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Merged
BK1031 merged 3 commits into from
Feb 26, 2025
Merged

GR25 Ingest new mqtt message parsing #61

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c2c05bc
parse new mqtt topic format
BK1031 Feb 25, 2025
e0e79c8
Trigger Build
BK1031 Feb 25, 2025
7e8e1f4
gr25: updated ecu can message definitions
BK1031 Feb 25, 2025
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74 changes: 37 additions & 37 deletions gr25/model/ecu.go
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Original file line number Diff line number Diff line change
Expand Up @@ -3,25 +3,25 @@ package model
import mp "github.com/gaucho-racing/mapache-go"

var ECUStatusOne = mp.Message{
mp.NewField("ecu_state", 1, mp.Unsigned, mp.LittleEndian, nil),
mp.NewField("ecu_status_flags", 3, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("state", 1, mp.Unsigned, mp.LittleEndian, nil),
mp.NewField("status_flags", 3, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
bitMap := []string{
"ecu_status_acu",
"ecu_status_inv_one",
"ecu_status_inv_two",
"ecu_status_inv_three",
"ecu_status_inv_four",
"ecu_status_fan_one",
"ecu_status_fan_two",
"ecu_status_fan_three",
"ecu_status_fan_four",
"ecu_status_fan_five",
"ecu_status_fan_six",
"ecu_status_fan_seven",
"ecu_status_fan_eight",
"ecu_status_dash",
"ecu_status_steering",
"acu_status",
"inv_one_status",
"inv_two_status",
"inv_three_status",
"inv_four_status",
"fan_one_status",
"fan_two_status",
"fan_three_status",
"fan_four_status",
"fan_five_status",
"fan_six_status",
"fan_seven_status",
"fan_eight_status",
"dash_status",
"steering_status",
}
for i := 0; i < len(bitMap); i++ {
signals = append(signals, mp.Signal{
Expand All @@ -35,39 +35,39 @@ var ECUStatusOne = mp.Message{
mp.NewField("ecu_maps", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "ecu_power_level",
Name: "power_level",
Value: float64((f.Value >> 4) & 0x0F),
RawValue: (f.Value >> 4) & 0x0F,
})
signals = append(signals, mp.Signal{
Name: "ecu_torque_map",
Name: "torque_map",
Value: float64(f.Value & 0x0F),
RawValue: f.Value & 0x0F,
})
return signals
}),
mp.NewField("ecu_max_cell_temp", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("max_cell_temp", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "ecu_max_cell_temp",
Name: "max_cell_temp",
Value: float64(f.Value) * 0.25,
RawValue: f.Value,
})
return signals
}),
mp.NewField("ecu_acu_state_of_charge", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("acu_state_of_charge", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "ecu_acu_state_of_charge",
Name: "acu_state_of_charge",
Value: float64(f.Value) * 20 / 51,
RawValue: f.Value,
})
return signals
}),
mp.NewField("ecu_glv_state_of_charge", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("glv_state_of_charge", 1, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "ecu_glv_state_of_charge",
Name: "glv_state_of_charge",
Value: float64(f.Value) * 20 / 51,
RawValue: f.Value,
})
Expand All @@ -76,37 +76,37 @@ var ECUStatusOne = mp.Message{
}

var ECUStatusTwo = mp.Message{
mp.NewField("ecu_tractive_system_voltage", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("tractive_system_voltage", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "ecu_tractive_system_voltage",
Name: "tractive_system_voltage",
Value: float64(f.Value) * 0.01,
RawValue: f.Value,
})
return signals
}),
mp.NewField("ecu_vehicle_speed", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("vehicle_speed", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "ecu_vehicle_speed",
Name: "vehicle_speed",
Value: float64(f.Value) * 0.01,
RawValue: f.Value,
})
return signals
}),
mp.NewField("ecu_fr_wheel_rpm", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("fr_wheel_rpm", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "ecu_fr_wheel_rpm",
Name: "fr_wheel_rpm",
Value: float64(f.Value)*0.1 - 3276.8,
RawValue: f.Value,
})
return signals
}),
mp.NewField("ecu_fl_wheel_rpm", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("fl_wheel_rpm", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "ecu_fl_wheel_rpm",
Name: "fl_wheel_rpm",
Value: float64(f.Value)*0.1 - 3276.8,
RawValue: f.Value,
})
Expand All @@ -115,19 +115,19 @@ var ECUStatusTwo = mp.Message{
}

var ECUStatusThree = mp.Message{
mp.NewField("ecu_rr_wheel_rpm", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("rr_wheel_rpm", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "ecu_rr_wheel_rpm",
Name: "rr_wheel_rpm",
Value: float64(f.Value)*0.1 - 3276.8,
RawValue: f.Value,
})
return signals
}),
mp.NewField("ecu_rl_wheel_rpm", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
mp.NewField("rl_wheel_rpm", 2, mp.Unsigned, mp.LittleEndian, func(f mp.Field) []mp.Signal {
signals := []mp.Signal{}
signals = append(signals, mp.Signal{
Name: "ecu_rl_wheel_rpm",
Name: "rl_wheel_rpm",
Value: float64(f.Value)*0.1 - 3276.8,
RawValue: f.Value,
})
Expand Down
17 changes: 10 additions & 7 deletions gr25/service/message.go
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@ package service

import (
"encoding/binary"
"fmt"
"gr25/model"
"gr25/mqtt"
"gr25/utils"
Expand All @@ -15,27 +16,28 @@ import (
func SubscribeTopics() {
mqtt.Client.Subscribe("gr25/#", 0, func(client mq.Client, msg mq.Message) {
topic := msg.Topic()
if len(strings.Split(topic, "/")) != 3 {
if len(strings.Split(topic, "/")) != 4 {
utils.SugarLogger.Infof("[MQ] Received invalid topic: %s, ignoring", topic)
return
}
vehicleID := strings.Split(topic, "/")[1]
canID := strings.Split(topic, "/")[2]
nodeID := strings.Split(topic, "/")[2]
canID := strings.Split(topic, "/")[3]
message := msg.Payload()
canIDInt, err := strconv.ParseInt(canID, 16, 64)
if err != nil {
utils.SugarLogger.Infof("[MQ] Received invalid can id: %s, ignoring", canID)
return
}
utils.SugarLogger.Infof("[MQ] Received message: %s", topic)
go HandleMessage(vehicleID, int(canIDInt), message)
go HandleMessage(vehicleID, nodeID, int(canIDInt), message)
})
}

func HandleMessage(vehicleID string, canID int, message []byte) {
func HandleMessage(vehicleID string, nodeID string, canID int, message []byte) {
// First 8 bytes are timestamp
if len(message) < 10 { // Need at least timestamp (8) + upload key (2)
utils.SugarLogger.Infof("[MQ] Message too short, ignoring")
if len(message) < 11 { // Need at least timestamp (8) + upload key (2) + at least 1 byte of data
utils.SugarLogger.Infof("[MQ] Message too short, ignoring %d bytes", len(message))
return
}
timestamp := message[:8]
Expand All @@ -62,9 +64,10 @@ func HandleMessage(vehicleID string, canID int, message []byte) {

signals := messageStruct.ExportSignals()
for _, signal := range signals {
signal.Name = fmt.Sprintf("%s_%s", nodeID, signal.Name)
signal.Timestamp = int(binary.BigEndian.Uint64(timestamp))
signal.VehicleID = vehicleID
signal.ProducedAt = time.UnixMicro(int64(signal.Timestamp))
signal.ProducedAt = time.UnixMilli(int64(signal.Timestamp))
signal.CreatedAt = utils.WithPrecision(time.Now())

err := CreateSignal(signal)
Expand Down
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