Ashin Walpola
0e9525162d
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
111 lines
3.2 KiB
Python
111 lines
3.2 KiB
Python
import asyncio
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import capnp
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import math
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import os
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import time
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capnp.remove_import_hook()
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vanetza_capnp = capnp.load('vanetza.capnp', 'Vanteza RPC', ['/usr/include/', '/usr/local/include/'])
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class PeriodicTask:
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def __init__(self, timeout):
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self._timeout = timeout
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self._task = asyncio.create_task(self._do_loop())
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async def _do_loop(self):
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while asyncio.get_running_loop().is_running():
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await asyncio.sleep(self._timeout)
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await self.action()
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def cancel(self):
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self._task.cancel()
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async def action(self):
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pass
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class PeriodicCbrGenerator(PeriodicTask):
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def __init__(self, callback):
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super().__init__(timeout=0.1)
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self._callback = callback
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async def action(self):
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if callable(self._callback):
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await self._callback(0.3 + 0.25 * math.sin(0.2*math.pi*time.monotonic()))
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class PeriodicDataGenerator(PeriodicTask):
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def __init__(self, callback):
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super().__init__(timeout=2.5)
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self._callback = callback
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async def action(self):
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if callable(self._callback):
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await self._callback()
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class Server(vanetza_capnp.LinkLayer.Server):
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def __init__(self):
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self._cbr = PeriodicCbrGenerator(self._notify_cbr)
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self._data = PeriodicDataGenerator(self._notify_data)
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def stop(self):
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self._cbr.cancel()
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self._data.cancel()
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async def _notify_cbr(self, channel_load: float):
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if self._cbr_listener:
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cbr = {
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'busy': int(channel_load * 1000),
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'samples': 1000
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}
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await self._cbr_listener.onCbrReport(cbr=cbr)
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async def _notify_data(self):
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if self._data_listener:
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frame = {
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'sourceAddress': b"\xde\xad\xc0\xff\xff\xee",
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'destinationAddress': b"\xff\xff\xff\xff\xff\xff",
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'payload': b"Vanetza"
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}
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rx = {
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'wlan': { 'power': -60 * 8, 'datarate': 6 * 2 }
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}
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await self._data_listener.onDataIndication(frame=frame, rxParams=rx)
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async def identify(self, **kwargs):
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return (os.getpid(), 1)
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async def transmitData(self, frame, txParams, **kwargs):
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print("client requested data transmission")
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return vanetza_capnp.LinkLayer.ErrorCode.ok
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async def subscribeData(self, listener, **kwargs):
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print("client subscribed data indications")
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self._data_listener = listener
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async def subscribeCbr(self, listener, **kwargs):
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print("client subscribed CBR reports")
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self._cbr_listener = listener
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async def setSourceAddress(self, address, **kwargs):
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print(f"client set source address: {address}")
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if (len(address) != 6):
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return vanetza_capnp.LinkLayer.ErrorCode.invalidArgument
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else:
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return vanetza_capnp.LinkLayer.ErrorCode.ok
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async def new_connection(stream):
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server = Server()
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await capnp.TwoPartyServer(stream, bootstrap=server).on_disconnect()
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server.stop()
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async def main():
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server = await capnp.AsyncIoStream.create_server(new_connection, '*', '23057')
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async with server:
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await server.serve_forever()
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if __name__ == '__main__':
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asyncio.run(capnp.run(main()))
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