CANIOT Rust Controller

Overview

Build for Raspberry Pi 3

Requirements:

• Rust version 1.71.0
  • Rustup target armv7-unknown-linux-gnueabihf (install with rustup target add armv7-unknown-linux-gnueabihf)
• Yocto Poky SDK for Raspberry Pi 3 (Hypirl personnal distribution)
• sudo dnf install protobuf-compiler protobuf-devel
• sudo dnf install grpcurl (optional: for testing purpose)

Configure ~/.cargo/config with

[target.armv7-unknown-linux-gnueabihf]
linker = "/opt/poky/hypirl-rpi-1.0/sysroots/x86_64-pokysdk-linux/usr/bin/arm-poky-linux-gnueabi/arm-poky-linux-gnueabi-gcc"
rustflags = [
"-C", "link-arg=-mthumb",
"-C", "link-arg=-mfpu=neon-vfpv4",
"-C", "link-arg=-mfloat-abi=hard",
"-C", "link-arg=-mcpu=cortex-a7",
"-C", "link-arg=-fstack-protector-strong",
"-C", "link-arg=-O2",
"-C", "link-arg=-D_FORTIFY_SOURCE=2",
"-C", "link-arg=-Wformat",
"-C", "link-arg=-Wformat-security",
"-C", "link-arg=--sysroot=/opt/poky/hypirl-rpi-1.0/sysroots/cortexa7t2hf-neon-vfpv4-poky-linux-gnueabi",
]

Build with

cargo build --target=armv7-unknown-linux-gnueabihf --release --verbose`

Run

Configuration file is caniot-controller.toml in the current directory.

[can]
interface = "can0"

[web]
port = 8080
listen = "0.0.0.0"

[grpc]
listen = "[::]:50051"

Run with

./caniot-rust-controller

TODO (controller)

• Allow to set custom configuration file path: ./caniot-rust-controller -c /etc/caniot/caniot-controller.toml
• Timestamp received CAN frames (wait for this feature of socketcan crate socketcan-rs/socketcan-rs#22)
• Improve logging: make this shorter [2023-09-24T09:46:24.759Z INFO caniot_rctrl::can] RX Telemetry Response (9: 1,1): ep-2 / 12 00 11 00 14 00 22 00 -> [2023-09-24T09:46:24.759Z INFO can] RX Telemetry Response (9: 1,1): ep-2 / 12 00 11 00 14 00 22 00
• Logger
• Database
• Offline in a dedicated thread the reception of can frame in order to precisely timestamp them.

TODO (UI)

• Solve the resolution problem of: import { Timestamp } from "google-protobuf/google/protobuf/timestamp_pb";