| Re: [leda-dev] SeatAdjusterApp launch in Leda |
|
Hi Mike,
By any chance, does this configuration change of Velocitas demand any other changes in the Leda image? I am trying to run this dummy MQTT command to test the Seat_Adjuster functionality:
mosquitto_pub -t seatadjuster/setPosition/request -m “{\”position\”: 300, \”requestId\”: 1}” -d To test further in future, the plan is to issue this command from Azure IoT cloud client. Expected output: Seat Adjuster app acknowledges the MQTT request and sends the data to the Seat Service to carry out the operation. Must be able to verify this acknowledgment from the
logs on both seat adjuster app and seat service. I have used the MQTT command in Velocitas, and it works as you can check the logs. The application incrementally updates the seat position. Regards, Antara From: leda-dev <leda-dev-bounces@xxxxxxxxxxx>
On Behalf Of Haller Mike (ETAS-E2E/XPC-Fe1) Hi Antara, I got it working with setting the following environment variables in the Kanto container manifest: SDV_MQTT_ADDRESS=mqtt://mosquitto:1883 SDV_VEHICLEDATABROKER_ADDRESS=grpc://databroker:55555 SDV_MIDDLEWARE_TYPE=native Log output from seatadjuster-app: Can't find the service location for SeatService, make sure to set the
│ ││ necessary env variables for all depemdencies │
││ 2023-06-05 12:58:58,581 INFO [__main__] [main.py:111] [trace_id=4fc4addbe52b77b2449c51b114bda1ab span_id=6902e5c7076f8491
resource.service.name=/tmp/staticx-pCNHhk/main] - Starting │ ││ seat adjuster app...
│ ││ 2023-06-05 12:58:58,581 DEBUG [sdv.vehicle_app] [vehicle_app.py:72] [trace_id=4fc4addbe52b77b2449c51b114bda1ab
span_id=6902e5c7076f8491 resource.service.name=/tmp/staticx-pCNHhk/ │ ││ main] - VehicleApp instantiation successfully done │
││ 2023-06-05 12:58:58,582 INFO [sdv.vdb.subscriptions] [subscriptions.py:72] [trace_id=4fc4addbe52b77b2449c51b114bda1ab
span_id=6902e5c7076f8491 resource.service.name=/tmp/staticx- │ ││ pCNHhk/main] - Subscribing to SELECT Vehicle.Cabin.Seat.Row1.Pos1.Position
│ ││ 2023-06-05 12:58:58,583 DEBUG [sdv.native.mqtt] [mqtt.py:52] [trace_id=4fc4addbe52b77b2449c51b114bda1ab
span_id=6902e5c7076f8491 resource.service.name=/tmp/staticx-pCNHhk/main] - │
││ Mqtt native connection OK! The config has changed in the velocitas-template at the end of last year and I think we didn’t update any documentation yet. Regards Mike
Von: leda-dev <leda-dev-bounces@xxxxxxxxxxx>
Im Auftrag von Antara Dey Hi, Update: I have set the registry to public. Hope it works now. Regards, Antara From: Antara Dey
Hello Mike, Oh yes, my registry is private. If required, I can make it public for a few hours’ time, and you can use it to verify. Do let me know. Yes, I copied the file first using - scp -P 2222 seatadjuster-app.json root@localhost:/data/var/containers/manifests/ then, recreated the container using kantui – Stop, Remove and Redeploy.
Also tried with kanto-auto-deployer command from the manifests folder to check the logs.
I even tried rebooting Leda to ensure it. From: leda-dev <leda-dev-bounces@xxxxxxxxxxx>
On Behalf Of Haller Mike (ETAS-E2E/XPC-Fe1) Hi Antara, Unfortunately, I am unable to verify your deployment descriptor as it references a private container: [2023-06-05T12:10:01Z ERROR kanto_auto_deployer] [CM error] Failed to create container: status: Unknown, message: "failed to resolve reference \"ghcr.io/antaradey-itk/seat-adjuster-app:latest\":
failed to authorize: failed to fetch anonymous token: unexpected status: 401 Unauthorized", details: [], metadata: MetadataMap { headers: {"content-type": "application/grpc"} } I think you’re right about the log message, it only appears for the DAPR use case (which is no longer used for Leda). Did you recreate the container? (Eg Stop, Remove and Redeploy) How do you deploy it? Using kanto-auto-deployer? Cheers Mike
Von: leda-dev <leda-dev-bounces@xxxxxxxxxxx>
Im Auftrag von Antara Dey Hello, I updated the Dockerfile maintaining only Kanto container manifest and added the
extra_hosts tag, yet I still see no change. Attached the file for your reference. On comparing the logs between Velocitas and Leda, I see that the log of “Topic registered” for the MQTT in Velocitas is logged only by DAPR runtime. The application proceeds to display log for subscription of data broker.
PFA for reference. For better understanding, I also tried to compare seat-service logs of Leda and run-seatservice in Velocitas. Isn’t it expected to log in a similar fashion? Regards, Antara From: leda-dev <leda-dev-bounces@xxxxxxxxxxx>
On Behalf Of Haller Mike (ETAS-E2E/XPC-Fe1) Hi, the attached container manifest looks like a merged Velocitas application manifest (Port, DAPR_GRPC_PORT, VehicleModel, dependencies) and a Kanto Container Manifest
(container_id, container_name, image, host_config etc.) You cannot just “merge” two different types of JSON configurations into a single file. Kanto may be ignoring the Velocitas keys, but it’s not the right way to copy everything into a single file and hope for the best. Coming to the problem that the application is not connecting to databroker, and I actually assume that it also does not connect to the MQTT broker. It says “Registering
topic”, which is an indication that the code WANTS to register, but there is no further log, so it may as well not be able to connect. Otherwise it should log something like “Topic registered” Since there is no “extra_hosts” defined, the application container may not resolve the IP addresses of the services correctly. I guess you’re missing this part in the container deployment manifest: "host_config":
{ … "extra_hosts": [ "databroker:container_databroker-host", "mosquitto:host_ip" ], … } Regards Mike Von: leda-dev <leda-dev-bounces@xxxxxxxxxxx>
Im Auftrag von Antara Dey Hello Leda Community, I am a student currently working at ITK. I, and my team have been exploring Eclipse Leda, to understand its underlying functionality and how it interacts with the contributor pieces of SDV.
I am currently facing a challenge with debugging the application container in Leda and seek some support on it. First, I used to Velocitas examples tutorial to launch the services in VS Code and traced the logs.
Then, I followed the Leda documentation and launched the Seat Adjuster Vehicle App as a Kanto-CM container in Leda. I used the Dockerfile from Velocitas repository to create a docker image – which includes the necessary
modifications for it to work. All other containers are also successfully up and running. Issue: The
SeatAdjusterApp does not work as expected in Leda. It does not launch completely. It subscribes to MQTT topic /seatadjuster/setPosition/request. But, as seen from the Kantui logs, it fails to further subscribe to the VehicleDataBroker. Due to this, the
MQTT publish message command (move seat position) does not render any output from the app. The functionality of the application works as expected in Velocitas. I have attached the Container Manifest, Dockerfile and Kantui logs for your reference.
Kindly provide support and/or information on this issue to proceed further.
Best regards, Antara Dey Work Student ITK Engineering GmbH, Stuttgart-Vaihingen |
SeatPositionSubscriber: Got actuator target: 300
[SeatAdjuster::SetSeatPosition] setting seat position to 30%
[SeatCtrl::set_position] Seat Adjustment requested for position: 30%.
[SeatCtrl::set_position] motor1:{ pos: 42%, OFF } --> target:{ pos:255%, OFF }, elapsed: -1 ms.
[SeatCtrl::stop_move] Sending MotorOff command...
[SeatCtrl::_send_cmd] *** Sending SECU1_CMD_1: [SECU1]{ motor1_cmd: OFF, motor1_rpm: 0 }
<MOCK> [SAE-canW] SECU1_CMD_1 { m1_dir:0, m1_rpm:0, m2_dir:0, m2_rpm:0, m3_dir:0, m3_rpm:0, m4_dir:0, m4_rpm:0 }
<MOCK> [SAE-canW] *** Motor::OFF
[SeatCtrl::set_position] Sending: SECU1_CMD_1 [ motor1_pos: 42%, desired_pos: 30%, dir: DEC ] ts: 24031390
[SeatCtrl::_send_cmd] *** Sending SECU1_CMD_1: [SECU1]{ motor1_cmd: DEC, motor1_rpm: 8000 }
<MOCK> [SAE-canW] SECU1_CMD_1 { m1_dir:1, m1_rpm:80, m2_dir:0, m2_rpm:0, m3_dir:0, m3_rpm:0, m4_dir:0, m4_rpm:0 }
<MOCK> [SAE-canW] *** Motor::DEC
[CTL Loop]: * Seat Adjustment to (30, DEC) active, waiting motor movement for 3ms.
[SeatSvc][SeatDataFeeder] pos: 41% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:410)
[CTL Loop]: motor1:{ pos: 41%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 17 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 410 }
[SeatSvc][SeatDataFeeder] pos: 40% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:400)
[CTL Loop]: motor1:{ pos: 40%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 90 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 400 }
[SeatSvc][SeatDataFeeder] pos: 39% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:390)
[CTL Loop]: motor1:{ pos: 39%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 168 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 390 }
[SeatSvc][SeatDataFeeder] pos: 38% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:380)
[CTL Loop]: motor1:{ pos: 38%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 240 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 380 }
[SeatSvc][SeatDataFeeder] pos: 37% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:370)
[CTL Loop]: motor1:{ pos: 37%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 316 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 370 }
[SeatSvc][SeatDataFeeder] pos: 36% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:360)
[CTL Loop]: motor1:{ pos: 36%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 391 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 360 }
[SeatSvc][SeatDataFeeder] pos: 35% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:350)
[CTL Loop]: motor1:{ pos: 35%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 465 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 350 }
[SeatSvc][SeatDataFeeder] pos: 34% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:340)
[CTL Loop]: motor1:{ pos: 34%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 538 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 340 }
[SeatSvc][SeatDataFeeder] pos: 33% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:330)
[CTL Loop]: motor1:{ pos: 33%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 613 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 330 }
[SeatSvc][SeatDataFeeder] pos: 32% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:320)
[CTL Loop]: motor1:{ pos: 32%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 686 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 320 }
[SeatSvc][SeatDataFeeder] pos: 31% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:310)
[CTL Loop]: motor1:{ pos: 31%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 760 ms.
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 310 }
[SeatSvc][SeatDataFeeder] pos: 30% -> FeedValue(Vehicle.Cabin.Seat.Row1.Pos1.Position, uint32:300)
[CTL Loop]: motor1:{ pos: 30%, DEC } --> target:{ pos: 30%, DEC }, elapsed: 831 ms.
[CTL Loop]: *** Seat Adjustment (30, DEC) finished at pos: 30 for 831ms.
[SeatCtrl::stop_move] Sending MotorOff command...
[SeatCtrl::_send_cmd] *** Sending SECU1_CMD_1: [SECU1]{ motor1_cmd: OFF, motor1_rpm: 0 }
<MOCK> [SAE-canW] SECU1_CMD_1 { m1_dir:0, m1_rpm:0, m2_dir:0, m2_rpm:0, m3_dir:0, m3_rpm:0, m4_dir:0, m4_rpm:0 }
<MOCK> [SAE-canW] *** Motor::OFF
DataBrokerFeederImpl::feedToBroker:
'Vehicle.Cabin.Seat.Row1.Pos1.Position' (0) of type 15, value: { uint32_value: 300 }
== APP == 2023-06-05 10:44:23,586 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"requestId": 1, "result": {"status": 0, "message": "Set Seat position to: 300"}} to the specified MQTT topic: seatadjuster/setPosition/response
== APP == 2023-06-05 10:44:23,729 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 410} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:23,782 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 400} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:23,863 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 390} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:23,931 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 380} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:24,005 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 370} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:24,085 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 360} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:24,156 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 350} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:24,225 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 340} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:24,305 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 330} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:24,378 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 320} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:24,453 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 310} to the specified MQTT topic: seatadjuster/currentPosition
== APP == 2023-06-05 10:44:24,527 DEBUG [sdv.dapr.client] [client.py:45] [trace_id=3ded3e9eb7cbba0d6e9f9d58d74b41c0 span_id=0109f1e1fe0c77b4 resource.service.name=./examples/seat-adjuster/src/main.py] - Published an event data :{"position": 300} to the specified MQTT topic: seatadjuster/currentPosition