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[#122] Warn on DBC signal name usage across multiple messages
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During startup, the DBC Feeder reads in CAN message definitions
from arbitrary database files. When using the same signal name in
different message definitions, care needs to be taken that the semantics
of the signal are the same across all messages.

The DBC Feeder has been changed to detect such cases and issue a
corresponding warning if the signal is being mapped to a VSS datapoint.
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@sophokles73
sophokles73 committed Aug 28, 2023
1 parent 3a72e0b commit 141e6ca
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Showing 10 changed files with 436 additions and 288 deletions.
112 changes: 57 additions & 55 deletions dbc2val/dbcfeeder.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,19 +23,20 @@
"""

import argparse
import asyncio
import configparser
import enum
import logging
import os
import queue
import sys
import time
import threading
import asyncio
import time

from signal import SIGINT, SIGTERM, signal
from typing import Any
from typing import Dict
from typing import Any, Dict, Set

import cantools.database

from dbcfeederlib import canclient
from dbcfeederlib import canplayer
Expand Down Expand Up @@ -131,18 +132,18 @@ def __init__(self, client_wrapper: clientwrapper.ClientWrapper,
def start(
self,
canport,
dbcfile,
mappingfile,
dbc_default_file,
candumpfile=None,
use_j1939=False,
use_strict_parsing=False
dbcfile: str,
mappingfile: str,
dbc_default_file: str,
candumpfile: str=None,
use_j1939: bool=False,
use_strict_parsing: bool=False
):

# Read DBC file
self._dbc_parser = dbcparser.DBCParser(dbcfile, use_strict_parsing)

log.info("Using mapping: {}".format(mappingfile))
log.info("Using mapping file: %s", mappingfile)
self._mapper = dbc2vssmapper.Mapper(mappingfile, self._dbc_parser, dbc_default_file)

self._client_wrapper.start()
Expand Down Expand Up @@ -201,7 +202,7 @@ def start(
log.error("Subscribing to VSS signals not supported by chosen client!")
self.stop()
else:
log.info(f"Starting transmit thread, using {canport}")
log.info("Starting transmit thread, using %s", canport)
# For now creating another bus
# Maybe support different buses for downstream/upstream in the future

Expand Down Expand Up @@ -287,10 +288,12 @@ def _run_receiver(self):
vss_mapping = self._mapper.get_dbc2val_mapping(vss_observation.dbc_name, vss_observation.vss_name)
value = vss_mapping.transform_value(vss_observation.raw_value)
if value is None:
log.warning(f"Value ignored for dbc {vss_observation.dbc_name} to VSS {vss_observation.vss_name},"
f" from raw value {value} of type {type(value)}")
log.warning(
"Value ignored for dbc %s to VSS %s, from raw value %s of type %s",
vss_observation.dbc_name, vss_observation.vss_name, value, type(value)
)
elif not vss_mapping.change_condition_fulfilled(value):
log.debug(f"Value condition not fulfilled for VSS {vss_observation.vss_name}, value {value}")
log.debug("Value condition not fulfilled for VSS %s, value %s", vss_observation.vss_name, value)
else:
# get values out of the canreplay and map to desired signals
target = vss_observation.vss_name
Expand All @@ -301,8 +304,10 @@ def _run_receiver(self):
# Give status message after 1, 2, 4, 8, 16, 32, 64, .... messages have been sent
messages_sent += 1
if messages_sent >= (2 * last_sent_log_entry):
log.info(f"Number of VSS messages sent so far: {messages_sent}, "
f"queue max size: {queue_max_size}")
log.info(
"Number of VSS messages sent so far: %d, queue max size: %d",
messages_sent, queue_max_size
)
last_sent_log_entry = messages_sent
except queue.Empty:
pass
Expand All @@ -311,30 +316,32 @@ def _run_receiver(self):

async def vss_update(self, updates):
log.debug("vss-Update callback!")
dbc_ids = set()
dbc_signal_names: Set[str] = set()
for update in updates:
if update.entry.value is not None:
# This shall currently never happen as we do not subscribe to this
log.warning(f"Current value for {update.entry.path} is now: "
f"{update.entry.value.value} of type {type(update.entry.value.value)}")
log.warning(
"Current value for %s is now: %s of type %s",
update.entry.path, update.entry.value.value, type(update.entry.value.value)
)

if update.entry.actuator_target is not None:
log.debug(f"Target value for {update.entry.path} is now: {update.entry.actuator_target} "
f"of type {type(update.entry.actuator_target.value)}")
new_dbc_ids = self._mapper.handle_update(update.entry.path, update.entry.actuator_target.value)
dbc_ids.update(new_dbc_ids)

can_ids = set()
for dbc_id in dbc_ids:
can_id = self._dbc_parser.get_canid_for_signal(dbc_id)
can_ids.add(can_id)

for can_id in can_ids:
log.debug(f"CAN id to be sent, this is {can_id}")
sig_dict = self._mapper.get_value_dict(can_id)
message_data = self._dbc_parser.db.get_message_by_frame_id(can_id)
data = message_data.encode(sig_dict)
self._canclient.send(arbitration_id=message_data.frame_id, data=data)
log.debug(
"Target value for %s is now: %s of type %s",
update.entry.path, update.entry.actuator_target, type(update.entry.actuator_target.value)
)
affected_signals = self._mapper.handle_update(update.entry.path, update.entry.actuator_target.value)
dbc_signal_names.update(affected_signals)

messages_to_send: Set[cantools.database.Message] = set()
for signal_name in dbc_signal_names:
messages_to_send.update(self._dbc_parser.get_messages_for_signal(signal_name))

for message_definition in messages_to_send:
log.debug("sending CAN message %s with frame ID %#x", message_definition.name, message_definition.frame_id)
sig_dict = self._mapper.get_value_dict(message_definition.frame_id)
data = message_definition.encode(sig_dict)
self._canclient.send(arbitration_id=message_definition.frame_id, data=data)

async def _run_subscribe(self):
"""
Expand All @@ -358,8 +365,8 @@ def parse_config(filename):

if filename:
if not os.path.exists(filename):
log.warning("Couldn't find config file {}".format(filename))
raise Exception("Couldn't find config file {}".format(filename))
log.warning("Couldn't find config file %s", filename)
raise FileNotFoundError(filename=filename)
configfile = filename
else:
config_candidates = [
Expand All @@ -372,19 +379,14 @@ def parse_config(filename):
configfile = candidate
break

log.info("Using config: {}".format(configfile))
log.info("Using config: %s", configfile)
if configfile is None:
return {}

config = configparser.ConfigParser()
readed = config.read(configfile)
if log.level >= logging.DEBUG:
log.debug(
"# config.read({}):\n{}".format(
readed,
{section: dict(config[section]) for section in config.sections()},
)
)
if log.isEnabledFor(logging.DEBUG):
log.debug("# config.read(%s):\n%s", readed, {section: dict(config[section]) for section in config.sections()})

return config

Expand Down Expand Up @@ -447,7 +449,7 @@ def main(argv):
parser.add_argument('--no-val2dbc', action='store_true',
help="Do not monitor mapped signals in KUKSA.val")

args = parser.parse_args()
args = parser.parse_args(argv)

config = parse_config(args.config)

Expand Down Expand Up @@ -485,19 +487,19 @@ def main(argv):

if "root_ca_path" in config["general"]:
path = config['general']['root_ca_path']
log.info(f"Given root CA path: {path}")
log.info("Given root CA path: %s", path)
client_wrapper.set_root_ca_path(path)
elif client_wrapper.get_tls():
# We do not want to rely on kuksa-client default
log.error("Root CA must be given when using TLS")

if "tls_server_name" in config["general"]:
name = config['general']['tls_server_name']
log.info(f"Given TLS server name: {name}")
log.info("Given TLS server name: %s", name)
client_wrapper.set_tls_server_name(name)

if "token" in config["general"]:
log.info(f"Given token information: {config['general']['token']}")
log.info("Given token information: %s", config['general']['token'])
client_wrapper.set_token_path(config["general"]["token"])
else:
log.info("Token information not given")
Expand Down Expand Up @@ -593,7 +595,7 @@ def main(argv):
# By default enabled
log.info("Alt5")
use_dbc2val = True
log.info(f"DBC2VAL mode is: {use_dbc2val}")
log.info("DBC2VAL mode is: %s", use_dbc2val)

if args.val2dbc:
use_val2dbc = True
Expand All @@ -608,12 +610,12 @@ def main(argv):
else:
# By default disabled
use_val2dbc = False
log.info(f"VAL2DBC mode is: {use_val2dbc}")
log.info("VAL2DBC mode is: %s", use_val2dbc)

feeder = Feeder(client_wrapper, elmcan_config, dbc2val=use_dbc2val, val2dbc=use_val2dbc)

def signal_handler(signal_received, *_):
log.info(f"Received signal {signal_received}, stopping...")
log.info("Received signal %s, stopping...", signal_received)

# If we get told to shutdown a second time. Just do it.
if feeder.is_stopping():
Expand Down Expand Up @@ -651,7 +653,7 @@ def parse_level(specified_level, default=default):
"critical",
]:
return specified_level.upper()
raise Exception(f"could not parse '{specified_level}' as a log level")
raise ValueError(f"could not parse '{specified_level}' as a log level")
return default

parsed_loglevels = {}
Expand All @@ -663,7 +665,7 @@ def parse_level(specified_level, default=default):
if len(spec_parts) == 1:
# This is a root level spec
if "root" in parsed_loglevels:
raise Exception("multiple root loglevels specified")
raise ValueError("multiple root loglevels specified")
parsed_loglevels["root"] = parse_level(spec_parts[0])
if len(spec_parts) == 2:
logger_name = spec_parts[0]
Expand Down
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