SpaceTeam · raffael0 · Dec 30, 2024 · Dec 30, 2024 · Dec 30, 2024 · Dec 31, 2024
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -16,7 +16,8 @@ if(NO_PYTHON)
   add_compile_definitions(NO_PYTHON)
   list(REMOVE_ITEM sources ${CMAKE_CURRENT_SOURCE_DIR}/src/drivers/PythonController.cpp)
 else()
-  include_directories(/usr/include/python3.10)
+  find_package(Python3 COMPONENTS Development REQUIRED)
+  include_directories(${Python3_INCLUDE_DIRS})
 endif()
 
 add_executable(${PROJECT_NAME} ${sources})
@@ -31,6 +32,10 @@ if(NO_CANLIB)
   add_compile_definitions(NO_CANLIB)
 endif()
 
+if(NO_INFLUX)
+    MESSAGE(STATUS "InfluxDB is not used")
+    add_compile_definitions(NO_INFLUX)
+endif()
 
 if(UNIX AND NOT APPLE)
    set(LINUX TRUE)
@@ -43,7 +48,7 @@ if(LINUX)
       target_link_libraries(${PROJECT_NAME} PRIVATE -lcanlib)
    endif()
    if(NOT NO_PYTHON)
-      target_link_libraries(${PROJECT_NAME} PRIVATE -lpython3.10)
+       target_link_libraries(${PROJECT_NAME}  PRIVATE ${Python3_LIBRARIES})
    endif()
 else()
    target_link_libraries(${PROJECT_NAME} PRIVATE Threads::Threads)

diff --git a/README.md b/README.md
@@ -8,6 +8,7 @@
 - [Installation](#installation)
   - [Build options](#build-options)
   - [Supported CAN Drivers](#supported-can-drivers)
+- [Development Setup](#development-setup)
 - [CAN Protocol](#can-protocol)
 - [The importance of States](#the-importance-of-states)
 - [Events](#events)
@@ -109,6 +110,98 @@ Currently two drivers are supported namely
 the preferred driver can be selected inside the [config.json](#configjson).
 The Dockerfile also installs all required kvaser canlib library files automatically.
 
+## Development Setup
+The LLServer is meant to be used in conjuction with a can-bus and an influxdb logging server.
+For local development the following setup is recommended:
+
+### can interface
+The LLServer still requires a can interface to be present on the system to function.
+You can create a dummy can interface with the following commands:
+```bash
+sudo modprobe vcan
+sudo ip link add dev vcan0 type vcan
+sudo ip link set up vcan0
+```
+
+### Building the LLServer
+Use the following cmake variables to run the LLServer in Dev Mode:
+```bash
+mkdir build && cd build
+cmake -D NO_PYTHON=true -D NO_CANLIB=true -D NO_INFLUX=true .. -o ./
+make -j
+```
+This disables the python bindings, the canbus interface and the influxdb logging.
+
+### Running the LLServer
+The LLServer requires a `config.json` and a `mapping.json` file to run. You can find examples in the `config` folder.
+
+To run the LLServer with the example config files, use the following command:
+```bash
+ ECUI_CONFIG_PATH=$(dirname "$PWD")/sample_config ./llserver_ecui_houbolt
+```
+
+Please note that without the CAN Bus none of the commands will work. You can crudely some for testing like this in the LLInterface::init:
+
+```c++
+        auto doStuff = [](std::vector<double> &data, bool flag) {
+            std::string str = [&data] {
+                std::ostringstream oss;
+                std::copy(data.begin(), data.end(), std::ostream_iterator<double>(oss, " "));
+                return oss.str();
+            }();
+            Debug::print("doStuff flag: %d values: %s", flag, str.c_str());
+        };
+
+        eventManager->AddCommands({{"doStuff", {doStuff, {}}}});
+
+```
+
+
+
+### Emulating the ECUI
+The LLServer communicates over a TCP-Socket with the [ECUI](https://github.com/SpaceTeam/web_ecui_houbolt).
+To emulate this one can use the [ECUIEmulator.py](scripts/ECUIEmulator.py) script.
+You have to set the message `type` and `data` and it will send it to the LLServer.
+Responses are logged to the console.
+
+Eg. Starting a sequence:
+```bash
+python3 scripts/ECUIEmulator.py
+Starting JSON socket server.
+Enter your message type(one of sequence-start, send-postseq-comment, abort, auto-abort-change, states-load, states-get, states-set, states-start, states-stop, gui-mapping-load, commands-load, commands-set):
+sequence-start
+Enter your JSON message (send with `END` in a new line):
+{
+  "globals": {
+    "endTime": 10,
+    "interpolation": {
+      "doStuff": "none"
+    },
+    "interval": 0.01,
+    "startTime": -3
+  },
+  "data": [
+    {
+      "timestamp": "START",
+      "name": "start",
+      "desc": "start",
+      "actions": [
+        {
+          "timestamp": 0.0,
+          "doStuff": [
+            2
+          ]
+        }
+      ]
+    }
+
+  ]
+}
+END
+Message sent.
+
+```
+
 ## CAN Protocol
 As many terms from the [CAN Protocol](https://github.com/SpaceTeam/can_houbolt) 
 are also used to describe many functionalities 

diff --git a/include/can/CANMapping.h b/include/can/CANMapping.h
@@ -5,7 +5,7 @@
 #ifndef LLSERVER_ECUI_HOUBOLT_CANMAPPING_H
 #define LLSERVER_ECUI_HOUBOLT_CANMAPPING_H
 
-#include "utility/JSONMapping.h"
+#include "../utility/JSONMapping.h"
 
 class CANMappingObj
 {

diff --git a/include/can/Node.h b/include/can/Node.h
@@ -8,7 +8,7 @@
 #include <mutex>
 #include <atomic>
 
-#include "common.h"
+#include "../common.h"
 
 typedef struct
 {
@@ -23,12 +23,12 @@ typedef struct __attribute__((__packed__))
 	uint8_t channel_data[60];
 } SensorMsg_t;
 
-#include "can/Channel.h"
+#include "channels/Channel.h"
 #include "CANDriverKvaser.h"
-#include "can_houbolt/channels/generic_channel_def.h"
-#include "logging/InfluxDbLogger.h"
+#include "../can_houbolt/channels/generic_channel_def.h"
+#include "../logging/InfluxDbLogger.h"
 
-#include "utility/Config.h"
+#include "../utility/Config.h"
 
 class Node : public Channel
 {
@@ -57,6 +57,8 @@ class Node : public Channel
     SensorData_t *latestSensorBuffer;
     size_t latestSensorBufferLength = 0;
     std::mutex bufferMtx;
+	std::vector<std::pair<std::string,double>> nameValueMap;
+
 
 	void InitChannels(NodeInfoMsg_t &nodeInfo, std::map<uint8_t, std::tuple<std::string, std::vector<double>>> &channelInfo);
 

diff --git a/include/can/ADC16.h → include/can/channels/ADC16.h b/include/can/ADC16.h → include/can/channels/ADC16.h
@@ -7,7 +7,7 @@
 
 #include "common.h"
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/adc16_channel_def.h"
 

diff --git a/include/can/ADC16Single.h → include/can/channels/ADC16Single.h b/include/can/ADC16Single.h → include/can/channels/ADC16Single.h
@@ -7,7 +7,7 @@
 
 #include "common.h"
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/adc16_single_channel_def.h"
 

diff --git a/include/can/ADC24.h → include/can/channels/ADC24.h b/include/can/ADC24.h → include/can/channels/ADC24.h
@@ -9,7 +9,7 @@
 
 #include "common.h"
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/adc24_channel_def.h"
 

diff --git a/include/can/channels/CANMonitor.h b/include/can/channels/CANMonitor.h
@@ -0,0 +1,42 @@
+//
+// Created by raffael on 31.03.25.
+//
+
+#ifndef CANMONITOR_H
+#define CANMONITOR_H
+
+
+#include "can/channels/Channel.h"
+#include "../Node.h"
+#include "channels/can_monitor_channel_def.hpp"
+
+class CANMonitor : public Channel, public NonNodeChannel
+{
+    static const std::vector<std::string> states;
+    static const std::map<std::string, std::vector<double>> scalingMap;
+    static const std::map<CAN_MONITOR_VARIABLES , std::string> variableMap;
+
+public:
+    CANMonitor(uint8_t channelID, std::string channelName, Node *parent);
+
+    void GetSensorValue(uint8_t *valuePtr, uint8_t &valueLength, std::vector<std::pair<std::string, double>> &nameValueMap) override;
+
+    //-------------------------------RECEIVE Functions-------------------------------//
+
+    void ProcessCANCommand(Can_MessageData_t *canMsg, uint32_t &canMsgLength, uint64_t &timestamp) override;
+    std::vector<std::string> GetStates() override;
+
+    //-------------------------------SEND Functions-------------------------------//
+
+    void SetRefreshDivider(std::vector<double> &params, bool testOnly);
+    void GetRefreshDivider(std::vector<double> &params, bool testOnly);
+
+    //-------------------------------Utility Functions-------------------------------//
+
+    void RequestCurrentState() override;
+
+};
+
+
+
+#endif //CANMONITOR_H
diff --git a/include/can/Channel.h → include/can/channels/Channel.h b/include/can/Channel.h → include/can/channels/Channel.h
@@ -17,7 +17,7 @@
 
 #include "StateController.h"
 #include "can_houbolt/cmds.h"
-#include "CANDriver.h"
+#include "../CANDriver.h"
 #include "EventManager.h"
 
 class Channel
@@ -172,7 +172,7 @@ class Channel
 
     virtual const std::string GetChannelTypeName();
 
-    virtual void GetSensorValue(uint8_t *valuePtr, uint8_t &valueLength, double &value);
+    virtual void GetSensorValue(uint8_t *valuePtr, uint8_t &valueLength, std::vector<std::pair<std::string, double>> &nameValueMap);
 
     virtual uint8_t GetChannelID()
     { return this->channelID; };

diff --git a/include/can/Control.h → include/can/channels/Control.h b/include/can/Control.h → include/can/channels/Control.h
@@ -5,7 +5,7 @@
 #ifndef LLSERVER_ECUI_HOUBOLT_CONTROL_H
 #define LLSERVER_ECUI_HOUBOLT_CONTROL_H
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/control_channel_def.h"
 

diff --git a/include/can/DATA32.h → include/can/channels/DATA32.h b/include/can/DATA32.h → include/can/channels/DATA32.h
@@ -7,7 +7,7 @@
 
 #include "common.h"
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/data32_channel_def.h"
 

diff --git a/include/can/DigitalOut.h → include/can/channels/DigitalOut.h b/include/can/DigitalOut.h → include/can/channels/DigitalOut.h
@@ -7,7 +7,7 @@
 
 #include <utility>
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/digital_out_channel_def.h"
 

diff --git a/include/can/IMU.h → include/can/channels/IMU.h b/include/can/IMU.h → include/can/channels/IMU.h
@@ -7,7 +7,7 @@
 
 #include "common.h"
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/imu_channel_def.h"
 

diff --git a/include/can/PIControl.h → include/can/channels/PIControl.h b/include/can/PIControl.h → include/can/channels/PIControl.h
@@ -5,7 +5,7 @@
 #ifndef LLSERVER_ECUI_HOUBOLT_PI_CONTROL_H
 #define LLSERVER_ECUI_HOUBOLT_PI_CONTROL_H
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/pi_control_channel_def.h"
 

diff --git a/include/can/PneumaticValve.h → include/can/channels/PneumaticValve.h b/include/can/PneumaticValve.h → include/can/channels/PneumaticValve.h
@@ -5,7 +5,7 @@
 #ifndef LLSERVER_ECUI_HOUBOLT_PNEUMATIC_VALVE_H
 #define LLSERVER_ECUI_HOUBOLT_PNEUMATIC_VALVE_H
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/pneumatic_valve_channel_def.h"
 

diff --git a/include/can/Rocket.h → include/can/channels/Rocket.h b/include/can/Rocket.h → include/can/channels/Rocket.h
@@ -5,7 +5,7 @@
 #ifndef LLSERVER_ECUI_HOUBOLT_ROCKET_H
 #define LLSERVER_ECUI_HOUBOLT_ROCKET_H
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/rocket_channel_def.h"
 

diff --git a/include/can/Servo.h → include/can/channels/Servo.h b/include/can/Servo.h → include/can/channels/Servo.h
@@ -5,7 +5,7 @@
 #ifndef LLSERVER_ECUI_HOUBOLT_SERVO_H
 #define LLSERVER_ECUI_HOUBOLT_SERVO_H
 
-#include "can/Channel.h"
+#include "can/channels/Channel.h"
 #include "can/Node.h"
 #include "can_houbolt/channels/servo_channel_def.h"
 

diff --git a/include/can_houbolt b/include/can_houbolt
+69 −0		channels/can_monitor_channel_def.hpp
+5 −3		channels/rocket_channel_def.h
+1 −0		cmds.h