seat_service

Seat Service Example

• Seat Service Example
  • Overview
    • Context
    • Internals
  • Development environment
    • Prerequisites
    • Usage on CLI
      • Build Seat Service
    • Usage in Visual Studio Code
  • Configuration
  • Seat Controller Documentation
  • Generate documentation

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

Internals

Development environment

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  .

Usage on CLI

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

//Linux
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

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
docker run --rm -it -v $(pwd):/workspace oci_kuksa-val-services-ci:latest /bin/bash -c "cd seat_service; ./build-debug.sh"

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

parameter	default value	cli parameter	Env var	description
can_if_name	-	can_if_name	-	Use socketCAN device
listen_address	"localhost"	listen_address	-	Listen for rpc calls
listen_port	50051	port	-	Listen for rpc calls
broker_address	"localhost"	-	-	Connect to data broker instance
broker_port	55555	-	DAPR_GRPC_PORT	Connect to data broker instance
broker_app_id		-	VEHICLEDATABROKER_DAPR_APP_ID	Connect to data broker instance

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 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