Introducing eCAL Feeder for KUKSA.val Integration

ecal2val/README.md

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+# eCAL Feeder
+The purpose of this implementation is to input data received via `eCAL` into a `KUKSA.val` databroker. The topics transmitted by eCAL are in the form of protobuf, and based on the VSS description and data outlined in this format, it is possible to provide data to the data broker via the kuksa_client.
+
+## Usage
+1. Install Python requirements for both eCAL and KUKSA.val
+
+```
+sudo add-apt-repository ppa:ecal/ecal-5.12
+sudo apt-get update
+sudo apt-get install ecal
+sudo apt install python3-ecal5
+
+pip install kuksa-client
+```
+
+2. Generate vss_data_pb2.py in proto_struct directory with following method
+
+```
+sudo apt-get install protobuf-compiler
+
+protoc --python_out=. vss_data.proto
+```
+
+3. Use the following command to run the ecal2val.py
+
+```
+export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python
+
+python3 ecal2val.py
+```
+
+This assumes a running `KUKSA.val` databroker at `127.0.0.1:55555`.
+
+4. For testing, run the mock_publisher.py
+
+```
+export PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python
+
+python3 mock_publisher.py
+```
+
+This was successfully tested on Ubuntu 20.04 and eCAL 5.12

ecal2val/ecal2val.py

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+#! /usr/bin/env python3
+
+########################################################################
+# Copyright (c) 2023 Contributors to the Eclipse Foundation
+#
+# See the NOTICE file(s) distributed with this work for additional
+# information regarding copyright ownership.
+#
+# This program and the accompanying materials are made available under the
+# terms of the Apache License 2.0 which is available at
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# SPDX-License-Identifier: Apache-2.0
+########################################################################
+
+'''
+Subscriber subscribing topics through ECAL communication and sending to KUKSA.val
+'''
+
+import sys
+import time
+
+import ecal.core.core as ecal_core
+from ecal.core.subscriber import ProtoSubscriber
+
+import proto_struct.vss_data_pb2 as vss_data_pb2
+
+from kuksa_client.grpc import VSSClient
+from kuksa_client.grpc import Datapoint
+
+
+ecal_core.initialize(sys.argv, "Python Protobuf")
+
+sub = ProtoSubscriber("vss_data_python_protobuf_topic", vss_data_pb2.VssData)
+
+
+'''This callback function subscribes topics
+   and writes the date in the protobuf
+   to the data broker through the client.'''
+
+
+def callback(topic_name, vss_data_proto_msg, time):
+    with VSSClient('127.0.0.1', 55555) as client:
+        if vss_data_proto_msg.data_int != 0:
+            client.set_current_values({
+                vss_data_proto_msg.description: Datapoint(vss_data_proto_msg.data_int),
+            })
+        elif vss_data_proto_msg.data_float != 0:
+            client.set_current_values({
+                vss_data_proto_msg.description: Datapoint(vss_data_proto_msg.data_float),
+            })
+        else:
+            client.set_current_values({
+                vss_data_proto_msg.description: Datapoint(0),
+            })
+
+
+sub.set_callback(callback)
+
+while ecal_core.ok():
+    time.sleep(1)
+
+ecal_core.finalize()

ecal2val/mock_data.txt

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+Vehicle.Speed 1.0
+Vehicle.Chassis.SteeringWheel.Angle -40
+Vehicle.Speed 1.2
+Vehicle.Chassis.SteeringWheel.Angle -30
+Vehicle.Speed 1.4
+Vehicle.Chassis.SteeringWheel.Angle -20
+Vehicle.Speed 1.6
+Vehicle.Chassis.SteeringWheel.Angle -10
+Vehicle.Speed 1.8
+Vehicle.Chassis.SteeringWheel.Angle 0
+Vehicle.Speed 2.0
+Vehicle.Chassis.SteeringWheel.Angle 10
+Vehicle.Speed 2.2
+Vehicle.Chassis.SteeringWheel.Angle 20
+Vehicle.Speed 2.4
+Vehicle.Chassis.SteeringWheel.Angle 30
+Vehicle.Speed 2.6
+Vehicle.Chassis.SteeringWheel.Angle 40
+Vehicle.Speed 2.8
+Vehicle.Chassis.SteeringWheel.Angle 50

ecal2val/mock_publisher.py

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+#! /usr/bin/env python3
+
+########################################################################
+# Copyright (c) 2023 Contributors to the Eclipse Foundation
+#
+# See the NOTICE file(s) distributed with this work for additional
+# information regarding copyright ownership.
+#
+# This program and the accompanying materials are made available under the
+# terms of the Apache License 2.0 which is available at
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# SPDX-License-Identifier: Apache-2.0
+########################################################################
+
+'''
+Publisher publishing topics via protobuf message through eCAL communication.
+'''
+
+import sys
+import time
+
+import ecal.core.core as ecal_core
+from ecal.core.publisher import ProtoPublisher
+
+import proto_struct.vss_data_pb2 as vss_data_pb2
+
+
+ecal_core.initialize(sys.argv, "Python Protobuf")
+
+pub = ProtoPublisher("vss_data_python_protobuf_topic", vss_data_pb2.VssData)
+
+'''Reads arbitrary data from 'mock_data.txt'
+   and publishes it in the form of a protobuf message.'''
+while ecal_core.ok():
+    with open("mock_data.txt", 'r', encoding='utf-8') as file:
+        for line in file:
+            description, data = line.rstrip().split()
+
+            protobuf_message = vss_data_pb2.VssData()
+            protobuf_message.description = description
+            protobuf_message.data_int = 0
+            protobuf_message.data_float = 0
+
+            try:
+                protobuf_message.data_int = int(data)
+            except ValueError:
+                protobuf_message.data_float = float(data)
+
+            pub.send(protobuf_message)
+            print("{} published".format(description))
+
+            time.sleep(1)
+
+ecal_core.finalize()

ecal2val/proto_struct/vss_data.proto

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+syntax = "proto3";
+
+package proto_struct;
+
+message VssData
+{
+  string description = 1;
+  int32  data_int    = 2;
+  float  data_float  = 3;
+}