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Update sdv_packager (#6)

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tompzf
2026-03-27 14:12:49 +01:00
committed by GitHub
parent 234be8917f
commit aefefd52f7
717 changed files with 42252 additions and 11334 deletions
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103
sdv_services/can_communication_silkit/can_com_silkit.h
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@@ -1,3 +1,17 @@
/********************************************************************************
* Copyright (c) 2025-2026 ZF Friedrichshafen AG
*
* This program and the accompanying materials are made available under the
* terms of the Apache License Version 2.0 which is available at
* https://www.apache.org/licenses/LICENSE-2.0
*
* SPDX-License-Identifier: Apache-2.0
*
* Contributors:
* Sudipta Durjoy - initial API and implementation
* Thomas Pfleiderer - refactored and finalized
********************************************************************************/
#ifndef CAN_COM_SILKIT_H
#define CAN_COM_SILKIT_H
@@ -18,46 +32,54 @@
/**
* @brief Component to establish Socket CAN communication between VAPI and external application
*/
class CCANSilKit : public sdv::CSdvObject, public sdv::IObjectControl, public sdv::can::IRegisterReceiver,
public sdv::can::ISend, sdv::can::IInformation
class CCANSilKit : public sdv::CSdvObject, public sdv::can::IRegisterReceiver, public sdv::can::ISend, sdv::can::IInformation
{
public:
// Interface map
BEGIN_SDV_INTERFACE_MAP()
SDV_INTERFACE_ENTRY(sdv::IObjectControl)
SDV_INTERFACE_ENTRY(sdv::can::IRegisterReceiver)
SDV_INTERFACE_ENTRY(sdv::can::ISend)
SDV_INTERFACE_ENTRY(sdv::can::IInformation)
END_SDV_INTERFACE_MAP()
DECLARE_OBJECT_CLASS_TYPE(sdv::EObjectType::Device)
DECLARE_OBJECT_CLASS_TYPE(sdv::EObjectType::vehicle_bus)
DECLARE_OBJECT_CLASS_NAME("CAN_Com_SilKit")
DECLARE_DEFAULT_OBJECT_NAME("CAN_Communication_Object")
DECLARE_OBJECT_SINGLETON()
/**
* @brief Initialize the object. Overload of sdv::IObjectControl::Initialize.
* @param[in] ssObjectConfig Optional configuration string.
*/
virtual void Initialize(const sdv::u8string& ssObjectConfig) override;
BEGIN_SDV_PARAM_MAP()
SDV_PARAM_ENABLE_LOCKING()
SDV_PARAM_ENTRY(m_SilKitJSONConfigContent, "SilKitConfig", "", "", "SilKit Config JSON.")
SDV_PARAM_ENTRY(m_SilKitParticipantName, "SilKitParticipantName", "", "", "Name of the participant.")
SDV_PARAM_ENTRY(m_SilKitNetwork, "CanSilKitNetwork", "", "", "Declaration of SilKit CAN network.")
SDV_PARAM_ENTRY(m_SilKitRegistryUri, "RegistryURI", "", "", "SilKit Registry URI.")
SDV_PARAM_ENTRY(m_SilKitIsSynchronousMode, "SyncMode", "", "", "Enable synchronization mode.")
SDV_PARAM_ENTRY(m_SilKitDebugInfo, "DebugInfo", "", "", "Enable debug information.")
END_SDV_PARAM_MAP()
/**
* @brief Get the current status of the object. Overload of sdv::IObjectControl::GetStatus.
* @return Return the current status of the object.
* @brief Initialization event, called after object configuration was loaded. Overload of sdv::CSdvObject::OnInitialize.
* @details The CAN_Com_SilKit uses the following configuration:
* @code
* DebugInfo = true
* SyncMode = true
* SilKitParticipantName = "can_writer"
* CanSilKitNetwork = "PrivateCAN"
* RegistryURI = "silkit://localhost:8500"
* SilKitConfig = """{
* "Logging": {
* "Sinks": [ { "Type": "Stdout", "Level": "Info" } ]
* },
* }"""
* @endcode
* @return Returns 'true' when the initialization was successful, 'false' when not.
*/
virtual sdv::EObjectStatus GetStatus() const override;
virtual bool OnInitialize() override;
/**
* @brief Set the component operation mode. Overload of sdv::IObjectControl::SetOperationMode.
* @param[in] eMode The operation mode, the component should run in.
* @brief Shutdown the object. Overload of sdv::CSdvObject::OnShutdown.
*/
void SetOperationMode(sdv::EOperationMode eMode) override;
/**
* @brief Shutdown called before the object is destroyed. Overload of sdv::IObjectControl::Shutdown.
*/
virtual void Shutdown() override;
virtual void OnShutdown() override;
/**
* @brief Register a CAN message receiver. Overload of sdv::can::IRegisterReceiver::RegisterReceiver.
@@ -136,16 +158,13 @@ private:
* @param[in] ssSilKitNetwork SilKit network.
* @return SilKit::Services::Can::ICanController, nullptr on failure.
*/
SilKit::Services::Can::ICanController* CreateController(const std::string& ssSilKitNetwork);
SilKit::Services::Can::ICanController* CreateController(const std::string& ssSilKitNetwork);
/**
* @brief Validate if the configuration includes all required settings
* @param[in] ssSilKitJSONConfigContent SilKit JSON config file.
* @param[in] ssSilKitNetwork Declaration of SilKit CAN network.
* @param[in] ssSilKitRegistryUri SilKit Registry URI.
* @return Return true if required settings are available
*/
bool ValidateConfiguration(const std::string& ssSilKitJSONConfigContent, const std::string& ssSilKitNetwork, const std::string& ssSilKitRegistryUri);
bool ValidateConfiguration();
/**
* @brief Function for SilKit Timesyncservice creation and to set simulation step handler.
@@ -154,12 +173,9 @@ private:
/**
* @brief Function to setup CAN interfaces.
* @param[in] ssSilKitJSONConfigContent SilKit JSON config file.
* @param[in] ssSilKitNetwork Declaration of SilKit CAN network.
* @param[in] ssSilKitRegistryUri SilKit Registry URI.
* @return Return true if CAN interfaces are setup successfully
*/
bool CreateSilKitConnection(const std::string& ssSilKitJSONConfigContent, const std::string& ssSilKitNetwork, const std::string& ssSilKitRegistryUri);
bool CreateSilKitConnection();
/**
* @brief Create lifecycle service.
@@ -185,21 +201,24 @@ private:
*/
void SilKitTransmitAcknowledgeHandler(const SilKit::Services::Can::CanFrameTransmitEvent& rsSilKitTransmitAcknowledge);
std::mutex m_ReceiversMtx; ///< Protect the receiver set.
std::set<sdv::can::IReceive*> m_SetReceivers; ///< Set with receiver interfaces.
std::mutex m_ReceiversMtx; ///< Protect the receiver set.
std::set<sdv::can::IReceive*> m_SetReceivers; ///< Set with receiver interfaces.
std::queue<sdv::can::SMessage> m_MessageQueue; ///< Map of the messages to be sent on SilKit.
std::mutex m_QueueMutex; ///< Protection for message map.
std::queue<sdv::can::SMessage> m_MessageQueue; ///< Map of the messages to be sent on SilKit.
std::mutex m_QueueMutex; ///< Protection for message map.
SilKit::Services::Orchestration::ILifecycleService* m_SilKitLifeCycleService = nullptr; ///< SilKit lifecycle service.
SilKit::Services::Can::ICanController* m_SilKitCanController = nullptr; ///< SilKit CAN1 Controller interface.
sdv::core::ITimerSimulationStep* m_TimerSimulationStep = nullptr; ///< Timer simulation step.
std::unique_ptr<SilKit::IParticipant> m_SilKitParticipant = nullptr; ///< SilKit participant.
std::string m_SilKitParticipantName; ///< Configured SilKit participants.
bool m_SilKitIsSynchronousMode = false; ///< SilKit sync mode when true.
SilKit::Services::Orchestration::ILifecycleService* m_SilKitLifeCycleService = nullptr; ///< SilKit lifecycle service.
SilKit::Services::Can::ICanController* m_SilKitCanController = nullptr; ///< SilKit CAN1 Controller interface.
sdv::core::ITimerSimulationStep* m_TimerSimulationStep = nullptr; ///< Timer simulation step.
std::unique_ptr<SilKit::IParticipant> m_SilKitParticipant = nullptr; ///< SilKit participant.
std::string m_SilKitParticipantName; ///< Configured SilKit participants.
bool m_SilKitIsSynchronousMode = false; ///< SilKit sync mode when true.
bool m_SilKitDebugInfo = false; ///< SilKit debug information when true.
uint32_t m_maxCanDataLength = 8; ///< maximum size of the CAN message.
std::atomic<sdv::EObjectStatus> m_eStatus = sdv::EObjectStatus::initialization_pending; ///< Object status.
uint32_t m_maxCanDataLength = 8; ///< maximum size of the CAN message.
std::string m_SilKitNetwork; ///< Declaration of SilKit CAN network.
std::string m_SilKitJSONConfigContent; ///< SilKit config JSON.
std::string m_SilKitRegistryUri;
};
DEFINE_SDV_OBJECT(CCANSilKit)