telemetry

This repository contains the latest version of the University of Waterloo's Midnight Sun Solar Rayce Car team's telemetry software for our solar car. This backend is also shared with the driver dashboard display.

The telemetry server is written in Golang, and receives data from the telemetry board mounted in the vehicle. It exposes a WebSocket connection to stream messages as they arrive, and provides a RESTful API for exploring historical data. A SQLite database (optional) is used to store the received data for future use.

telemetry-client

The telemetry client is a web frontend that displays data pushed from the server over a WebSocket connection. This is written in TypeScript.

Getting Started

These steps must be followed after setting up telemetry-server.

We use yarn to manage dependencies—it is compatible with npm, but is a little faster and allows us to specify a yarn.lock file. If you get an error regarding a failure to create symbolic links, try running yarn install --no-bin-links.

cd shared/telemetry/client
sudo npm install -g yarn
yarn install

We use TypeScript extensively, so you will need to compile the TypeScript files. Install Typescript, then compile the code with our tsconfig.json configuration.

npm -g install typescript
cd shared/telemetry/client
tsc

For some stylesheets, we use Sass. Install Sass, then compile the Sass stylesheets to CSS.

npm -g install sass
cd shared/telemetry/client/src/css
sass stylesheet.scss stylesheet.css

To start serving the webpage, run the server executable with appropriate options specified. The driver display webpage will be accessible at <IP_ADDRESS>:8080/driver_display.html. (Usually, this IP address is 192.168.24.24 if you are running the telemetry server on the box.)

cd shared/telemetry
./bin/telemetry start -f --schema=can_messages.asciipb

telemetry-server

Getting Started

We use Go to write backend code for the telemetry server.

If you are using the Midnight Sun Box, it may be desirable to have the files in the shared directory, so that you can edit files using an editor on your local machine rather than vi in the Box. There are some outdated dependencies in the Box - until the Box gets updated, you will want to update these dependencies by running the following commands:

rm -rf /usr/local/go
wget https://dl.google.com/go/go1.12.4.linux-amd64.tar.gz
tar -C /usr/local -xzf go1.12.4.linux-amd64.tar.gz
rm -f go*.tar.gz

curl -sL https://deb.nodesource.com/setup_8.x | sudo -E bash -
sudo apt-get install -y nodejs

Then, get and compile the code! Please note that since we're using go modules for dependency management, the telemetry repository should not be located under GOPATH.

On Windows, you may run into an error about failing to create symbolic links. Make sure that you are running your terminal application (Cygwin, Git Bash, etc.) with administrator privileges.

cd ~/shared
git clone https://github.com/uw-midsun/telemetry.git
cd telemetry
make

Makefile commands

If you're stuck and need help

make help

Building the binary

To build the binary (output in bin/)

make

Release binaries are automatically compiled on each merge into master. Releases are supplied for x86 and arm32 (armeabi-v5) Linux.

To compile on other platforms follow the same install instructions. If you get errors you may need the following flags:

macOS

Requires macOS header files and GCC

env GOOS=darwin GOARCH=<386 or arm64> CGO_ENABLED=1 make

Windows

Requires Windows GCC toolchain

env GOOS=windows GOARCH=<386 or arm64> CGO_ENABLED=1 make

Tests

To build (and run) the tests

make test

You can also run tests with specific arguments

make test ARGS="-v"

Or run the tests for a specific package

make test PKG=telemetry/cmd

To run the tests in verbose mode

make test-verbose

Or with the race-detector enabled

make test-race

To have the test output in XML

make test-xml

If you want coverage results

make test-coverage

Linting

All linting is done by golint

make lint

To lint a specific package

make lint PKG=telemetry/package-name

Updating

For the driver display system we use a Raspberry Pi computer to run the server. To update it follow these instructions:

cd /home/pi/telemetry
rm -rf .

Download the release arm32_linux.zip from the releases page. Unzip the contents of the zipfile in /home/pi/telemetry. The PI is configured to autostart the server and client.

License

The project is made available under the MIT License.