1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
|
# Positioning Git Repository
The Positioning repository is a collection of APIs and corresponding proofs of concept:
* GNSSService
* SensorsService
* EnhancedPositionService
* Logger
* LogReplayer
* PositionWebService
Directory Structure
* enhanced-position-service //three enhanced-position-service PoCs:
1) with dbus interfaces, (official API)
2) with commonapi-dbus interfaces,
3) with commonapi-someip interfaces.
* gnss-service //gnss-service API + PoC
* logger //logger PoC
* log-replayer //log-replayer PoC
* sensors-service //sensors-service API + PoC
* position-web-servce //position-web-service PoC
* architecture.png //architecture overview
* run-test.sh //script to run a quick test for each PoC (usage: run-test.sh help)
* positioning_x.y.bb //version x.y of a Yocto recipe for the positioning PoCs
## Architecture
## How To Build
To build the positioning proofs of concept please follow the following steps:
First create and enter the build folder
```
mkdir ./build
cd build
```
To build:
```
cmake ../
make
````
To build with tests:
```
cmake -DWITH_TESTS=ON -DWITH_DEBUG=ON ../
make
```
To build with dbus interfaces:
```
cmake -DWITH_DBUS_INTERFACE=ON -DWITH_FRANCA_DBUS_INTERFACE=OFF -DWITH_FRANCA_SOMEIP_INTERFACE=OFF -DWITH_TESTS=ON -DWITH_DEBUG=ON -DWITH_DLT=OFF -DCMAKE_BUILD_TYPE=Debug ../
make
```
To build with interfaces based on Franca and CommonAPI (see below how to configure CommonAPI):
```
cmake -DWITH_DBUS_INTERFACE=OFF -DWITH_FRANCA_DBUS_INTERFACE=ON -DWITH_FRANCA_SOMEIP_INTERFACE=ON
-DWITH_TESTS=ON -DWITH_DEBUG=ON -DWITH_DLT=OFF -DCMAKE_BUILD_TYPE=Debug
-DCOMMONAPI_TOOL_GENERATOR=<path to generator>
-DCOMMONAPI_DBUS_TOOL_GENERATOR=<path to generator>
-DCOMMONAPI_SOMEIP_TOOL_GENERATOR=<path to generator>
-DDBUS_LIB_PATH=<path to patched DBus> ../
make
```
To build with tests and reading GPS NMEA data from a GPS receiver attached to /dev/ttyACM0 at 38400
```
cmake -DWITH_NMEA=ON -DWITH_TESTS=ON -DWITH_DEBUG=ON -DGNSS_DEVICE=\"/dev/ttyACM0\" -DGNSS_BAUDRATE=B38400 ../
make
```
To build with tests, with the logger, without the EnhancedPositionService, using as GNSS source a GPS receiver with a u-blox chipset and 50ms transmission delay providing NMEA data to /dev/ttyACM0 at 38400 baud, using as source for gyro and accelerometer data a LSM9DS1 sensor attached via I2C (e.g. from a Sense Hat module)
```
cmake -DWITH_ENHANCED_POSITION_SERVICE=OFF -DWITH_NMEA=ON -DWITH_SENSORS=ON -DIMU_TYPE=LSM9DS1 -DWITH_LOGGER=ON -DWITH_TESTS=ON -DWITH_DEBUG=ON -DGNSS_DEVICE=\"/dev/ttyACM0\" -DGNSS_BAUDRATE=B38400 -DGNSS_CHIPSET=UBLOX -DGNSS_DELAY=50 ../
make
```
## Compiler Options and Default Settings
* option(WITH_ENHANCED_POSITION_SERVICE
"Build the Enhanced Positioning Service" ON)
* option(WITH_GNSS_SERVICE
"Build the GNSS Service" ON)
* option(WITH_LOG_REPLAYER
"Build the Log Replayer" ON)
* option(WITH_LOGGER
"Build the Logger" OFF)
* option(WITH_SENSORS_SERVICE
"Build the Sensors Service" ON)
* option(WITH_FRANCA_DBUS_INTERFACE
"Build using the Franca DBus interfaces" OFF)
* option(WITH_FRANCA_SOMEIP_INTERFACE
"Build using the Franca SomeIP interfaces" OFF)
* option(WITH_DBUS_INTERFACE
"Build using the D-Bus interfaces" ON)
* option(WITH_DEBUG
"Enable the debug messages" OFF)
* option(WITH_DLT
"Enable DLT logging" OFF)
* option(WITH_GPSD
"Use GPSD as source of GPS data" OFF)
* option(WITH_NMEA
"Use NMEA as source of GPS data" OFF)
* option(WITH_REPLAYER
"Use REPLAYER as source of GPS data" ON)
* option(WITH_TESTS
"Compile test applications" OFF)
* option(WITH_IPHONE
"Use IPHONE as source of sensors data" OFF)
* option(WITH_SENSORS
"Use real sensors connected to the target device" OFF)
Just set the option to ON or OFF on the command line.
## How To Test
To test the positioning proofs of concept please use the following test application (under top folder):
(please note that you need to build with -DWITH_TESTS=ON and -DWITH_DEBUG=ON to see something displayed)
```
./run-test.sh [command]
```
service:
* gnss Test GNSSService
* sns Test SensorsService
* enhpos Test EnhancedPositionService
* repl Test Replayer
* kill Kill all test applications
* help Print Help
## Dependencies
You might have to install additional packages to compile and run the Positioning PoC.
This section tries to summarize those dependencies.
Also necessary commands to install those packages are provided for Debian
based systems (Ubuntu, Raspbian, ...) with the apt package manager.
Other Linux distributions (e.g. openSuSE) may require some adaptation as
the package names and even the package manager may be different.
CMake is used to create the make files
```
sudo apt-get install cmake
```
DWITH_GPSD=ON requires that the package 'gpsd' is installed.
To install 'gpsd', please execute the following command:
sudo apt-get install gpsd libgps-dev
To test the enhanced-position-service (dbus-service) the packages 'libdbus-1-dev', libdbus-c++-dev' and 'xsltproc' must be installed.
to install these packages, please execute the following command:
```
sudo apt-get install libdbus-1-dev libdbus-c++-dev xsltproc
sudo ldconfig
```
To test the enhanced-position-service (commonapi-service) the package CommonAPI and CommonAPI code generators must be installed.
Please see:
* <https://github.com/GENIVI/capicxx-core-runtime>
* <https://github.com/GENIVI/capicxx-core-tools>
* <https://github.com/GENIVI/capicxx-dbus-runtime>
* <https://github.com/GENIVI/capicxx-dbus-tools>
* <https://github.com/GENIVI/capicxx-someip-runtime>
* <https://github.com/GENIVI/capicxx-someip-tools>
* <https://github.com/GENIVI/vsomeip>
DWITH_TESTS=ON enables the compilation of the test application(s).
DWITH_DLT=ON requires that the DLT-daemon is installed.
To download the DLT-daemon, just execute the following command:
```
git clone https://github.com/GENIVI/dlt-daemon
```
To install the DLT-daemon, etxract the tarball and follow the
instructions in the file install.txt.
Note: You may have to call
```
export PKG_CONFIG_PATH=/usr/lib/pkgconfig
```
before
```
sudo ldconfig
```
to add DLT to the pkgconfig search path before calling cmake
DWITH_IPHONE=ON requires that the iPhone app 'SensorLogger' is
installed on a iPhone and that the option to broadcast the
sensor data is activated (port=5555).
DWITH_SENSORS=ON requires that the header file for I2C access
via the I2C user space driver (i2c-dev.h) is available on your system.
This header file is typically part of the libi2c-dev package.
If you do not find it there, try the i2c-tools package.
See also https://www.kernel.org/doc/Documentation/i2c/dev-interface
The concrete sensor types are specified by further defines, e.g
DIMU_TYPE for gyro/accelerometer
|
