Improvements of the Development Setup

CMakeLists.txt

@@ -31,6 +31,10 @@ 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)

README.md

@@ -1,5 +1,97 @@
 # Low Level Server for the Engine Control User Interface
 
+# 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.
+
+```
+
 ## Links
 
 Documentation of whole ECUI and Setup Guide

sample_config/config.json

@@ -0,0 +1,111 @@
+{
+    "version": "1.3.1@Lamarr",
+    "autoabort": false,
+    "pyenv": "/home/.local/lib/python3.8/site-packages",
+    "auto_start": true,
+    "DEBUG": {
+        "printWarnings": true,
+        "printInfos": true
+    },
+    "socket_msg_size": 65536,
+    "LOGGING": {
+        "post_sequence_script": "scripts/plot.sh"
+    },
+    "use_lora": false,
+    "LORA": {
+        "ip": "192.168.100.5",
+        "port": 5001,
+        "nodeIDsRef": [
+            33,
+            31,
+            32,
+            29
+        ],
+        "nodeIDs": [
+            13,
+            11,
+            12,
+            19
+        ],
+        "canMsgSizes": [
+            48,
+            48,
+            48,
+            39
+        ]
+    },
+    "CAN": {
+        "node_count": 0,
+        "blocking_timeout": 2048,
+        "BUS": {
+            "ARBITRATION": {
+                "bitrate": 1000000,
+                "time_segment_1": 23,
+                "time_segment_2": 16,
+                "sync_jump_width": 1,
+                "no_sampling_points": 1
+            },
+            "DATA": {
+                "bitrate": 4000000,
+                "time_segment_1": 7,
+                "time_segment_2": 2,
+                "sync_jump_width": 2
+            }
+        },
+        "DRIVER": "SocketCAN",
+        "DEVICE": [
+            "vcan0"
+        ],
+        "BUS_EXTRA": {
+            "1": {
+                "ARBITRATION": {
+                    "bitrate": 1000000,
+                    "time_segment_1": 7,
+                    "time_segment_2": 2,
+                    "sync_jump_width": 1,
+                    "no_sampling_points": 1
+                },
+                "DATA": {
+                    "bitrate": 8000000,
+                    "time_segment_1": 7,
+                    "time_segment_2": 2,
+                    "sync_jump_width": 1
+                }
+            }
+        },
+        "canBusChannelIDs": [
+            0,
+            1,
+            2,
+            3
+        ]
+    },
+    "LLSERVER": {
+        "sensor_state_sampling_rate": 10.0
+    },
+    "WEBSERVER": {
+        "ip": "127.0.0.1",
+        "port": 8080,
+        "state_transmission_rate": 10.0,
+        "timer_sync_rate": 10,
+        "sensors_smoothing_factor": 0.3
+    },
+    "INFLUXDB": {
+        "database_ip": "192.168.100.2",
+        "database_port": 8086,
+        "database_name": "gse",
+        "debug_measurement": "debug",
+        "state_measurement": "states",
+        "fast_sensor_measurement": "sensors",
+        "buffer_size": 2048,
+        "fast_sensor_buffer_size": 65536,
+        "enable_fast_sensor_logging": true
+    },
+    "THRUST": {
+        "alpha": 0.785398,
+        "beta": 0.785398,
+        "gamma": 0.785398,
+        "d": 0.28,
+        "r": 0.14
+    }
+}