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 databroker via 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 proto_struct_pb2.py in proto directory with following method
+
+```
+sudo apt-get install protobuf-compiler
+
+protoc --python_out=. proto_struct.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
+
+```
+
+Modify proto file to utilize more specific information.
+
+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) 2024 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 vss topics via ECAL communication
+and sending it to KUKSA.val databroker.
+'''
+
+import sys
+import time
+
+import ecal.core.core as ecal_core
+from ecal.core.subscriber import ProtoSubscriber
+
+import proto.proto_struct_pb2 as proto_struct_pb2
+
+from kuksa_client.grpc import Datapoint
+from kuksa_client.grpc import DataEntry
+from kuksa_client.grpc import EntryUpdate
+from kuksa_client.grpc import Field
+from kuksa_client.grpc import VSSClient
+
+
+ecal_core.initialize(sys.argv, "ecal2val")
+
+sub = ProtoSubscriber("vss_topic", proto_struct_pb2.DataEntry)
+
+'''
+This callback function subscribes topics
+and writes the data to the databroker.
+'''
+
+
+def callback(topic_name, msg, time):
+    with VSSClient('127.0.0.1', 55555) as client:
+        entry = DataEntry(
+            path=msg.path,
+            value=Datapoint(value=eval(f"msg.value.{msg.data_type}")),
+        )
+        updates = (EntryUpdate(entry, (Field.VALUE,)),)
+
+        client.set(updates=updates)
+
+        print(f'{msg.path} subscribed & written')
+
+
+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     float
+Vehicle.Chassis.SteeringWheel.Angle     -40     int32
+Vehicle.Speed                           1.2     float
+Vehicle.Chassis.SteeringWheel.Angle     -30     int32
+Vehicle.Speed                           1.4     float
+Vehicle.Chassis.SteeringWheel.Angle     -20     int32
+Vehicle.Speed                           1.6     float
+Vehicle.Chassis.SteeringWheel.Angle     -10     int32
+Vehicle.Speed                           1.8     float
+Vehicle.Chassis.SteeringWheel.Angle     0       int32
+Vehicle.Speed                           2.0     float
+Vehicle.Chassis.SteeringWheel.Angle     10      int32
+Vehicle.Speed                           2.2     float
+Vehicle.Chassis.SteeringWheel.Angle     20      int32
+Vehicle.Speed                           2.4     float
+Vehicle.Chassis.SteeringWheel.Angle     30      int32
+Vehicle.Speed                           2.6     float
+Vehicle.Chassis.SteeringWheel.Angle     40      int32
+Vehicle.Speed                           2.8     float
+Vehicle.Chassis.SteeringWheel.Angle     50      int32

ecal2val/mock_publisher.py

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+#! /usr/bin/env python3
+
+########################################################################
+# Copyright (c) 2024 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 vss topics via eCAL communication.
+'''
+
+import sys
+import time
+
+import ecal.core.core as ecal_core
+from ecal.core.publisher import ProtoPublisher
+
+import proto.proto_struct_pb2 as proto_struct_pb2
+
+
+def string(value):
+    return str(value)
+
+
+def int32(value):
+    return int(value)
+
+
+def int64(value):
+    return int(value)
+
+
+def uint32(value):
+    return int(value)
+
+
+def uint64(value):
+    return int(value)
+
+
+def double(value):
+    return float(value)
+
+
+ecal_core.initialize(sys.argv, "ecal2val")
+
+pub = ProtoPublisher("vss_topic", proto_struct_pb2.DataEntry)
+
+'''
+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:
+            path, value, data_type = line.split()
+
+            entry = proto_struct_pb2.DataEntry()
+            entry.path = path
+            exec(f"entry.value.{data_type} = {data_type}(value)")
+            entry.data_type = data_type
+
+            pub.send(entry)
+            print(f"{path} published")
+
+            time.sleep(1)
+
+ecal_core.finalize()

ecal2val/proto/proto_struct.proto

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+/********************************************************************************
+ * Copyright (c) 2024 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
+ ********************************************************************************/
+
+syntax = "proto3";
+
+package proto_struct;
+
+message DataEntry {
+  string path = 1;
+  DataPoint value = 2;
+  string data_type = 3;
+}
+
+message DataPoint {
+  oneof value {
+    string string            = 1;
+    bool bool                = 2;
+    sint32 int32             = 3;
+    sint64 int64             = 4;
+    uint32 uint32            = 5;
+    uint64 uint64            = 6;
+    float float              = 7;
+    double double            = 8;
+  }
+}