-    expected_value = int(os.getenv("TEST_VALUE", "0"))
+    expected_value = int(os.getenv("TEST_VALUE", "10"))
     timeout = int(os.getenv("TEST_TIMEOUT", "10"))
 
     # initiate seat move to 42
@@ -161,8 +161,8 @@ async def test_subscribe_seat_pos_where_eq(setup_helper: VDBHelper) -> None:
     helper = setup_helper
 
     name = os.getenv("TEST_NAME", DEFAULT_VSS_PATH)
-    expected_value = int(os.getenv("TEST_VALUE", "1000"))
-    timeout = int(os.getenv("TEST_TIMEOUT", "10"))
+    expected_value = int(os.getenv("TEST_VALUE", "990"))
+    timeout = int(os.getenv("TEST_TIMEOUT", "20"))
 
     query = "SELECT {} where {} = {}".format(name, name, expected_value)
 

seat_service/README.md

@@ -207,4 +207,4 @@ check [SeatController README](./src/lib/seat_adjuster/seat_controller/README.md)
   ```
 
 - 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`
+  `./docs/doxygen/out/html/index.html`

seat_service/build-release.sh

@@ -90,7 +90,7 @@ cmake --build . -j $(nproc)
 cmake --install .
 set +e
 
-# Ensure release is sripped
+# Ensure release is stripped
 if [ "$TARGET_ARCH" = "aarch64" ]; then
 	STRIP="$(which aarch64-linux-gnu-strip)"
 else

seat_service/src/bin/seat_service/main.cc

@@ -48,6 +48,10 @@ using sdv::databroker::v1::ChangeType;
 
 const std::string SEAT_POS_VSS_3 = "Vehicle.Cabin.Seat.Row1.Pos1.Position";
 const std::string SEAT_POS_VSS_4 = "Vehicle.Cabin.Seat.Row1.DriverSide.Position";
+const std::string SEAT_TILT_VSS_3 = "Vehicle.Cabin.Seat.Row1.Pos1.Tilt";
+const std::string SEAT_TILT_VSS_4 = "Vehicle.Cabin.Seat.Row1.DriverSide.Tilt";
+const std::string SEAT_HEIGHT_VSS_3 = "Vehicle.Cabin.Seat.Row1.Pos1.Height";
+const std::string SEAT_HEIGHT_VSS_4 = "Vehicle.Cabin.Seat.Row1.DriverSide.Height";
 
 const sdv::broker_feeder::DatapointConfiguration metadata_4 {
     { SEAT_POS_VSS_4,
@@ -57,6 +61,20 @@ const sdv::broker_feeder::DatapointConfiguration metadata_4 {
         sdv::broker_feeder::createNotAvailableValue(),
         "Seat position on vehicle x-axis. Position is relative to the frontmost position supported by the seat. 0 = Frontmost position supported."
     },
+    { SEAT_TILT_VSS_4,
+        DataType::FLOAT,
+        // EntryType::ENTRY_TYPE_ACTUATOR, // entry type can't be set with current API
+        ChangeType::ON_CHANGE,
+        sdv::broker_feeder::createNotAvailableValue(),
+        "Tilting of seat (seating and backrest) relative to vehicle x-axis. 0 = seat bottom is flat, seat bottom and vehicle x-axis are parallel. Positive degrees = seat tilted backwards, seat x-axis tilted upward, seat z-axis is tilted backward."
+    },
+    { SEAT_HEIGHT_VSS_4,
+        DataType::UINT16,
+        // EntryType::ENTRY_TYPE_ACTUATOR, // entry type can't be set with current API
+        ChangeType::ON_CHANGE,
+        sdv::broker_feeder::createNotAvailableValue(),
+        "Seat position on vehicle z-axis. Position is relative within available movable range of the seating. 0 = Lowermost position supported."
+    },
     { "Vehicle.Cabin.SeatRowCount",
         DataType::UINT8,
         // EntryType::ENTRY_TYPE_ATTRIBUTE,
@@ -79,6 +97,20 @@ const sdv::broker_feeder::DatapointConfiguration metadata_3 {
         sdv::broker_feeder::createNotAvailableValue(),
         "Longitudinal position of overall seat"
     },
+    { SEAT_TILT_VSS_3,
+        DataType::FLOAT,
+        // EntryType::ENTRY_TYPE_ACTUATOR, // entry type can't be set with current API
+        ChangeType::ON_CHANGE,
+        sdv::broker_feeder::createNotAvailableValue(),
+        "Tilting of seat (seating and backrest) relative to vehicle x-axis. 0 = seat bottom is flat, seat bottom and vehicle x-axis are parallel. Positive degrees = seat tilted backwards, seat x-axis tilted upward, seat z-axis is tilted backward."
+    },
+    { SEAT_HEIGHT_VSS_3,
+        DataType::UINT16,
+        // EntryType::ENTRY_TYPE_ACTUATOR, // entry type can't be set with current API
+        ChangeType::ON_CHANGE,
+        sdv::broker_feeder::createNotAvailableValue(),
+        "Seat position on vehicle z-axis. Position is relative within available movable range of the seating. 0 = Lowermost position supported."
+    },
     { "Vehicle.Cabin.SeatRowCount",
         DataType::UINT8,
         // EntryType::ENTRY_TYPE_ATTRIBUTE,
@@ -154,9 +186,11 @@ void Run(std::string can_if_name, std::string listen_address, std::string port,
     sdv::broker_feeder::DatapointConfiguration metadata = vss_4 ? metadata_4 : metadata_3;
 
     std::string seat_pos_name = vss_4 ? SEAT_POS_VSS_4 : SEAT_POS_VSS_3;
+    std::string seat_tilt_name = vss_4 ? SEAT_TILT_VSS_4 : SEAT_TILT_VSS_3;
+    std::string seat_height_name = vss_4 ? SEAT_HEIGHT_VSS_4 : SEAT_HEIGHT_VSS_3;
 
     // runtime check for valid 1st entry name
-    if (metadata.size() < 1 || seat_pos_name != metadata[0].name) {
+    if (metadata.size() < 1 || seat_pos_name != metadata[0].name || seat_tilt_name != metadata[1].name || seat_height_name != metadata[2].name) {
         std::cerr << SELF "Invalid metadata configuration!" << std::endl;
         exit(1);
     }
@@ -166,16 +200,26 @@ void Run(std::string can_if_name, std::string listen_address, std::string port,
 
     // Setup feeder
     //
-    sdv::seat_service::SeatDataFeeder seat_data_feeder(seat_adjuster, client, seat_pos_name, std::move(metadata));
+    sdv::seat_service::SeatDataFeeder seat_data_feeder(seat_adjuster, client, seat_pos_name, seat_tilt_name, seat_height_name, std::move(metadata));
     std::cout << SELF "SeatDataFeeder connecting to " << broker_addr << std::endl;
     std::thread feeder_thread(&sdv::seat_service::SeatDataFeeder::Run, &seat_data_feeder);
 
 
     // Setup target actuator subscriber
-    sdv::seat_service::SeatPositionSubscriber seat_position_subscriber(seat_adjuster, client, seat_pos_name);
+    sdv::seat_service::SeatPositionSubscriber seat_position_subscriber(seat_adjuster, client, seat_pos_name, sdv::seat_service::posSub::POSITION);
     std::cout << SELF "Start seat position subscription " << broker_addr << std::endl;
 
-    std::thread subscriber_thread(&sdv::seat_service::SeatPositionSubscriber::Run, &seat_position_subscriber);
+    // Setup target actuator subscriber
+    sdv::seat_service::SeatPositionSubscriber seat_tilt_subscriber(seat_adjuster, client, seat_tilt_name, sdv::seat_service::posSub::TILT);
+    std::cout << SELF "Start seat tilt subscription " << broker_addr << std::endl;
+
+    // Setup target actuator subscriber
+    sdv::seat_service::SeatPositionSubscriber seat_height_subscriber(seat_adjuster, client, seat_height_name, sdv::seat_service::posSub::HEIGHT);
+    std::cout << SELF "Start seat height subscription " << broker_addr << std::endl;
+
+    std::thread subscriber1_thread(&sdv::seat_service::SeatPositionSubscriber::Run, &seat_position_subscriber);
+    std::thread subscriber2_thread(&sdv::seat_service::SeatPositionSubscriber::Run, &seat_tilt_subscriber);
+    std::thread subscriber3_thread(&sdv::seat_service::SeatPositionSubscriber::Run, &seat_height_subscriber);
 
     // Setup grpc server and register the services
     //
@@ -204,11 +248,15 @@ void Run(std::string can_if_name, std::string listen_address, std::string port,
 
     seat_data_feeder.Shutdown();
     seat_position_subscriber.Shutdown();
+    seat_tilt_subscriber.Shutdown();
+    seat_height_subscriber.Shutdown();
     if (server) {
         server->Shutdown();
         server_thread->join();
     }
-    subscriber_thread.join();
+    subscriber1_thread.join();
+    subscriber2_thread.join();
+    subscriber3_thread.join();
     feeder_thread.join();
 
     // Optional: Delete all global objects allocated by libprotobuf.

seat_service/src/bin/seat_service/seat_data_feeder.cc

@@ -86,7 +86,7 @@ const sdv::broker_feeder::DatapointConfiguration metadata_3 {
 */
 
 SeatDataFeeder::SeatDataFeeder(std::shared_ptr<SeatAdjuster> seat_adjuster, std::shared_ptr<broker_feeder::KuksaClient> collector_client,
-                               std::string& seat_pos_name, DatapointConfiguration&& dpConfig)
+                               std::string& seat_pos_name, std::string& seat_tilt_name, std::string& seat_height_name, DatapointConfiguration&& dpConfig)
     : seat_adjuster_(seat_adjuster)
 {
     /* Init feeder
@@ -95,6 +95,7 @@ SeatDataFeeder::SeatDataFeeder(std::shared_ptr<SeatAdjuster> seat_adjuster, std:
 
     /* Internally subscribe to signals to be fed to broker
      */
+    // handle forward motor position
     seat_adjuster_->SubscribePosition([this, seat_pos_name](int position_in_percent) {
         const std::string self = "[SeatSvc][SeatDataFeeder] ";
         if (debug > 1) { // require more verbose for extra dump
@@ -127,6 +128,73 @@ SeatDataFeeder::SeatDataFeeder(std::shared_ptr<SeatAdjuster> seat_adjuster, std:
         }
         broker_feeder_->FeedValue(seat_pos_name, datapoint);
     });
+
+    // handle tilt motor position
+    seat_adjuster_->SubscribeTilt([this, seat_tilt_name](int position_in_percent) {
+        const std::string self = "[SeatSvc][SeatDataFeeder] ";
+        if (debug > 1) { // require more verbose for extra dump
+            std::cout << self << "got pos: " << position_in_percent << "%" << std::endl;
+        }
+        Datapoint datapoint;
+        if (0 <= position_in_percent && position_in_percent <= 100) {
+            datapoint.set_float_value(static_cast<float>(position_in_percent * 10)); // scale up to [0..1000]
+        } else
+        if (position_in_percent == -1) { // -1 replaces MOTOR_POS_INVALID in SeatAdjusterImpl::seatctrl_event_cb()
+            datapoint.set_failure_value(Datapoint_Failure::Datapoint_Failure_NOT_AVAILABLE);
+        } else {
+            // values > 100 are invalid
+            datapoint.set_failure_value(Datapoint_Failure::Datapoint_Failure_INVALID_VALUE);
+        }
+        if (debug) {
+            if (datapoint.has_failure_value()) {
+                std::cout << self << "pos: " << position_in_percent << "% -> "
+                    << "FeedValue(" << seat_tilt_name << ", failure:"
+                    << Datapoint_Failure_Name(datapoint.failure_value()) << ")" << std::endl;
+            } else
+            if (datapoint.has_float_value()) {
+                std::cout << self << "pos: " << position_in_percent << "% -> "
+                    << "FeedValue(" << seat_tilt_name << ", float:" << datapoint.float_value() << ")" << std::endl;
+            } else {
+                std::cout << self << "pos: " << position_in_percent << "% -> "
+                    << "FeedValue(" << seat_tilt_name << ", unknown)" << std::endl;
+            }
+        }
+        broker_feeder_->FeedValue(seat_tilt_name, datapoint);
+    });
+
+    // handle height motor position
+    seat_adjuster_->SubscribeHeight([this, seat_height_name](int position_in_percent) {
+        const std::string self = "[SeatSvc][SeatDataFeeder] ";
+        if (debug > 1) { // require more verbose for extra dump
+            std::cout << self << "got pos: " << position_in_percent << "%" << std::endl;
+        }
+        Datapoint datapoint;
+        // NOTE: we are using uint32 value as grpc does not have smaller integers
+        if (0 <= position_in_percent && position_in_percent <= 100) {
+            datapoint.set_uint32_value(position_in_percent * 10); // scale up to [0..1000]
+        } else
+        if (position_in_percent == -1) { // -1 replaces MOTOR_POS_INVALID in SeatAdjusterImpl::seatctrl_event_cb()
+            datapoint.set_failure_value(Datapoint_Failure::Datapoint_Failure_NOT_AVAILABLE);
+        } else {
+            // values > 100 are invalid
+            datapoint.set_failure_value(Datapoint_Failure::Datapoint_Failure_INVALID_VALUE);
+        }
+        if (debug) {
+            if (datapoint.has_failure_value()) {
+                std::cout << self << "pos: " << position_in_percent << "% -> "
+                    << "FeedValue(" << seat_height_name << ", failure:"
+                    << Datapoint_Failure_Name(datapoint.failure_value()) << ")" << std::endl;
+            } else
+            if (datapoint.has_uint32_value()) {
+                std::cout << self << "pos: " << position_in_percent << "% -> "
+                    << "FeedValue(" << seat_height_name << ", uint32:" << datapoint.uint32_value() << ")" << std::endl;
+            } else {
+                std::cout << self << "pos: " << position_in_percent << "% -> "
+                    << "FeedValue(" << seat_height_name << ", unknown)" << std::endl;
+            }
+        }
+        broker_feeder_->FeedValue(seat_height_name, datapoint);
+    });
 }
 void SeatDataFeeder::Run() { broker_feeder_->Run(); }
 void SeatDataFeeder::Shutdown() { broker_feeder_->Shutdown(); }

seat_service/src/bin/seat_service/seat_data_feeder.h

@@ -42,6 +42,8 @@ class SeatDataFeeder {
     SeatDataFeeder(std::shared_ptr<SeatAdjuster>,
                    std::shared_ptr<sdv::broker_feeder::KuksaClient> collector_client,
                    std::string& seat_pos_name,
+                   std::string& seat_tilt_name,
+                   std::string& seat_height_name,
                    sdv::broker_feeder::DatapointConfiguration&& dpConfig);
     /**
      * Starts the feeder trying to connect to the data broker, registering data points

seat_service/src/bin/seat_service/seat_position_subscriber.cc

@@ -22,6 +22,7 @@
 #include <string>
 #include <sstream>
 #include <thread>
+#include <mutex>
 
 #include "kuksa_client.h"
 #include "seat_adjuster.h"
@@ -31,12 +32,15 @@ extern int debug;
 namespace sdv {
 namespace seat_service {
 
+std::mutex seat_adjuster_mutex;
+
 SeatPositionSubscriber::SeatPositionSubscriber(std::shared_ptr<SeatAdjuster> seat_adjuster,
                                                std::shared_ptr<broker_feeder::KuksaClient> kuksa_client,
-                                               const std::string& seat_pos_name)
+                                               const std::string& seat_pos_name, const sdv::seat_service::posSub& pos)
     : seat_adjuster_(seat_adjuster)
     , kuksa_client_(kuksa_client)
     , seat_pos_name_(seat_pos_name)
+    , pos_(pos)
     , running_(false)
 {
     /* Define datapoints (metadata) of seat service */
@@ -98,7 +102,43 @@ void SeatPositionSubscriber::Run() {
 
                             int position_in_percent = (position + 5) / 10;
 
-                            seat_adjuster_->SetSeatPosition(position_in_percent);
+                            std::lock_guard<std::mutex> guard(seat_adjuster_mutex);
+                            switch(pos_){
+                                case posSub::POSITION:
+                                    seat_adjuster_->SetSeatPosition(position_in_percent);
+                                    break;
+                                case posSub::TILT:
+                                    seat_adjuster_->SetSeatTilt(position_in_percent);
+                                    break;
+                                case posSub::HEIGHT:
+                                    seat_adjuster_->SetSeatHeight(position_in_percent);
+                                    break;
+                            }
+                            break;
+                        }
+                        case sdv::databroker::v1::Datapoint::ValueCase::kFloatValue: {
+                            auto position = static_cast<unsigned int>(actuator_target.float_());
+                            std::cout << "SeatPositionSubscriber: Got actuator target: " << position << std::endl;
+                            if (position < 0 || 1000 < position) {
+                                std::cout << "Invalid position" << std::endl;
+                                continue;
+                            }
+
+                            int position_in_percent = (position + 5) / 10;
+
+                            std::lock_guard<std::mutex> guard(seat_adjuster_mutex);
+                            switch(pos_){
+                                case posSub::POSITION:
+                                    seat_adjuster_->SetSeatPosition(position_in_percent);
+                                    break;
+                                case posSub::TILT:
+                                    seat_adjuster_->SetSeatTilt(position_in_percent);
+                                    break;
+                                case posSub::HEIGHT:
+                                    seat_adjuster_->SetSeatHeight(position_in_percent);
+                                    break;
+                            }
+                            break;
                         }
                     }
                 }

seat_service/src/bin/seat_service/seat_position_subscriber.h

@@ -42,11 +42,17 @@ class KuksaClient;
 
 namespace seat_service {
 
+enum class posSub{
+    POSITION,
+    TILT,
+    HEIGHT
+};
+
 class SeatPositionSubscriber {
    public:
     SeatPositionSubscriber(std::shared_ptr<SeatAdjuster>,
                            std::shared_ptr<broker_feeder::KuksaClient> kuksa_client,
-                           const std::string& seat_pos_name);
+                           const std::string& seat_pos_name, const sdv::seat_service::posSub& pos);
     /**
      * Starts the subscriber.
      * Note: This function will block the calling thread until it's terminated by
@@ -62,6 +68,7 @@ class SeatPositionSubscriber {
     std::shared_ptr<broker_feeder::KuksaClient> kuksa_client_;
     std::unique_ptr<grpc::ClientContext> subscriber_context_;
     std::string seat_pos_name_;
+    sdv::seat_service::posSub pos_;
 
     std::atomic_bool running_;
 };

seat_service/src/examples/can_send/can_send.cc

@@ -27,7 +27,7 @@ int main(int argc, char* argv[]) {
     sdv::hal::CanRawSocket can_if("vcan0");
 
     sdv::hal::CanFrame frame = {
-        .can_id = 0x712,
+        .can_id = 0x714,
         .data = {0x1, 0x50, 20, 0, 0, 0, 0, 0},
     };