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README.md

Vehicle Mock Service

About

The vehicle mock service is a service dummy allowing to control all specified actuator- and sensor-signals via a configuration file. These configuration files are expressed in a Python-based domain-specific language (DSL).

Why

When developing further vehicle applications, it can be very useful to be able to mock VSS actuators or sensors by specifying configuration files and without developing a new service from scratch. This vehicle mock service provides developers with the ability to do just that. Have a look at the complete concept and design ideas here

Component diagram

flowchart LR
    BrokerIF(( ))
    ValIF(( ))
    ServiceIF(( ))
    id1[KUKSA.val databroker] -- sdv.databroker.v1 --- BrokerIF
    ServiceIF -- kuksa.val.v1 --- id1
    id1 -- kuksa.val.v1 --- ValIF
    id2[Vehicle Mock Service] <--> ServiceIF
    BrokerIF<--> id3[Vehicle App]
    ValIF <--> id3
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Running mockservice

Firstly, you will need to install all necessary Python dependencies by issuing the following command in your favorite terminal:

python3 -m pip install -r ./requirements.txt

You can then run the vehicle mock service with

python3 mockservice.py

As an alternative, you can build and execute the container from the Dockerfile or through the docker-build.sh script.

Another option, when using VS Code, is to use the provided VSCode task run-mockservice which will set up all necessary environment variables and parameters for the service to start up properly.

Configuration

Vehicle Mock Service

parameter default value Environment variable description
listen address "127.0.0.1:50053" MOCK_ADDR Listen for rpc calls
broker address "127.0.0.1:55555" if DAPR_GRPC_PORT is set:
"127.0.0.1:$DAPR_GRPC_PORT"
else:
VDB_ADDRESS		 The address of the KUKSA.val databroker to connect to
broker app id "vehicledatabroker" VEHICLEDATABROKER_DAPR_APP_ID When using DAPR, this allows to configure the id of the KUKSA.val databroker to connect to.

Configuration options have the following priority (highest at top):

  1. environment variable
  2. default value

Mocking Configuration

By default, the vehicle mock service reads the configuration for the datapoints to mock from the mock.py Python file at runtime. This file is a good starting point edit own mock configurations.

The default configuration contains behavior for:

  • Vehicle.Speed
  • Vehicle.Cabin.Seat.Row1.Pos1.Position
  • Vehicle.Body.Windshield.Front.Wiping.System.Mode
  • Vehicle.Body.Windshield.Front.Wiping.System.TargetPosition
  • Vehicle.Body.Windshield.Front.Wiping.System.ActualPosition

This allows the vehicle mock service to be used with the Velocitas Seat Adjuster example, as well as the initial Vehicle App template. Furthermore, it can be used to develop a wiping application for the front wipers.

Custom mocking configuration

If the mocked datapoints are not enough, the mock.py in this repository can be modified and mounted into the vehicle mock service container - it will then overwrite the default mock configuration with the custom one.

The full Python mocking DSL is available here

Running showcase GUI

Firstly, you will need to install all necessary Python dependencies by using the following command in your favorite terminal:

# install requirements of mock service
python3 -m pip install -r ./requirements.txt

To run the GUI do the following in your favourtie terminal:

python3 showcase_gui/GUI.py

If you run it from mock directory the mock datapoints defined by mock.py get used as well:

cd mock
python3 ../showcase_gui/GUI.py

Depending on your Python installation, you might need to install Tk on your system (e.g. brew install tkinter for MacOs or sudo apt install python3-tk for Ubuntu).

Generating API documentation

The API documentation is generated from Python docs and embedded into markdown files for easy rendering on Github without external hosting. The workflow ensure-docs-up2date makes sure that the API docs are up to date before merging a pull request. To update the docs, run

./update-api-docs.sh

Using mockservice dynamically

To use the mockservice dynamically you need to use the same process. For an example see threaded_mock.py.

What's not supported?

Any form of array support e.g no VSS datapoint that has DataType.*ARRAY. If values in Kuksa Databroker are modified outside of behaviors, the changes won't be picked up by the mock service. Instead try to model another behavior that listens to ACTUATOR_TARGET/VALUE and set it like this.