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Merge pull request #75 from w3c/rl-integration
Rl integration
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190 changes: 190 additions & 0 deletions
190
client/client-1.0/grpc_client/grpc_map_client/grpc_client.go
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,190 @@ | ||
| /** | ||
| * (C) 2023 Ford Motor Company | ||
| * (C) 2023 Volvo Cars | ||
| * | ||
| * All files and artifacts in the repository at https://github.com/w3c/automotive-viss2 | ||
| * are licensed under the provisions of the license provided by the LICENSE file in this repository. | ||
| * | ||
| **/ | ||
| package main | ||
|
|
||
| import ( | ||
| "context" | ||
| "crypto/tls" | ||
| "crypto/x509" | ||
| "fmt" | ||
| "github.com/akamensky/argparse" | ||
| "github.com/gorilla/mux" | ||
| "github.com/w3c/automotive-viss2/client/client-1.0/grpc_client/grpc_map_client/mapserver" | ||
| pb "github.com/w3c/automotive-viss2/grpc_pb" | ||
| utils "github.com/w3c/automotive-viss2/utils" | ||
| "google.golang.org/grpc" | ||
| "google.golang.org/grpc/credentials" | ||
| "google.golang.org/grpc/credentials/insecure" | ||
| "log" | ||
| "os" | ||
| "time" | ||
| ) | ||
|
|
||
| var clientCert tls.Certificate | ||
| var caCertPool x509.CertPool | ||
|
|
||
| const ( | ||
| address = "127.0.0.1" | ||
| name = "VISSv2-gRPC-client" | ||
| ) | ||
|
|
||
| var grpcCompression utils.Compression | ||
|
|
||
| var commandList []string | ||
|
|
||
| func initCommandList() { | ||
| commandList = make([]string, 4) | ||
| // commandList[0] = `{"action":"get","path":"Vehicle/Cabin/Door/Row1/Right/IsOpen","requestId":"232"}` | ||
| //commandList[0] = `{"action":"get","path":"Vehicle/Cabin/Door","filter":{"type":"paths","parameter":"*.*.IsOpen"},"requestId":"235"}` | ||
| // commandList[1] = `{"action":"subscribe","path":"Vehicle/Cabin/Door/Row1/Right/IsOpen","filter":{"type":"timebased","parameter":{"period":"3000"}},"requestId":"246"}` | ||
| commandList[1] = `{"action":"subscribe","path":"Vehicle","filter":[{"type":"paths","parameter":["Speed","CurrentLocation.Latitude", "CurrentLocation.Longitude"]}, {"type":"timebased","parameter":{"period":"100"}}],"requestId":"285"}` | ||
| commandList[0] = `{"action":"get","path":"Vehicle/Speed","requestId":"232"}` | ||
| //commandList[1] = `{"action":"subscribe","path":"Vehicle/Speed","filter":{"type":"timebased","parameter":{"period":"100"}},"requestId":"246"}` | ||
| //commandList[1] = `{"action":"subscribe","path":"Vehicle","filter":[{"type":"paths","parameter":["Speed", "Chassis/Accelerator/PedalPosition"]},{"type":"timebased","parameter":{"period":"100"}}],"requestId":"246"}` | ||
| //commandList[1] = `{"action":"subscribe","path":"Vehicle","filter":{"type":"paths","parameter":["Speed", "Chassis/Accelerator/PedalPosition"]},"requestId":"246"}` | ||
| //commandList[1] = `{"action":"subscribe","path":"Vehicle/Speed","requestId":"258"}` | ||
| commandList[2] = `{"action":"unsubscribe","subscriptionId":"1","requestId":"240"}` | ||
| commandList[3] = `{"action":"set", "path":"Vehicle/Body/Lights/IsLeftIndicatorOn", "value":"999", "requestId":"245"}` | ||
| } | ||
|
|
||
| // {"action":"subscribe","path":"Vehicle","filter":{"type":"paths","parameter":["Speed", "Chassis.Accelerator.PedalPosition"]},"requestId":"246"}` | ||
|
|
||
| func noStreamCall(commandIndex int) { | ||
| var conn *grpc.ClientConn | ||
| var err error | ||
| if secConfig.TransportSec == "yes" { | ||
| config := &tls.Config{ | ||
| Certificates: []tls.Certificate{clientCert}, | ||
| RootCAs: &caCertPool, | ||
| } | ||
| tlsCredentials := credentials.NewTLS(config) | ||
| portNo := secConfig.GrpcSecPort | ||
| conn, err = grpc.Dial(address+portNo, grpc.WithTransportCredentials(tlsCredentials), grpc.WithBlock()) | ||
| } else { | ||
| // grpc.Dial | ||
|
|
||
| utils.Info.Printf("connecting to port = 8887") | ||
| conn, err = grpc.Dial(address+":8887", grpc.WithTransportCredentials(insecure.NewCredentials()), grpc.WithBlock()) | ||
| } | ||
| if err != nil { | ||
| fmt.Printf("did not connect: %v", err) | ||
| return | ||
| } | ||
| defer conn.Close() | ||
| client := pb.NewVISSv2Client(conn) | ||
|
|
||
| ctx, cancel := context.WithTimeout(context.Background(), time.Second) | ||
| defer cancel() | ||
| vssRequest := commandList[commandIndex] | ||
| var vssResponse string | ||
| if commandIndex == 0 { | ||
| pbRequest := utils.GetRequestJsonToPb(vssRequest, grpcCompression) | ||
| pbResponse, err := client.GetRequest(ctx, pbRequest) | ||
| if err != nil { | ||
| log.Fatal(err) | ||
| return | ||
| } | ||
| vssResponse = utils.GetResponsePbToJson(pbResponse, grpcCompression) | ||
| } else if commandIndex == 2 { | ||
| pbRequest := utils.UnsubscribeRequestJsonToPb(vssRequest, grpcCompression) | ||
| pbResponse, _ := client.UnsubscribeRequest(ctx, pbRequest) | ||
| vssResponse = utils.UnsubscribeResponsePbToJson(pbResponse, grpcCompression) | ||
| } else { | ||
| pbRequest := utils.SetRequestJsonToPb(vssRequest, grpcCompression) | ||
| pbResponse, _ := client.SetRequest(ctx, pbRequest) | ||
| vssResponse = utils.SetResponsePbToJson(pbResponse, grpcCompression) | ||
| } | ||
| if err != nil { | ||
| fmt.Printf("Error when issuing request=:%s", vssRequest) | ||
| } else { | ||
| fmt.Printf("Received response:%s", vssResponse) | ||
| } | ||
| } | ||
|
|
||
| func streamCall(commandIndex int) { | ||
| var conn *grpc.ClientConn | ||
| var err error | ||
| if secConfig.TransportSec == "yes" { | ||
| config := &tls.Config{ | ||
| Certificates: []tls.Certificate{clientCert}, | ||
| RootCAs: &caCertPool, | ||
| } | ||
| tlsCredentials := credentials.NewTLS(config) | ||
| portNo := secConfig.GrpcSecPort | ||
| conn, err = grpc.Dial(address+portNo, grpc.WithTransportCredentials(tlsCredentials), grpc.WithBlock()) | ||
| } else { | ||
| conn, err = grpc.Dial(address+":8887", grpc.WithInsecure(), grpc.WithBlock()) | ||
| } | ||
| if err != nil { | ||
| fmt.Printf("did not connect: %v", err) | ||
| return | ||
| } | ||
| defer conn.Close() | ||
| client := pb.NewVISSv2Client(conn) | ||
|
|
||
| ctx, cancel := context.WithCancel(context.Background()) | ||
| defer cancel() | ||
| vssRequest := commandList[commandIndex] | ||
| pbRequest := utils.SubscribeRequestJsonToPb(vssRequest, grpcCompression) | ||
| stream, err := client.SubscribeRequest(ctx, pbRequest) | ||
| for { | ||
| pbResponse, err := stream.Recv() | ||
| vssResponse := utils.SubscribeStreamPbToJson(pbResponse, grpcCompression) | ||
| if err != nil { | ||
| fmt.Printf("Error=%v when issuing request=:%s", err, vssRequest) | ||
| } else { | ||
| fmt.Printf("Received response:%s\n", vssResponse) | ||
| } | ||
| } | ||
| } | ||
|
|
||
| func main() { | ||
| // Create new parser object | ||
| go mapserver.ServeWebViewSite(mux.NewRouter()) | ||
|
|
||
| parser := argparse.NewParser("print", "gRPC client") | ||
| // Create string flag | ||
| logFile := parser.Flag("", "logfile", &argparse.Options{Required: false, Help: "outputs to logfile in ./logs folder"}) | ||
| logLevel := parser.Selector("", "loglevel", []string{"trace", "debug", "info", "warn", "error", "fatal", "panic"}, &argparse.Options{ | ||
| Required: false, | ||
| Help: "changes log output level", | ||
| Default: "info"}) | ||
|
|
||
| // Parse input | ||
| err := parser.Parse(os.Args) | ||
| if err != nil { | ||
| fmt.Print(parser.Usage(err)) | ||
| } | ||
|
|
||
| utils.InitLog("grpc_client-log.txt", "./logs", *logFile, *logLevel) | ||
| grpcCompression = utils.PB_LEVEL1 | ||
| readTransportSecConfig() | ||
| utils.Info.Printf("secConfig.TransportSec=%s", secConfig.TransportSec) | ||
| if secConfig.TransportSec == "yes" { | ||
| caCertPool = *prepareTransportSecConfig() | ||
| } | ||
| initCommandList() | ||
|
|
||
| fmt.Printf("Command indicies: 0=GET, 1=SUBSCRIBE, 2=UNSUBSCRIBE, 3=SET, any other value terminates.\n") | ||
| var commandIndex int | ||
| for { | ||
| fmt.Printf("\nCommand index [0-3]:") | ||
| fmt.Scanf("%d", &commandIndex) | ||
| if commandIndex < 0 || commandIndex > 3 { | ||
| break | ||
| } | ||
| fmt.Printf("Command:%s", commandList[commandIndex]) | ||
| if commandIndex == 1 { // subscribe | ||
| go streamCall(commandIndex) | ||
| } else { | ||
| go noStreamCall(commandIndex) | ||
| } | ||
| time.Sleep(1 * time.Second) | ||
| } | ||
| } |
28 changes: 28 additions & 0 deletions
28
client/client-1.0/grpc_client/grpc_map_client/mapserver/mapserver.go
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|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| /******** Peter Winzell (c), 10/30/23 *********************************************/ | ||
|
|
||
| package mapserver | ||
|
|
||
| import ( | ||
| "github.com/gorilla/mux" | ||
| "net/http" | ||
| ) | ||
|
|
||
| const ( | ||
| ReleaseTag = "server 0.0.1" | ||
| ) | ||
|
|
||
| var pingHandler = http.HandlerFunc(func(w http.ResponseWriter, r *http.Request) { | ||
| // log.Println("pingHandler called ...") | ||
| w.WriteHeader(http.StatusOK) | ||
| w.Write([]byte(" HTTP status(200) OK code returned running: " + ReleaseTag)) | ||
| }) | ||
|
|
||
| func ServeWebViewSite(r *mux.Router) error { | ||
|
|
||
| r.Handle("/version", pingHandler).Methods("GET") | ||
| r.Handle("/", http.FileServer(http.Dir("./static/"))) | ||
| r.PathPrefix("/static/").Handler(http.StripPrefix("/static/", http.FileServer(http.Dir("./static/")))) | ||
|
|
||
| return http.ListenAndServe(":8085", r) | ||
|
|
||
| } |
35 changes: 35 additions & 0 deletions
35
client/client-1.0/grpc_client/grpc_map_client/static/index.html
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,35 @@ | ||
| <head> | ||
| <meta charset="UTF-8"> | ||
| <title>Volvo Cars(c) 2023 VISSv2 remotive labs example </title> | ||
| <title>Accessible Map</title> | ||
| <link rel="stylesheet" href="node_modules/ol/ol.css"> | ||
| <style> | ||
| .map { | ||
| width: 100%; | ||
| height: 400px; | ||
| } | ||
| a.skiplink { | ||
| position: absolute; | ||
| clip: rect(1px, 1px, 1px, 1px); | ||
| padding: 0; | ||
| border: 0; | ||
| height: 1px; | ||
| width: 1px; | ||
| overflow: hidden; | ||
| } | ||
| a.skiplink:focus { | ||
| clip: auto; | ||
| height: auto; | ||
| width: auto; | ||
| background-color: #fff; | ||
| padding: 0.3em; | ||
| } | ||
| #map:focus { | ||
| outline: #4A74A8 solid 0.15em; | ||
| } | ||
| </style> | ||
| </head> | ||
| <body> | ||
| <div id="map"></div> | ||
| <script type="module" src="mappen.js"></script> | ||
| </body> |
19 changes: 19 additions & 0 deletions
19
client/client-1.0/grpc_client/grpc_map_client/static/mappen.js
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| import Map from 'ol/Map'; | ||
| import View from 'ol/View'; | ||
| import TileLayer from 'ol/layer/Tile'; | ||
| import XYZ from 'ol/source/XYZ'; | ||
|
|
||
| new Map({ | ||
| target: 'map', | ||
| layers: [ | ||
| new TileLayer({ | ||
| source: new XYZ({ | ||
| url: 'https://tile.openstreetmap.org/{z}/{x}/{y}.png' | ||
| }) | ||
| }) | ||
| ], | ||
| view: new View({ | ||
| center: [0, 0], | ||
| zoom: 10 | ||
| }) | ||
| }); |
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