feat: logger

scripts/daq/.gitignore

@@ -0,0 +1,3 @@
+generated/
+can_cache.sqlite
+logs/

scripts/daq/README.md

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+This is just a temporary working directory for daq...
+
+Generate Go DBC bindings:
+```
+go get -u go.einride.tech/can
+cd dbc
+go run go.einride.tech/can/cmd/cantool generate ./ ../generated/
+```
+
+Had to remove the "Reset" message from DashCommand to avoid name conflicts with bindings
+> TODO: either find a better Go DBC binding generator or patch the upstream DBC to
+> avoid having messages named "Reset" 

scripts/daq/can.go

@@ -0,0 +1,75 @@
+package main
+
+import (
+	"fmt"
+	"time"
+
+	"github.com/macformula/hil/canlink"
+	"go.einride.tech/can"
+	"go.einride.tech/can/pkg/generated"
+	"go.uber.org/zap"
+)
+
+const (
+	// MAX_FRAME_INTERVAL is the milliseconds between using identical CAN frames
+	MAX_FRAME_INTERVAL = 100
+)
+
+type DbcMessagesDescriptor interface {
+	UnmarshalFrame(f can.Frame) (generated.Message, error)
+}
+
+type DataAcquisitionHandler struct {
+	md              DbcMessagesDescriptor
+	telemetry       *TelemetryHandler
+	busName         string
+	l               *zap.Logger
+	frameArrivalMap map[uint32]time.Time
+}
+
+func NewDaqHandler(md DbcMessagesDescriptor, telemetry *TelemetryHandler, busName string, l *zap.Logger) *DataAcquisitionHandler {
+	return &DataAcquisitionHandler{
+		md:              md,
+		l:               l,
+		telemetry:       telemetry,
+		busName:         busName,
+		frameArrivalMap: map[uint32]time.Time{},
+	}
+}
+
+func (d *DataAcquisitionHandler) Name() string {
+	return fmt.Sprintf("DAQ Handler")
+}
+
+func (d *DataAcquisitionHandler) Handle(broadcastChan chan canlink.TimestampedFrame, stopChan chan struct{}) error {
+	for {
+		select {
+		case <-stopChan:
+			d.l.Info("stopping handle")
+		case receivedFrame := <-broadcastChan:
+			// CAN frame received, parse it and queue it for transmission or file caching
+
+			// We wont do any additional parsing for now, but it might be useful later
+			/*
+			 * msg, err := d.md.UnmarshalFrame(receivedFrame.Frame)
+			 * if err != nil {
+			 *	return errors.Wrap(err, "daq: handle:")
+			 * }
+			 */
+
+			fmt.Printf("daq: received frame: %s\n", receivedFrame.Frame.String())
+			lastSeen, exists := d.frameArrivalMap[receivedFrame.Frame.ID]
+
+			// Frame was already seen less than MAX_FRAME_INTERVAL ms ago, ignore it
+			if exists && time.Now().Sub(lastSeen).Milliseconds() < MAX_FRAME_INTERVAL {
+				break
+			}
+
+			err := d.telemetry.Enqueue(receivedFrame, d.busName)
+			if err != nil {
+				fmt.Printf("daq: failed to enqueue frame: %s\n", err.Error())
+			}
+		default:
+		}
+	}
+}