def act_on_signal(client_id,
stub,
sub_signals,
on_change,
fun,
on_subcribed=None):
sub_info = network_api_pb2.SubscriberConfig(
clientId=client_id,
signals=network_api_pb2.SignalIds(signalId=sub_signals),
onChange=on_change,
)
try:
subscripton = stub.SubscribeToSignals(sub_info, timeout=None)
if on_subcribed:
on_subcribed(subscripton)
print("waiting for signal...")
for subs_counter in subscripton:
fun(subs_counter.signal)
except grpc.RpcError as e:
try:
subscripton.cancel()
except grpc.RpcError as e2:
pass
except grpc._channel._Rendezvous as err:
print(err)
# reload, alternatively non-existing signal
print("subscription terminated")
def ecu_B_subscribe_(stub):
"""Subscribe to a value published by ecu_A and output value
Parameters
----------
stub : NetworkServiceStub
Object instance of class
"""
namespace = "custom_can"
client_id = common_pb2.ClientId(id="id_ecu_B")
# Subscribe to value 'SteerAngle'
steer_angle = common_pb2.SignalId(
name="SteerAngle", namespace=common_pb2.NameSpace(name=namespace))
sub_info = network_api_pb2.SubscriberConfig(
clientId=client_id,
signals=network_api_pb2.SignalIds(signalId=[steer_angle]),
onChange=True,
)
# Output subscribed signal
try:
for subs_counter in stub.SubscribeToSignals(sub_info):
# For clean exit when stopping script
if exit_event.is_set():
break
print("ecu_B, (subscribe) SteerAngle is ", subs_counter.signal[0])
except grpc._channel._Rendezvous as err:
print(err)
def read_on_timer(stub, signals, pause):
"""Simple reading with timer, logs on purpose tabbed with double space
Parameters
----------
stub : NetworkServiceStub
Object instance of class
signals : SignalId
Object instance of class
pause : int
Amount of time to pause, in seconds
"""
while True:
read_info = network_api_pb2.SignalIds(signalId=signals)
try:
response = stub.ReadSignals(read_info)
for signal in response.signal:
print(
" read_on_timer "
+ signal.id.name
+ " value "
+ str(signal.integer)
)
except grpc._channel._Rendezvous as err:
print(err)
time.sleep(pause)
def read_on_timer(stub, signals, pause):
while True:
read_info = network_api_pb2.SignalIds(signalId=signals)
try:
response = stub.ReadSignals(read_info)
for signal in response.signal:
print(" read_on_timer " + signal.id.name + " value " + str(signal.integer))
except grpc._channel._Rendezvous as err:
print(err)
time.sleep(pause)
def subscribe_to_arbitration(stub):
source = common_pb2.ClientId(id="app_identifier")
namespace = common_pb2.NameSpace(name = "VirtualCanInterface")
signal = common_pb2.SignalId(name="BenchC_c_5", namespace=namespace)
sub_info = network_api_pb2.SubscriberConfig(clientId=source, signals=network_api_pb2.SignalIds(signalId=[signal]), onChange=False)
try:
for response in stub.SubscribeToSignals(sub_info):
print(response)
except grpc._channel._Rendezvous as err:
print(err)
def ecu_B_subscribe_2(stub):
"""Shows possibility to subscribe to same signal multiple times, also using array to
subscribe to additional signals. Logs on purpose tabbed with single space.
Parameters
----------
stub : NetworkServiceStub
Object instance of class
"""
namespace = "ecu_B"
client_id = common_pb2.ClientId(id="id_ecu_B")
# Signal value 'counter'
counter = common_pb2.SignalId(
name="counter", namespace=common_pb2.NameSpace(name=namespace)
)
# Signal value 'TestFr06_Child02'
testFr06_Child02 = common_pb2.SignalId(
name="TestFr06_Child02", namespace=common_pb2.NameSpace(name=namespace)
)
# Frame value 'TestFr04'
testFr04 = common_pb2.SignalId(
name="TestFr04", namespace=common_pb2.NameSpace(name=namespace)
)
# Subscribes to 'counter', 'TestFr06_Child02' and 'TestFr04'
sub_info = network_api_pb2.SubscriberConfig(
clientId=client_id,
signals=network_api_pb2.SignalIds(
signalId=[counter, testFr06_Child02, testFr04]
),
onChange=True,
)
try:
for response in stub.SubscribeToSignals(sub_info):
# Since we subscribed to a set of signals we need to check which arrived.
for signal in response.signal:
if signal.id.name == "counter":
print(" ecu_B, (subscribe_2) counter is ", signal.integer)
if signal.id.name == "TestFr06_Child02":
print(
" ecu_B signal: "
+ signal.id.name
+ " arrived: "
+ str(signal.integer)
)
if signal.id.name == "TestFr04":
print(" ecu_B, (subscribe_2) raw is ", binascii.hexlify(signal.raw))
except grpc._channel._Rendezvous as err:
print(err)
def subscribe_to_diag(client_id, stub, diag_frame_req, diag_frame_resp):
sub_info = network_api_pb2.SubscriberConfig(
clientId=client_id,
signals=network_api_pb2.SignalIds(signalId=[diag_frame_req]),
onChange=False)
try:
for response in stub.SubscribeToSignals(sub_info):
print(response)
print(binascii.hexlify(response.signal[0].raw))
# here we could switch on the response.signal[0].raw which contains service id and did.
publish_signals(client_id, stub, diag_frame_resp)
except grpc._channel._Rendezvous as err:
print(err)
def subscribe_to_signal(stub):
source = common_pb2.ClientId(id="app_identifier")
signals = [
common_pb2.SignalId(name="SteerWhlAgSafe", namespace=common_pb2.NameSpace(name = "ChassisCANhs")),
common_pb2.SignalId(name="DrvrDesDir", namespace=common_pb2.NameSpace(name = "ChassisCANhs")),
common_pb2.SignalId(name="RecOfImpctSafeCntr", namespace=common_pb2.NameSpace(name = "BodyCANhs")),
]
sub_info = network_api_pb2.SubscriberConfig(clientId=source, signals=network_api_pb2.SignalIds(signalId=signals), onChange=False)
try:
for response in stub.SubscribeToSignals(sub_info):
print(response)
except grpc._channel._Rendezvous as err:
print(err)
def ecu_B_subscribe(stub):
namespace = "ecu_B"
client_id = common_pb2.ClientId(id="id_ecu_B")
counter = common_pb2.SignalId(name="counter", namespace=common_pb2.NameSpace(name = namespace))
sub_info = network_api_pb2.SubscriberConfig(clientId=client_id, signals=network_api_pb2.SignalIds(signalId=[counter]), onChange=False)
try:
for subs_counter in stub.SubscribeToSignals(sub_info):
print("ecu_B, (subscribe) counter is ", subs_counter.signal[0].integer)
counter_times_2 = common_pb2.SignalId(name="counter_times_2", namespace=common_pb2.NameSpace(name = namespace))
signal_with_payload = network_api_pb2.Signal(id = counter_times_2, integer = subs_counter.signal[0].integer * 2)
publish_signals(client_id, stub, [signal_with_payload])
except grpc._channel._Rendezvous as err:
print(err)
def ecu_slave_subscribe(stub, client_id, signals, onChange):
global increasing_counter
sub_info = network_api_pb2.SubscriberConfig(
clientId=client_id,
signals=network_api_pb2.SignalIds(signalId=signals),
onChange=onChange)
try:
for subscription in stub.SubscribeToSignals(sub_info):
for signal in subscription.signal:
if not signal.HasField("arbitration"):
print("slave, %s with value %s " % (signal.id, signal))
except grpc._channel._Rendezvous as err:
print(err)
def read_signal(stub, signal):
"""Read signals
Parameters
----------
stub : NetworkServiceStub
Object instance of class
signal : SignalId
Object instance of class
Returns
-------
Signals
Object instance of class
"""
read_info = network_api_pb2.SignalIds(signalId=[signal])
return stub.ReadSignals(read_info)
def read_signals(stub, signal):
"""Read signals
Parameters
----------
stub : NetworkServiceStub
Object instance of class
signal : SignalId
Object instance of class
Returns
-------
Signals
Object instance of class
"""
try:
read_info = network_api_pb2.SignalIds(signalId=[signal])
return stub.ReadSignals(read_info)
except grpc._channel._Rendezvous as err:
print(err)
def ecu_B_subscribe_2(stub):
namespace = "ecu_B"
# specify some signals
client_id = common_pb2.ClientId(id="id_ecu_B")
counter = common_pb2.SignalId(name="counter", namespace=common_pb2.NameSpace(name = namespace))
testFr06_Child02 = common_pb2.SignalId(name="TestFr06_Child02", namespace=common_pb2.NameSpace(name = namespace))
testFr04 = common_pb2.SignalId(name="TestFr04", namespace=common_pb2.NameSpace(name = namespace))
sub_info = network_api_pb2.SubscriberConfig(clientId=client_id, signals=network_api_pb2.SignalIds(signalId=[counter, testFr06_Child02, testFr04]), onChange=False)
try:
for response in stub.SubscribeToSignals(sub_info):
# since we subscribe to a set of signal we need to check which arrived.
for signal in response.signal:
if (signal.id.name == "counter"):
print(" ecu_B, (subscribe_2) counter is ", signal.integer)
if (signal.id.name == "TestFr06_Child02"):
print(" ecu_B signal: " + signal.id.name + " arrived: " + str(signal.integer))
if (signal.id.name == "TestFr04"):
print(" ecu_B, (subscribe_2) raw is ", binascii.hexlify(signal.raw))
except grpc._channel._Rendezvous as err:
print(err)
def read_on_timer(stub, signals, pause):
"""Simple reading with timer
Parameters
----------
stub : NetworkServiceStub
Object instance of class
signals : SignalId
Object instance of class
pause : int
Amount of time to pause, in seconds
"""
while True:
read_info = network_api_pb2.SignalIds(signalId=signals)
try:
response = stub.ReadSignals(read_info)
for signal in response.signal:
print(f"ecu_B, (read) {signal.id.name} is {get_value(signal)}")
except grpc._channel._Rendezvous as err:
print(err)
time.sleep(pause)
def ecu_B_subscribe(stub):
"""Subscribe to a value published by ecu_A and publish doubled value back to ecu_A
Parameters
----------
stub : NetworkServiceStub
Object instance of class
"""
namespace = "ecu_B"
client_id = common_pb2.ClientId(id="id_ecu_B")
# Subscribe to value 'counter'
counter = common_pb2.SignalId(
name="counter", namespace=common_pb2.NameSpace(name=namespace)
)
sub_info = network_api_pb2.SubscriberConfig(
clientId=client_id,
signals=network_api_pb2.SignalIds(signalId=[counter]),
onChange=True,
)
# Publish doubled value as 'counter_times_2'
try:
for subs_counter in stub.SubscribeToSignals(sub_info):
print("ecu_B, (subscribe) counter is ", subs_counter.signal[0].integer)
counter_times_2 = common_pb2.SignalId(
name="counter_times_2", namespace=common_pb2.NameSpace(name=namespace)
)
signal_with_payload = network_api_pb2.Signal(
id=counter_times_2, integer=subs_counter.signal[0].integer * 2
)
publish_signals(client_id, stub, [signal_with_payload])
except grpc._channel._Rendezvous as err:
print(err)
def read_signal(stub, signal):
read_info = network_api_pb2.SignalIds(signalId=[signal])
return stub.ReadSignals(read_info)
channel = grpc.insecure_channel("localhost:50051")
# Create the system stup, to upload relevant confiuration
system_stub = system_api_pb2_grpc.SystemServiceStub(channel)
check_license(system_stub)
upload_folder(system_stub, "configuration")
reload_configuration(system_stub)
# create the identifier of *this* client
client_id = common_pb2.ClientId(id="virtual_example_sub")
# Create the stub
network_stub = network_api_pb2_grpc.NetworkServiceStub(channel)
# Create a signal
namespace = common_pb2.NameSpace(name="VirtualInterface")
signal = common_pb2.SignalId(name="my_madeup_virtual_signal",
namespace=namespace)
# Create a subscriber config
signals = network_api_pb2.SignalIds(signalId=[signal])
sub_info = network_api_pb2.SubscriberConfig(clientId=client_id,
signals=signals,
onChange=False)
# Subscribe
while True:
try:
for response in network_stub.SubscribeToSignals(sub_info,
timeout=None):
for signal in response.signal:
print(
f"received {signal.id.name} value is {get_value(signal)}"
)
except grpc._channel._Rendezvous as err:
print(err)
