Add SocketCAN Support for Telemetry (#37)

* Initial commit, WIPX

* - Added socketcan as another input
- Changed serial's input flags to no longer default to /dev/ttyUSB0
- Tested to work on the car

* Updated startup script to start can0 using PCAN dongles

* Undid changes made during testing to the fake.go file

* Added new line to fake.go to match original version

driver_display_startup.sh

@@ -3,9 +3,15 @@
 # Kill any old instances of telemetry.
 pkill telemetry
 
+# Initialize CAN (PCAN dongle for now) 
+sudo modprobe can
+sudo modprobe can_raw
+sudo modprobe vcan
+sudo ip link set can0 up type can bitrate 500000
+
 # Start serving the website. Use 'nice' so the process plays nice with
 # scheduling priority otherwise it can overrun.
-nice ./bin/telemetry start --tty=/dev/ttyAMA0 --db=can.db \
+nice ./bin/telemetry start --socketcan=can0 --db=can.db \
   --schema=can_messages.asciipb &
 
 # Start a very minimal version of Chromium in fullscreen.

go.mod

@@ -6,25 +6,26 @@ require (
 	github.com/AlekSi/gocov-xml v0.0.0-20190121064608-3a14fb1c4737 // indirect
 	github.com/axw/gocov v0.0.0-20170322000131-3a69a0d2a4ef // indirect
 	github.com/go-chi/chi v0.0.0-20170216185340-5917107c1cec // indirect
-	github.com/golang/glog v0.0.0-20160126235308-23def4e6c14b // indirect
+	github.com/golang/glog v0.0.0-20160126235308-23def4e6c14b
 	github.com/golang/protobuf v0.0.0-20180612185929-5831880292e7 // indirect
 	github.com/gorilla/websocket v0.0.0-20170218162710-3f3e394da2b8 // indirect
 	github.com/inconshreveable/mousetrap v1.0.0 // indirect
-	github.com/jacobsa/go-serial v0.0.0-20180131005756-15cf729a72d4 // indirect
+	github.com/jacobsa/go-serial v0.0.0-20180131005756-15cf729a72d4
+	github.com/linklayer/go-socketcan v0.0.0-20190403144728-e9fc2da5204c
 	github.com/mattn/go-sqlite3 v0.0.0-20170305140206-eac1dfa2a61e // indirect
-	github.com/mrVanboy/go-simple-cobs v0.0.0-20180102074149-bc19984395e8 // indirect
+	github.com/mrVanboy/go-simple-cobs v0.0.0-20180102074149-bc19984395e8
 	github.com/pkg/errors v0.0.0-20161029093637-248dadf4e906 // indirect
 	github.com/spf13/cobra v0.0.0-20170217164507-ee4055870c2d // indirect
 	github.com/spf13/pflag v0.0.0-20160820154156-103ce5cd2042 // indirect
-	github.com/uw-midsun/telemetry/pkg/canmsgdefs v0.0.0 // indirect
+	github.com/uw-midsun/telemetry/pkg/canmsgdefs v0.0.0
 	github.com/uw-midsun/telemetry/pkg/cli v0.0.0
 	github.com/uw-midsun/telemetry/pkg/db v0.0.0 // indirect
-	github.com/uw-midsun/telemetry/pkg/msgs v0.0.0 // indirect
+	github.com/uw-midsun/telemetry/pkg/msgs v0.0.0
 	github.com/uw-midsun/telemetry/pkg/protos v0.0.0-00010101000000-000000000000 // indirect
-	github.com/uw-midsun/telemetry/pkg/pubsub v0.0.0-00010101000000-000000000000 // indirect
+	github.com/uw-midsun/telemetry/pkg/pubsub v0.0.0-00010101000000-000000000000
 	github.com/uw-midsun/telemetry/pkg/sources/fake v0.0.0-00010101000000-000000000000 // indirect
 	github.com/uw-midsun/telemetry/pkg/sources/serial v0.0.0-00010101000000-000000000000 // indirect
-	github.com/uw-midsun/telemetry/pkg/util/randutil v0.0.0-00010101000000-000000000000 // indirect
+	github.com/uw-midsun/telemetry/pkg/util/randutil v0.0.0-00010101000000-000000000000
 	github.com/uw-midsun/telemetry/pkg/ws v0.0.0-00010101000000-000000000000 // indirect
 	github.com/wadey/gocovmerge v0.0.0-20160331181800-b5bfa59ec0ad // indirect
 	golang.org/x/lint v0.0.0-20190409202823-959b441ac422 // indirect

go.sum

@@ -14,6 +14,8 @@ github.com/inconshreveable/mousetrap v1.0.0 h1:Z8tu5sraLXCXIcARxBp/8cbvlwVa7Z1NH
 github.com/inconshreveable/mousetrap v1.0.0/go.mod h1:PxqpIevigyE2G7u3NXJIT2ANytuPF1OarO4DADm73n8=
 github.com/jacobsa/go-serial v0.0.0-20180131005756-15cf729a72d4 h1:G2ztCwXov8mRvP0ZfjE6nAlaCX2XbykaeHdbT6KwDz0=
 github.com/jacobsa/go-serial v0.0.0-20180131005756-15cf729a72d4/go.mod h1:2RvX5ZjVtsznNZPEt4xwJXNJrM3VTZoQf7V6gk0ysvs=
+github.com/linklayer/go-socketcan v0.0.0-20190403144728-e9fc2da5204c h1:sFvdRVieiBlHshbjVq7N/pzI47fYmsQnBtHwst2vZQs=
+github.com/linklayer/go-socketcan v0.0.0-20190403144728-e9fc2da5204c/go.mod h1:JCz++4MSYhycvIXriUF4g5bC5Z0f/6eQjFmLQrl7lGc=
 github.com/mattn/go-sqlite3 v0.0.0-20170305140206-eac1dfa2a61e h1:AI4kVwkgPj55D76TxcJHTNl3y7TiOZ0IDpEiwunOexI=
 github.com/mattn/go-sqlite3 v0.0.0-20170305140206-eac1dfa2a61e/go.mod h1:FPy6KqzDD04eiIsT53CuJW3U88zkxoIYsOqkbpncsNc=
 github.com/mrVanboy/go-simple-cobs v0.0.0-20180102074149-bc19984395e8 h1:6e7FpwhHlRWVOOHiFTpajP0EHNYFLDw54ZMlx2mmdGk=

pkg/cli/start.go

@@ -38,17 +38,19 @@ var serverPort int
 var ttyPort string
 var dbName string
 var schemaFile string
+var socketCanPort string
 
 func init() {
 	startCmd.Flags().StringVarP(&schemaFile, "schema", "s", "", "s")
 	startCmd.Flags().IntVarP(&serverPort, "port", "p", 8080, "port")
 	startCmd.Flags().BoolVarP(&fake, "fake", "f", false, "fake")
-	startCmd.Flags().StringVarP(&ttyPort, "tty", "t", "/dev/ttyUSB0", "tty")
+	startCmd.Flags().StringVarP(&ttyPort, "tty", "t", "", "tty")
+	startCmd.Flags().StringVarP(&socketCanPort, "socketcan", "c", "can0", "socketcan")
 	startCmd.Flags().StringVarP(&dbName, "db", "d", "", "db")
 }
 
 func setupURLRouting(r *chi.Mux, messageBus *pubsub.MessageBus) {
-	r.Get("/ws", ws.ServeHTTP(messageBus, ttyPort, fake))
+	r.Get("/ws", ws.ServeHTTP(messageBus, ttyPort, fake, socketCanPort))
 	workDir, _ := os.Getwd()
 	filesDir := filepath.Join(workDir, "client", "src")
 	r.FileServer("/", http.Dir(filesDir))

pkg/sources/socketcan/socketcan.go

@@ -0,0 +1,41 @@
+package socketcan
+
+import (
+	"encoding/binary"
+	"fmt"
+	"github.com/linklayer/go-socketcan/pkg/socketcan"
+	"os"
+
+	"github.com/uw-midsun/telemetry/pkg/msgs"
+	"github.com/uw-midsun/telemetry/pkg/pubsub"
+
+	log "github.com/golang/glog"
+)
+
+// Run starts reading canPacket from the specified serial port and serving those on bus.
+func Run(port string, bus *pubsub.MessageBus) {
+	log.Infof("SocketCAN %s", port)
+	device, err := socketcan.NewRawInterface(port)
+
+	if err != nil {
+		fmt.Printf("could not open interface %s: %v\n",
+			port, err)
+		os.Exit(1)
+	}
+
+	defer device.Close()
+
+	for {
+		frame, err := device.RecvFrame()
+		if err != nil {
+			fmt.Printf("error receiving frame: %v", err)
+			os.Exit(1)
+		}
+		//dataStr := dataToString(frame.Data)
+		//dataInt, _ := strconv.ParseInt(string(frame.Data), 10, 64)
+		//fmt.Printf(" %s\t%03X\t[%d]\t%s\n", device.IfName, frame.ArbId, frame.Dlc, dataStr)
+		//log.Infof("Device: %s, Data: %i, DLC: %s\n", frame.ArbId, dataInt, frame.Dlc)
+		data := binary.LittleEndian.Uint64(frame.Data)
+		bus.Publish("CAN", msgs.NewCAN(frame.ArbId, uint64(data), uint8(frame.Dlc)))
+	}
+}

pkg/ws/ws.go

@@ -8,10 +8,11 @@ import (
 	"github.com/uw-midsun/telemetry/pkg/pubsub"
 	"github.com/uw-midsun/telemetry/pkg/sources/fake"
 	"github.com/uw-midsun/telemetry/pkg/sources/serial"
-
+	"github.com/uw-midsun/telemetry/pkg/sources/socketcan"
 	"sync"
 
 	"github.com/gorilla/websocket"
+
 )
 
 const (
@@ -30,7 +31,7 @@ var upgrader = websocket.Upgrader{
 }
 
 // handleMessages handles messages on the websocket
-func handleMessages(bus *pubsub.MessageBus, conn *websocket.Conn, tty string, uf bool) {
+func handleMessages(bus *pubsub.MessageBus, conn *websocket.Conn, tty string, uf bool, socketCan string) {
 	// pingTicker := time.NewTicker(pingPeriod)
 	// defer pingTicker.Stop()
 
@@ -42,22 +43,26 @@ func handleMessages(bus *pubsub.MessageBus, conn *websocket.Conn, tty string, uf
 		defer l.Unlock()
 		conn.WriteJSON(msg)
 	})
-
-	if uf {
+		
+	if uf { // Fake Data
 		for {
 			fake.GenFake(bus)
 			time.Sleep(time.Millisecond * 500)
 		}
-	} else {
+	} else if tty == "" { // SocketCAN
+
+		socketcan.Run(socketCan, bus)
+
+	} else { // Serial
 		serial.Run(tty, bus)
 	}
 }
 
 // ServeHTTP serves the websocket connection
-func ServeHTTP(b *pubsub.MessageBus, tty string, fake bool) func(http.ResponseWriter, *http.Request) {
+func ServeHTTP(b *pubsub.MessageBus, tty string, fake bool, socketCan string) func(http.ResponseWriter, *http.Request) {
 	return func(w http.ResponseWriter, r *http.Request) {
 		conn, err := upgrader.Upgrade(w, r, nil)
-
+		
 		defer func() {
 			if conn != nil {
 				conn.Close()
@@ -68,6 +73,6 @@ func ServeHTTP(b *pubsub.MessageBus, tty string, fake bool) func(http.ResponseWr
 			return
 		}
 
-		handleMessages(b, conn, tty, fake)
+		handleMessages(b, conn, tty, fake, socketCan)
 	}
 }