Velocitas

• 1: About Velocitas
• 1.1: Use Cases
• 1.1.1: Seat Adjuster
• 1.1.2: Dog Mode
• 1.2: Repository Overview
• 2: Concepts
• 2.1: Development Model
• 2.1.1: Vehicle App SDK
• 2.1.2: Vehicle Abstraction Layer (VAL)
• 2.1.2.1: GRPC Interface Style Guide
• 2.1.3: Vehicle App Manifest
• 2.1.3.1: Interfaces
• 2.1.3.1.1: Vehicle Signal Interface
• 2.1.3.1.2: gRPC Service Interface
• 2.1.3.1.3: Publish Subscribe
• 2.2: Deployment Model
• 2.2.1: Build and Release Process
• 2.3: Lifecycle Management
• 2.3.1: Project Configuration
• 2.3.2: Velocitas CLI
• 2.3.3: Phases
• 2.3.3.1: Create
• 2.3.4: Packages
• 2.3.4.1: Usage
• 2.3.4.2: Development
• 2.3.5: Troubleshooting
• 2.4: Logging guidelines
• 3: Tutorials
• 3.1: Getting Started
• 3.1.1: Quickstart
• 3.1.2: Import examples
• 3.1.3: Install a working container runtime
• 3.1.4: Working behind proxy
• 3.2: Prototyping
• 3.2.1: digital.auto
• 3.2.2: Service Integration
• 3.3: Vehicle App Development
• 3.3.1: Python Vehicle App Development
• 3.3.2: C++ Vehicle App Development
• 3.3.3: Vehicle App Integration Testing
• 3.4: Vehicle Model Creation
• 3.4.1: Automated Vehicle Model Lifecycle
• 3.4.2: Manual Vehicle Model Creation
• 3.4.2.1: C++ Manual Vehicle Model Creation
• 3.4.2.2: Python Manual Vehicle Model Creation
• 3.4.2.3: Vehicle Model Distribution
• 3.4.2.3.1: C++ Vehicle Model Distribution
• 3.4.2.3.2: Python Vehicle Model Distribution
• 3.5: Vehicle App Runtime
• 3.5.1: Local Runtime
• 3.5.2: Kanto Runtime
• 3.6: gRPC service generation
• 3.6.1: Create a client
• 3.6.2: Create a server
• 3.7: Vehicle App Deployment
• 4: Contribution Guidelines

1 - About Velocitas

Problem

Currently, the development of in-vehicle applications (Vehicle Apps) can be excessively complex and challenging:

Many time-consuming steps involved from setting up the development environment to the deployment of a Vehicle App.

Understanding the vehicle’s E/E architecture details and specific API requires expert knowledge.

Porting a Vehicle App to another vehicle platform is complex.

Specific processes, methods, and tools within each company creates challenges for effective collaboration.

Solution

The solution would be a development toolchain for creating vehicle-independent applications with:

Usage of standardized vehicle APIs.

Enabling portability through containerized Vehicle Apps with no dependencies to E/E architecture.

Pre-configured project setup​.

Speeding up the development by reducing complexity focus on differentiating business logic to innovate quickly.

Product

Eclipse Velocitas™ is an open source project providing an end-to-end, scalable and modular development tool chain to create containerized Vehicle Apps, offering a comfortable, fast and efficient development experience to increase the speed of a development team (velocity).

Features

• Project lifecycle management to update Vehicle App repositories via CLI.
• Vehicle abstraction support helps to focus on business logic by using a generated vehicle model on code level with type safety and auto-completion. The vehicle model is generated from a standardized API that hides the details of vehicle-specific signals and E/E architecture, allowing Vehicle Apps to be portable across different electronics and software architectures.
• Microsoft Visual Studio Code integration with DevContainer helps to install everything required to start the local development immediately, while tasks and launch configurations help to launch runtime services, other apps, and tests.
• Vehicle App skeleton and examples helps to understand easily how to write a Vehicle App using the KUKSA runtime services.
• Ready-to-use CI/CD workflows that build (for multi architectures), test, document and deploy a containerized Vehicle App with no dependencies to E/E architecture help saving setup time.

Language Support

Concepts

1.1 - Use Cases

Velocitas offers a scalable and modular development toolchain for creating containerized Vehicle Apps that offers an easy to use, fast and efficient development experience to increase the velocity of your development team.

Vehicle Apps are implemented on top of a Vehicle Model (which is generated from the underlying semantic models like VSS for a concrete programming language) and its underlying language-specific SDK to provide headless comfort functions or connected application functions like Seat Adjuster, Dog Mode, Trunk Delivery or Data Logging & triggering.

Examples

1.1.1 - Seat Adjuster

In the scenario of a car sharing company, the goal is to provide the functionality of automatically adjusting the driver’s seat position based on their preferred settings stored in their profile. When the driver unlocks the car, a request is sent to the vehicle to retrieve the preferred seat position. This is where your implementation begins.

The Seat Adjuster Vehicle App receives a MQTT message containing the seat position, which then triggers a seat adjustment command through the Seat Service to change the seat position. Additionally, to ensure convenience for future trips, the car sharing company saves the driver’s preferred seat position and utilizes it accordingly. The Seat Adjuster Vehicle App subscribes to the seat position, receiving updates from the Databroker, which streams data from the Seat Service.

Requesting new seat position

1. The Customer requests the change of the seat position as MQTT message on the topic seatadjuster/setPosition/request with the payload:

   {"requestId": 42, "position": 300}
   

2. The Seat Adjuster Vehicle App that has subscribed to this topic, receives the request to change the seat position as a MQTT message.

3. The Seat Adjuster Vehicle App gets the current vehicle speed from the Databroker, which is fed by the CAN Provider (KUKSA CAN Provider).

4. With the support of the Vehicle App SDK, the Seat Adjuster Vehicle App triggers a seat adjustment command of the Seat Service via gRPC in the event that the speed is equal to zero. Hint: This is a helpful convenience check but not a safety check.

5. The Seat Service moves the seat to the new position via CAN messages.

6. The Seat Service returns OK or an error code as gRPC status to the Seat Adjuster Vehicle App.

7. If everything went well, the Seat Adjuster Vehicle App returns a success message for the topic seatadjuster/setPosition/response with the payload:

   {"requestId": 42, "status": 0 }
   

   Otherwise, an error message will be returned:

   {"requestId": 42, "status": 1, "message": "<error message>" }
   

8. This success or error message will be returned to the Customer.

Publishing current seat position

1. If the seat position will be changed by the driver, the new seat position will be sent to the Seat Service via CAN.

2. The Seat Service streams the seat position via gRPC to the KUKSA Databroker since it was registered beforehand.

3. The Seat Adjuster Vehicle App that subscribed to the seat position receives the new seat position from the KUKSA Databroker as a result.

4. The Seat Adjuster Vehicle App publishes this on topic seatadjuster/currentPosition with the payload:

   {"position": 350}
   

5. The Customer who has subscribed to this topic retrieves the new seat position and can store this position to use it for the next trip.

Example Code

You can find an example implementation of a Seat Adjuster Vehicle App here: Seat Adjuster

1.1.2 - Dog Mode

The Dog Mode Vehicle App consists of the following key features:

• Request the vehicle’s Heating, Ventilation, and Air Conditioning (HVAC) service to turn the Air Conditioning (AC) ON/OFF
• The driver can adjust the temperature for a specific degree
• The Vehicle App observe the current temperature and the battery’s state of charge and react accordingly
• The driver/owner will be notified whenever the state of the charge drops below a certain value

Example Code

You can find an example implementation of a dog mode Vehicle App here: Dog Mode

1.2 - Repository Overview

Package Repositories

2 - Concepts

2.1 - Development Model

The Velocitas development model is centered around what are known as Vehicle Apps . Automation allows engineers to make high-impact changes frequently and deploy Vehicle Apps through cloud backends as over-the-air updates. The Vehicle App development model is about speed and agility paired with state-of-the-art software quality.

Development Architecture

Velocitas provides a flexible development architecture for Vehicle Apps . The following diagram shows the major components of the Velocitas stack.

Vehicle Apps

The Vehicle Applications (Vehicle Apps) contain the business logic that needs to be executed on a vehicle. A Vehicle App is implemented on top of a Vehicle Model and its underlying language-specific SDK . Many concepts of cloud-native and twelve-factor applications apply to Vehicle Apps as well and are summarized in the next chapter.

Vehicle Models

A Vehicle Model makes it possible to easily get vehicle data from the Databroker and to execute remote procedure calls over gRPC against Vehicle Services and other Vehicle Apps . It is generated from the underlying semantic models for a concrete programming language as a graph-based, strongly-typed, intellisense-enabled library. The elements of the vehicle models are defined by the SDKs .

SDKs

Our SDKs, available for different programming languages, are the foundation for the vehicle abstraction provided by the vehicle model Furthermore, they offer abstraction from the underlying middleware and communication protocols, besides providing the base classes and utilities for the Vehicle Apps. SDKs are available for Python and C++, currently. Further SDKs for Rust and C are planned.

Vehicle Services

Vehicle Services provide service interfaces to control actuators or to trigger (complex) actions. E.g. they communicate with the vehicle internal networks like CAN or Ethernet, which are connected to actuators, electronic control units (ECUs) and other vehicle computers (VCs). They may provide a simulation mode to run without a network interface. Vehicle services may feed data to the Databroker and may expose gRPC endpoints, which can be invoked by Vehicle Apps over a Vehicle Model .

KUKSA Databroker

Vehicle data is stored in the KUKSA Databroker conforming to an underlying Semantic Model like VSS . Vehicle Apps can either pull this data or subscribe for updates. In addition, it supports rule-based access to reduce the number of updates sent to the Vehicle App.

Semantic models

The Vehicle Signal Specification ( VSS ) provides a domain taxonomy for vehicle signals and defines the vehicle data semantically, which is exchanged between Vehicle Apps and the Databroker.

The Velocitas SDK is using VSS as the semantic model for the Vehicle Model. Vehicle Service models can be defined with Protobuf service definitions .

Communication Protocols

Asynchronous communication between Vehicle Apps and other vehicle components, as well as cloud connectivity, is facilitated through MQTT messaging. Direct, synchronous communication between Vehicle Apps , Vehicle Services and the Databroker is based on the gRPC protocol.

Middleware Abstraction

Velocitas basically provides middleware abstraction interfaces for service discovery, pubsub messaging, and other cross-cutting functionalites. At the moment, Velocitas just offers a (what we call) “native middleware” implementation, which does not provide (gRPC) service discovery. Instead, addresses and port number of services need to be provided via environment variables to an app; e.g. SDV_VEHICLEDATABROKER_ADDRESS=grpc://localhost:55555. The support of Dapr as middleware has recently been removed.

Vehicle Edge Operating System

Vehicle Apps are expected to run on a Linux -based operating system. An OCI-compliant container runtime is required to host the Vehicle App containers. For publish/subscribe messaging a MQTT broker must be available (e.g., Eclipse Mosquitto ).

Vehicle App Characteristics

The following aspects are important characteristics for Vehicle Apps :

• Code base: Every Vehicle App is stored in its own repository. Tracked by version control, it can be deployed to multiple environments.

• Polyglot: Vehicle Apps can be written in any programming language. System-level programming languages like Rust and C/C++ are particularly relevant for limited hardware resources found in vehicles, but higher-level languages like Python and JavaScript are also considered for special use cases.

• OCI-compliant containers: Vehicle Apps are deployed as OCI-compliant containers. The size of these containers should be minimal to fit on constrained devices.

• Isolation: Each Vehicle App should execute in its own process and should be self-contained with its interfaces and functionality exposed on its own port.

• Configurations: Configuration information is separated from the code base of the Vehicle App, so that the same deployment can propagate across environments with their respective configuration applied.

• Disposability: Favor fast startup and support graceful shutdowns to leave the system in a correct state.

• Observability: Vehicle Apps provide traces, metrics and logs of every part of the application using Open Telemetry.

• Over-the-air update capability: Vehicle Apps can be deployed via cloud backends like Pantaris and updated in vehicles frequently over the air through NextGen OTA updates .

Development Process

The starting point for developing Vehicle Apps is a Semantic Model of the vehicle data and vehicle services. Based on the Semantic Model, language-specific Vehicle Models are generated. Vehicle Models are then distributed as packages to the respective package manager of the chosen programming language (e.g. pip, cargo, npm, …).

After a Vehicle Model is available for the chosen programming language, the Vehicle App can be developed using the generated Vehicle Model and its SDK.

Further information

2.1.1 - Vehicle App SDK

Introduction

The Vehicle App SDK consists of the following building blocks:

• Vehicle Model Ontology : The SDK provides a set of model base classes for the creation of vehicle models.

• Middleware integration : Vehicle Models can contain gRPC stubs to communicate with Vehicle Services. gRPC communication is integrated natively.

• Fluent query & rule construction : Based on a concrete Vehicle Model, the SDK is able to generate queries and rules against the KUKSA Databroker to access the real values of the data points that are defined in the vehicle model.

• Publish & subscribe messaging : The SDK supports publishing messages to a MQTT broker and subscribing to topics of a MQTT broker.

• Vehicle App abstraction : Last but not least the SDK provides a VehicleApp base class, which every Vehicle App derives from.

An overview of the Vehicle App SDK and its dependencies is depicted in the following diagram:

Vehicle Model Ontology

The Vehicle Model is a tree-based model where every branch in the tree, including the root, is derived from the Model base class provided by the SDK.

The Vehicle Model Ontology consists of the following classes:

Model

A model contains data points (leaves) and other models (branches).

ModelCollection

Specifications like VSS support a concept that is called Instances . It makes it possible to describe repeating definitions. In DTDL, such kind of structures may be modeled with Relationships . In the SDK, these structures are mapped with the ModelCollection class. A ModelCollection is a collection of models, which make it possible to reference an individual model either by a NamedRange (e.g., Row [1-3]), a Dictionary (e.g., “Left”, “Right”) or a combination of both.

Service

Direct asynchronous communication between Vehicle Apps and Vehicle Services is facilitated via the gRPC protocol.

The SDK has its own Service base class, which provides a convenience API layer to access the exposed methods of exactly one gRPC endpoint of a Vehicle Service or another Vehicle App. Please see the Middleware Integration section for more details.

DataPoint

DataPoint is the base class for all data points. It corresponds to sensors/actuators/attributes in VSS or telemetry/properties in DTDL.

Data points are the signals that are typically emitted by Vehicle Services or Data Providers.

The representation of a data point is a path starting with the root model, e.g.:

• Vehicle.Speed
• Vehicle.FuelLevel
• Vehicle.Cabin.Seat.Row1.Pos1.Position

Data points are defined as attributes of the model classes. The attribute name is the name of the data point without its path.

Typed DataPoint classes

Every primitive datatype has a corresponding typed data point class, which is derived from DataPoint (e.g., DataPointInt32, DataPointFloat, DataPointBool, DataPointString, etc.).

Example

An example of a Vehicle Model created with the described ontology is shown below:

• Python
• C++

## import ontology classes

from sdv import (
    DataPointDouble,
    Model,
    Service,
    DataPointInt32,
    DataPointBool,
    DataPointArray,
    DataPointString,
)

class Seat(Model):
    def __init__(self, name, parent):
        super().__init__(parent)
        self.name = name
        self.Position = DataPointBool("Position", self)
        self.IsOccupied = DataPointBool("IsOccupied", self)
        self.IsBelted = DataPointBool("IsBelted", self)
        self.Height = DataPointInt32("Height", self)
        self.Recline = DataPointInt32("Recline", self)

class Cabin(Model):
    def __init__(self, name, parent):
        super().__init__(parent)
        self.name = name
        self.DriverPosition = DataPointInt32("DriverPosition", self)
        self.Seat = SeatCollection("Seat", self)

class SeatCollection(Model):
    def __init__(self, name, parent):
        super().__init__(parent)
        self.name = name
        self.Row1 = self.RowType("Row1", self)
        self.Row2 = self.RowType("Row2", self)

    def Row(self, index: int):
        if index < 1 or index > 2:
            raise IndexError(f"Index {index} is out of range")
        _options = {
            1 : self.Row1,
            2 : self.Row2,
        }
        return _options.get(index)

    class RowType(Model):
        def __init__(self, name, parent):
            super().__init__(parent)
            self.name = name
            self.Pos1 = Seat("Pos1", self)
            self.Pos2 = Seat("Pos2", self)
            self.Pos3 = Seat("Pos3", self)

        def Pos(self, index: int):
            if index < 1 or index > 3:
                raise IndexError(f"Index {index} is out of range")
            _options = {
                1 : self.Pos1,
                2 : self.Pos2,
                3 : self.Pos3,
            }
            return _options.get(index)

class VehicleIdentification(Model):
    def __init__(self, name, parent):
        super().__init__(parent)
        self.name = name
        self.VIN = DataPointString("VIN", self)
        self.Model = DataPointString("Model", self)

class CurrentLocation(Model):
    def __init__(self, name, parent):
        super().__init__(parent)
        self.name = name
        self.Latitude = DataPointDouble("Latitude", self)
        self.Longitude = DataPointDouble("Longitude", self)
        self.Timestamp = DataPointString("Timestamp", self)
        self.Altitude = DataPointDouble("Altitude", self)

class Vehicle(Model):
    def __init__(self, name, parent):
        super().__init__(parent)
        self.name = name
        self.Speed = DataPointFloat("Speed", self)
        self.CurrentLocation = CurrentLocation("CurrentLocation", self)
        self.Cabin = Cabin("Cabin", self)

vehicle = Vehicle("Vehicle")

#include "sdk/DataPoint.h"

#include "sdk/Model.h"

using namespace velocitas;

class Seat : public Model {
public:
  Seat(std::string name, Model* parent)
      : Model(name, parent) {}

  DataPointBoolean Position{"Position", this};
  DataPointBoolean IsOccupied{"IsOccupied", this};
  DataPointBoolean IsBelted{"IsBelted", this};
  DataPointInt32 Height{"Height", this};
  DataPointInt32 Recline{"Recline", this};
};

class CurrentLocation : public Model {
public:
  CurrentLocation(Model* parent)
      : Model("CurrentLocation", parent) {}

  DataPointDouble Latitude{"Latitude", this};
  DataPointDouble Longitude{"Longitude", this};
  DataPointString Timestamp{"Timestamp", this};
  DataPointDouble Altitude{"Altitude", this};
};

class Cabin : public Model {
public:
  class SeatCollection : public Model {
  public:
    class RowType : public Model {
    public:
      using Model::Model;

      Seat Pos1{"Pos1", this};
      Seat Pos2{"Pos2", this};
    };

    SeatCollection(Model* parent)
        : Model("Seat", parent) {}

    RowType Row1{"Row1", this};
    RowType Row2{"Row2", this};
  };

  Cabin(Model* parent)
      : Model("Cabin", parent) {}

  DataPointInt32 DriverPosition{"DriverPosition", this};
  SeatCollection Seat{this};
};

class Vehicle : public Model {
public:
  Vehicle()
      : Model("Vehicle") {}

  DataPointFloat Speed{"Speed", this};
  ::CurrentLocation CurrentLocation{this};
  ::Cabin Cabin{this};
};

Middleware integration

gRPC Services

Vehicle Services are expected to expose their public endpoints over the gRPC protocol. The related protobuf definitions are used to generate method stubs for the Vehicle Model to make it possible to call the methods of the Vehicle Services.

Model integration

Based on the .proto files of the Vehicle Services, the protocol buffer compiler generates descriptors for all rpcs, messages, fields etc. for the target language. The gRPC stubs are wrapped by a convenience layer class derived from Service that contains all the methods of the underlying protocol buffer specification.

• Python
• C++

class SeatService(Service):
    def __init__(self):
        super().__init__()
        self._stub = SeatsStub(self.channel)

    async def Move(self, seat: Seat):
        response = await self._stub.Move(
            MoveRequest(seat=seat), metadata=self.metadata
        )
        return response

class SeatService : public Service {
public:
    // nested classes/structs omitted

    SeatService(Model* parent)
        : Service("SeatService", parent)
        , m_asyncGrpcFacade(grpc::CreateChannel("localhost:50051", grpc::InsecureChannelCredentials()))
    {
    }

    AsyncResultPtr_t<VoidResult> move(Seat seat)
    {
        auto asyncResult = std::make_shared<AsyncResult<VoidResult>>();

        m_asyncGrpcFacade->Move(
            toGrpcSeat(seat),
            [asyncResult](const auto& reply){ asyncResult->insertResult(VoidResult{})}),
            [asyncResult](const auto& status){ asyncResult->insertError(toInternalStatus(status))};

        return asyncResult;
    }

private:
    std::shared_ptr<SeatServiceAsyncGrpcFacade> m_asyncGrpcFacade;
};

Fluent query & rule construction

A set of query methods like get(), where(), join() etc. are provided through the Model and DataPoint base classes. These functions make it possible to construct SQL-like queries and subscriptions in a fluent language, which are then transmitted through the gRPC interface to the KUKSA Databroker.

Query examples

The following examples show you how to query data points.

Get single data point

• Python
• C++

driver_pos: int = vehicle.Cabin.DriverPosition.get()

# Call to broker

# GetDataPoint(rule="SELECT Vehicle.Cabin.DriverPosition")

auto driverPos = getDataPoints({Vehicle.Cabin.DriverPosition})->await();

// Call to broker:
// GetDataPoint(rule="SELECT Vehicle.Cabin.DriverPosition")

Get data points from multiple branches

• Python
• C++

vehicle_data = vehicle.CurrentLocation.Latitude.join(
    vehicle.CurrentLocation.Longitude).get()

print(f'
    Latitude: {vehicle_data.CurrentLocation.Latitude}
    Longitude: {vehicle_data.CurrentLocation.Longitude}
    ')

# Call to broker

# GetDataPoint(rule="SELECT Vehicle.CurrentLocation.Latitude, CurrentLocation.Longitude")

  auto datapoints =
      getDataPoints({Vehicle.CurrentLocation.Latitude, Vehicle.CurrentLocation.Longitude})->await();

// Call to broker:
// GetDataPoint(rule="SELECT Vehicle.CurrentLocation.Latitude, CurrentLocation.Longitude")

Subscription examples

Subscribe and Unsubscribe to a single data point

• Python
• C++

self.rule = (
    await self.vehicle.Cabin.Seat.Row(2).Pos(1).Position
    .subscribe(self.on_seat_position_change)
)

def on_seat_position_change(self, data: DataPointReply):
    position = data.get(self.vehicle.Cabin.Seat.Row2.Pos1.Position).value
    print(f'Seat position changed to {position}')

# Call to broker

# Subscribe(rule="SELECT Vehicle.Cabin.Seat.Row2.Pos1.Position")

# If needed, the subscription can be stopped like this

await self.rule.subscription.unsubscribe()

auto subscription =
    subscribeDataPoints(
        velocitas::QueryBuilder::select(Vehicle.Cabin.Seat.Row(2).Pos(1).Position).build())
        ->onItem(
            [this](auto&& item) { onSeatPositionChanged(std::forward<decltype(item)>(item)); });

// If needed, the subscription can be stopped like this:
subscription->cancel();

void onSeatPositionChanged(const DataPointMap_t datapoints) {
    logger().info("SeatPosition has changed to: "+ datapoints.at(Vehicle.Cabin.Seat.Row(2).Pos(1).Position)->asFloat().get());
}

Subscribe to a single data point with a filter

• Python
• C++

Vehicle.Cabin.Seat.Row(2).Pos(1).Position.where(
    "Cabin.Seat.Row2.Pos1.Position > 50")
    .subscribe(on_seat_position_change)

def on_seat_position_change(data: DataPointReply):
    position = data.get(Vehicle.Cabin.Seat.Row2.Pos1.Position).value
    print(f'Seat position changed to {position}')

# Call to broker

# Subscribe(rule="SELECT Vehicle.Cabin.Seat.Row2.Pos1.Position WHERE Vehicle.Cabin.Seat.Row2.Pos1.Position > 50")

auto query = QueryBuilder::select(Vehicle.Cabin.Seat.Row(2).Pos(1).Position)
    .where(vehicle.Cabin.Seat.Row(2).Pos(1).Position)
    .gt(50)
    .build();

subscribeDataPoints(query)->onItem([this](auto&& item){onSeatPositionChanged(std::forward<decltype(item)>(item));}));

void onSeatPositionChanged(const DataPointMap_t datapoints) {
    logger().info("SeatPosition has changed to: "+ datapoints.at(Vehicle.Cabin.Seat.Row(2).Pos(1).Position)->asFloat().get());
}
// Call to broker:
// Subscribe(rule="SELECT Vehicle.Cabin.Seat.Row2.Pos1.Position WHERE Vehicle.Cabin.Seat.Row2.Pos1.Position > 50")

Publish & subscribe messaging

The SDK supports publishing messages to a MQTT broker and subscribing to topics of a MQTT broker. Using the Velocitas SDK, the low-level MQTT communication is abstracted away from the Vehicle App developer. Especially the physical address and port of the MQTT broker is no longer configured in the Vehicle App itself, but rather is set as an environment variable, which is outside of the Vehicle App.

Publish MQTT Messages

MQTT messages can be published easily with the publish_event() method, inherited from VehicleApp base class:

• Python
• C++

await self.publish_event(
    "seatadjuster/currentPosition", json.dumps(req_data))

publishToTopic("seatadjuster/currentPosition", "{ \"position\": 40 }");

Subscribe to MQTT Topics

In Python subscriptions to MQTT topics can be easily established with the subscribe_topic() annotation. The annotation needs to be applied to a method of the VehicleApp base class. In C++ the subscribeToTopic() method has to be called. Callbacks for onItem and onError can be set. The following examples provide some more details.

• Python
• C++

@subscribe_topic("seatadjuster/setPosition/request")
async def on_set_position_request_received(self, data: str) -> None:
    data = json.loads(data)
    logger.info("Set Position Request received: data=%s", data)

#include <fmt/core.h>

#include <nlohmann/json.hpp>

subscribeToTopic("seatadjuster/setPosition/request")->onItem([this](auto&& item){
    const auto jsonData = nlohmann::json::parse(item);
    logger().info(fmt::format("Set Position Request received: data={}", jsonData));
});

Vehicle App abstraction

Vehicle Apps are inherited from the VehicleApp base class. This enables the Vehicle App to use the Publish & Subscribe messaging and to connect to the KUKSA Databroker.

The Vehicle Model instance is passed to the constructor of the VehicleApp class and should be stored in a member variable (e.g. self.vehicle for Python, std::shared_ptr<Vehicle> m_vehicle; for C++), to be used by all methods within the application.

Finally, the run() method of the VehicleApp class is called to start the Vehicle App and register all MQTT topic and Databroker subscriptions.

A typical skeleton of a Vehicle App looks like this:

• Python
• C++

class SeatAdjusterApp(VehicleApp):
    def __init__(self, vehicle: Vehicle):
        super().__init__()
        self.vehicle = vehicle

async def main():
    # Main function
    logger.info("Starting seat adjuster app...")
    seat_adjuster_app = SeatAdjusterApp(vehicle)
    await seat_adjuster_app.run()

LOOP = asyncio.get_event_loop()
LOOP.add_signal_handler(signal.SIGTERM, LOOP.stop)
LOOP.run_until_complete(main())
LOOP.close()

#include "sdk/VehicleApp.h"

#include "vehicle/Vehicle.hpp"

using namespace velocitas;

class SeatAdjusterApp : public VehicleApp {
public:
    SeatAdjusterApp()
        : VehicleApp(IVehicleDataBrokerClient::createInstance("vehicledatabroker")),
        IPubSubClient::createInstance("localhost:1883", "SeatAdjusterApp"))
    {}
private:
    ::Vehicle Vehicle;
};

int main(int argc, char** argv) {
    SeatAdjusterApp app;
    app.run();
    return 0;
}

Further information

• Tutorial: Quickstart
• Tutorial: Vehicle Model Creation
• Tutorial: Vehicle App Development
• Tutorial: Develop and run integration tests for a Vehicle App

2.1.2 - Vehicle Abstraction Layer (VAL)

Introduction

The Vehicle Abstraction Layer (VAL) enables access to the systems and functions of a vehicle via a unified - or even better - a standardized Vehicle API abstracting from the details of the end-to-end architecture of the vehicle. The unified API enables Vehicle Apps to run on different vehicle architectures of a single OEM. Vehicle Apps can be even implemented OEM-agnostic, if using an API based on a standard like the COVESA Vehicle Signal Specification (VSS) . The Vehicle API eliminates the need to know the source, destination, and format of signals for the vehicle system.

The Eclipse Velocitas project is using the Eclipse KUKSA project . KUKSA does not provide a concrete VAL. That’s up to you as an OEM (vehicle manufacturer) or as a supplier. But KUKSA provides the components and tools that helps you to implement a VAL for your chosen end-to-end architecture. Also, it can support you to simulate the vehicle hardware during the development phase of an Vehicle App or Service.

KUKSA provides you with ready-to-use generic components for the signal-based access to the vehicle, like the KUKSA Databroker and the generic Data Providers (aka Data Feeders). It also provides you reference implementations of certain Vehicle Services, like the Seat Service and the HVAC Service.

Architecture

The image below shows the main components of the VAL and its relation to the Velocitas Development Model .

KUKSA Databroker

The KUKSA Databroker is a gRPC service acting as a broker of vehicle data / signals also called data points in the following. It provides central access to vehicle data points arranged in a - preferably standardized - vehicle data model like the COVESA VSS or others. But this is not a must, it is also possible to use your own (proprietary) vehicle model or to extend the COVESA VSS with your specific extensions via VSS overlays .

Data points represent certain states of a vehicle, like the current vehicle speed or the currently applied gear. Data points can represent sensor values like the vehicle speed or engine temperature, actuators like the wiper mode, and immutable attributes of the vehicle like the needed fuel type(s) of the vehicle, engine displacement, maximum power, etc.

Data points factually belonging together are typically arranged in branches and sub-branches of a tree structure (like this example on the COVESA VSS site).

The KUKSA Databroker is implemented in Rust, can run in a container and provides services to get data points, update data points and for subscribing to automatic notifications on data point changes. Filter- and rule-based subscriptions of data points can be used to reduce the number of updates sent to the subscriber.

Data Providers / Data Feeders

Conceptually, a data provider is the responsible to take care for a certain set of data points: It provides updates of sensor data from the vehicle to the Databroker and forwards updates of actuator values to the vehicle. The set of data points a data provider maintains may depend on the network interface (e.g. CAN bus) via that those data is accessible or it can depend on a certain use case the provider is responsible for (like seat control).

Eclipse KUKSA provides several generic Data Providers for different datasources. As of today, Eclipse Velocitas only utilizes the generic CAN Provider (KUKSA CAN Provider) implemented in Python, which reads data from a CAN bus based on mappings specified in e.g. a CAN network description (dbc) file. The feeder uses a mapping file and data point metadata to convert the source data to data points and injects them into the Databroker using its Collector gRPC interface. The feeder automatically reconnects to the Databroker in the event that the connection is lost.

Vehicle Services

A vehicle service offers a Vehicle App to interact with the vehicle systems on a RPC-like basis. It can provide service interfaces to control actuators or to trigger (complex) actions, or provide interfaces to get data. It communicates with the Hardware Abstraction to execute the underlying services, but may also interact with the Databroker.

The KUKSA Incubation repository contains examples illustrating how such kind of vehicle services can be built.

Hardware Abstraction

Data feeders rely on hardware abstraction. Hardware abstraction is project/platform specific. The reference implementation relies on SocketCAN and vxcan, see KUKSA CAN Provider . The hardware abstraction may offer replaying (e.g., CAN) data from a file (can dump file) when the respective data source (e.g., CAN) is not available.

Information Flow

The VAL offers an information flow between vehicle networks and vehicle services. The data that can flow is ultimately limited to the data available through the Hardware Abstraction, which is platform/project-specific. The KUKSA Databroker offers read/subscribe access to data points based on a gRPC service. The data points which are actually available are defined by the set of feeders providing the data into the broker. Services (like the seat service ) define which CAN signals they listen to and which CAN signals they send themselves, see documentation . Service implementations may also interact as feeders with the Databroker.

Data flow when a Vehicle App uses the KUKSA Databroker

Data flow when a Vehicle App uses a Vehicle Service

Source Code

Source code and build instructions are available in the respective KUKSA repositories:

• KUKSA Databroker
• KUKSA CAN Provider
• KUKSA example providers

GRPC Interface Style Guide

A style guide is available in the GRPC Interface Style Guide

2.1.2.1 - GRPC Interface Style Guide

This provides a style guide for .proto files. By following these conventions, you’ll make your protocol buffer message definitions and their corresponding classes consistent and easy to read. Unless otherwise indicated, this style guide is based on the style guide from google protocol-buffers style under Apache 2.0 License & Creative Commons Attribution 4.0 License.

Note that protocol buffer style can evolve over time, so it is likely that you will see .proto files written in different conventions or styles. Please respect the existing style when you modify these files. Consistency is key. However, it is best to adopt the current best style when you are creating a new .proto file.

Standard file formatting

• Keep the line length to 80 characters.
• Use an indent of 2 spaces.
• Prefer the use of double quotes for strings.

File structure

Files should be named lower_snake_case.proto

All files should be ordered in the following manner:

• License header
• File overview
• Syntax
• Package
• Imports (sorted)
• File options
• Everything else

Directory Structure

Files should be stored in a directory structure that matches their package sub-names. All files in a given directory should be in the same package. Below is an example based on the proto files in the kuksa.-databroker repository.

|   proto/
|   └── sdv
|       └── databroker
|           └── v1                  // package sdv.databroker.broker.v1
|               ├── broker.proto    // service Broker in sdv.databroker.broker.v1
|               ├── collector.proto // service Collector in sdv.databroker.broker.v1
|               └── types.proto     // type definition and import of  in sdv.databroker.broker.v1

The proposed structure shown above is adapted from Uber Protobuf Style Guide V2 under MIT License.

Packages

Package names should be in lowercase. Package names should have unique names based on the project name, and possibly based on the path of the file containing the protocol buffer type definitions.

Message and field names

Use PascalCase (CamelCase with an initial capital) for message names – for example, SongServerRequest. Use underscore_separated_names for field names (including oneof field and extension names) – for example, song_name.

message SongServerRequest {
   optional string song_name = 1;
}

Using this naming convention for field names gives you accessors like the following:

C++:

const string& song_name() { ... }
void set_song_name(const string& x) { ... }

If your field name contains a number, the number should appear after the letter instead of after the underscore. For example, use song_name1 instead of song_name_1 Repeated fields

Use pluralized names for repeated fields.

repeated string keys = 1;
...
repeated MyMessage accounts = 17;

Enums

Use PascalCase (with an initial capital) for enum type names and CAPITALS_WITH_UNDERSCORES for value names:

enum FooBar {
   FOO_BAR_UNSPECIFIED = 0;
   FOO_BAR_FIRST_VALUE = 1;
   FOO_BAR_SECOND_VALUE = 2;
}

Each enum value should end with a semicolon, not a comma. The zero value enum should have the suffix UNSPECIFIED.

Services

If your .proto defines an RPC service, you should use PascalCase (with an initial capital) for both the service name and any RPC method names:

service FooService {
   rpc GetSomething(GetSomethingRequest) returns (GetSomethingResponse);
   rpc ListSomething(ListSomethingRequest) returns (ListSomethingResponse);
}

GRPC Interface Versioning

All API interfaces must provide a major version number, which is encoded at the end of the protobuf package. If an API introduces a breaking change, such as removing or renaming a field, it must increment its API version number to ensure that existing user code does not suddenly break. Note: The use of the term “major version number” above is taken from semantic versioning. However, unlike in traditional semantic versioning, APIs must not expose minor or patch version numbers. For example, APIs use v1, not v1.0, v1.1, or v1.4.2. From a user’s perspective, minor versions are updated in place, and users receive new functionality without migration.

A new major version of an API must not depend on a previous major version of the same API. An API may depend on other APIs, with an expectation that the caller understands the dependency and stability risk associated with those APIs. In this scenario, a stable API version must only depend on stable versions of other APIs.

Different versions of the same API should preferably be able to work at the same time within a single client application for a reasonable transition period. This time period allows the client to transition smoothly to the newer version. An older version must go through a reasonable, well-communicated deprecation period before being shut down.

For releases that have alpha or beta stability, APIs must append the stability level after the major version number in the protobuf package.

Release-based versioning

An individual release is an alpha or beta release that is expected to be available for a limited time period before its functionality is incorporated into the stable channel, after which the individual release will be shut down. When using release-based versioning strategy, an API may have any number of individual releases at each stability level.

Alpha and beta releases must have their stability level appended to the version, followed by an incrementing release number. For example, v1beta1 or v1alpha5. APIs should document the chronological order of these versions in their documentation (such as comments). Each alpha or beta release may be updated in place with backwards-compatible changes. For beta releases, backwards-incompatible updates should be made by incrementing the release number and publishing a new release with the change. For example, if the current version is v1beta1, then v1beta2 is released next.

Adapted from google release-based_versioning under Apache 2.0 License & Creative Commons Attribution 4.0 License

Backwards compatibility

The gRPC protocol is designed to support services that change over time. Generally, additions to gRPC services and methods are non-breaking. Non-breaking changes allow existing clients to continue working without changes. Changing or deleting gRPC services are breaking changes. When gRPC services have breaking changes, clients using that service have to be updated and redeployed.

Making non-breaking changes to a service has a number of benefits:

• Existing clients continue to run.
• Avoids work involved with notifying clients of breaking changes, and updating them.
• Only one version of the service needs to be documented and maintained.

Non-breaking changes

These changes are non-breaking at a gRPC protocol level and binary level.

• Adding a new service
• Adding a new method to a service
• Adding a field to a request message - Fields added to a request message are deserialized with the default value on the server when not set. To be a non-breaking change, the service must succeed when the new field isn’t set by older clients.
• Adding a field to a response message - Fields added to a response message are deserialized into the message’s unknown fields collection on the client.
• Adding a value to an enum - Enums are serialized as a numeric value. New enum values are deserialized on the client to the enum value without an enum name. To be a non-breaking change, older clients must run correctly when receiving the new enum value.

Binary breaking changes

The following changes are non-breaking at a gRPC protocol level, but the client needs to be updated if it upgrades to the latest .proto contract. Binary compatibility is important if you plan to publish a gRPC library.

• Removing a field - Values from a removed field are deserialized to a message’s unknown fields. This isn’t a gRPC protocol breaking change, but the client needs to be updated if it upgrades to the latest contract. It’s important that a removed field number isn’t accidentally reused in the future. To ensure this doesn’t happen, specify deleted field numbers and names on the message using Protobuf’s reserved keyword.
• Renaming a message - Message names aren’t typically sent on the network, so this isn’t a gRPC protocol breaking change. The client will need to be updated if it upgrades to the latest contract. One situation where message names are sent on the network is with Any fields, when the message name is used to identify the message type.
• Nesting or unnesting a message - Message types can be nested. Nesting or unnesting a message changes its message name. Changing how a message type is nested has the same impact on compatibility as renaming.

Protocol breaking changes

The following items are protocol and binary breaking changes:

• Renaming a field - With Protobuf content, the field names are only used in generated code. The field number is used to identify fields on the network. Renaming a field isn’t a protocol breaking change for Protobuf. However, if a server is using JSON content, then renaming a field is a breaking change.
• Changing a field data type - Changing a field’s data type to an incompatible type will cause errors when deserializing the message. Even if the new data type is compatible, it’s likely the client needs to be updated to support the new type if it upgrades to the latest contract.
• Changing a field number - With Protobuf payloads, the field number is used to identify fields on the network.
• Renaming a package, service or method - gRPC uses the package name, service name, and method name to build the URL. The client gets an UNIMPLEMENTED status from the server.
• Removing a service or method - The client gets an UNIMPLEMENTED status from the server when calling the removed method.

Behavior breaking changes

When making non-breaking changes, you must also consider whether older clients can continue working with the new service behavior. For example, adding a new field to a request message:

• Isn’t a protocol breaking change.
• Returning an error status on the server if the new field isn’t set makes it a breaking change for old clients.

Behavior compatibility is determined by your app-specific code.

Adapted from Versioning gRPC services under Creative Commons Attribution 4.0 License

gRPC Error Handling

In gRPC, a large set of error codes has been defined As a general rule, SDV should use relevant gRPC error codes, as described in this thread

   return grpc::Status(grpc::StatusCode::NOT_FOUND, "error details here");

Available constructor:

   grpc::Status::Status ( StatusCode  code,
      const std::string & error_message,
      const std::string & error_details

The framework for drafting error messages could be useful as a later improvement. This could e.g., be used to specify which unit created the error message and to assure the same structure on all messages. The latter two may e.g., depend on debug settings, e.g., error details only in debug-builds to avoid leaks of sensitive information. A global function like below or similar could handle that and also possibly convert between internal error codes and gRPC codes.

   grpc::Status status = CreateStatusMessage(PERMISSION_DENIED,"DataBroker","Rule access rights violated");

SDV error handling for gRPC interfaces (e.g., VAL vehicles services)

• Use gRPC error codes as base
• Document in proto files (as comments) which error codes that the service implementation can emit and the meaning of them. (Errors that only are emitted by the gRPC framework do not need to be listed.)
• Do not - unless there are special reasons - add explicit error/status fields to rpc return messages.
• Additional error information can be given by free text fields in gRPC error codes. Note, however, that sensitive information like Given password ABCD does not match expected password EFGH should not be passed in an unprotected/unencrypted manner.

SDV handling of gRPC error codes

The table below gives error code guidelines for each gRPC on:

• If it is relevant for a client to retry the call or not when receiving the error code. Retry is only relevant if the error is of a temporary nature.
• When to use the error code when implementing a service.

Other references

• Pattern for rich error handling in gRPC
• Advanced gRPC Error Usage

2.1.3 - Vehicle App Manifest

Versions

• v1
• v2
• v3 (current)

Introduction

The AppManifest defines the properties of your Vehicle App and its functional interfaces (FIs).

FIs may be:

• required service interfaces (e.g. a required gRPC service interface)
• the used vehicle model and accessed data points.
• an arbitrary abstract interface description used by 3rd parties

In addition to required FIs, provided FIs can (and need) to be specified as well.

These defined interfaces are then used by the Velocitas toolchain to:

• generate service stubs for either a client implementation (required IF) or a server implementation (provided IF) (i.e. for gRPC)
• generate a source code equivalent of the defined vehicle model

Overview

The image below depicts the interaction between App Manifest and DevEnv Configuration at -development time- The responsibilities are clearly separated; the App Manifest describes the application and its interfaces whereas DevEnv Configuration (or .velocitas.json) defines the configuration of the development environment and all the packages used by the Velocitas toolchain.

Context

To fully understand the AppManifest, let’s have a look at who interacts with it:

Purpose

• Define the requirements of a Vehicle App in an abstract way to avoid dependencies on concrete Runtime and Middleware configurations.
• Description of your applications functional interfaces(VehicleModel, services, APIs, …)
• Enable loose coupling of functional interface descriptions and the Velocitas toolchain. Some parts of the toolchain are responsible for reading the file and acting upon it, depending on the type of functional interface
• Providing an extendable syntax to enable custom functional interface types which may not provided by the Velocitas toolchain itself, but by a third party
• Providing a single source of truth for generation of deployment specifications (i.e. Kanto spec, etc…)

Example

// AppManifest.json
{
  "manifestVersion": "v3",
  "name": "SampleApp",
  "interfaces": [
    {
        "type": "vehicle-signal-interface",
        "config": {
            "src": "https://github.com/COVESA/vehicle_signal_specification/releases/download/v3.0/vss_rel_3.0.json",
            "datapoints": {
                "required": [
                    {
                        "path": "Vehicle.Speed",
                        "optional": "true",
                        "access": "read",
                    }
                ],
                "provided": [
                    {
                        "path": "Vehicle.Cabin.Seat.Row1.Pos1.Position",
                    }
                ]
            }
        }
    },
    {
        "type": "grpc-interface",
        "config": {
            "src": "https://raw.githubusercontent.com/eclipse-kuksa/kuksa-incubation/0.4.0/seat_service/proto/sdv/edge/comfort/seats/v1/seats.proto",
            "required": {
                "methods": [ "Move", "MoveComponent" ]
            },
        }
    },
    {
        "type": "pubsub",
        "config": {
            "reads":  [ "sampleapp/getSpeed" ],
            "writes": [ "sampleapp/currentSpeed", "sampleapp/getSpeed/response" ]
        }
    }
  ]
}

The VehicleApp above has an:

• interface towards our generated Vehicle Signal Interface based on the COVESA Vehicle Signal Specification . In particular, it requires read access to the vehicle signal Vehicle.Speed since the signal is marked as optional the application will work, even if the signal is not present in the system. Additionally, the application acts as a provider for the signal Vehicle.Cabin.Seat.Row1.Pos1.Position meaning that it will take responsibility of reading/writing data directly to vehicle networks for the respective signal.

• interface towards gRPC based on the seats.proto file. Since the direction is required a service client for the seats service will be generated who interacts with the Velocitas middleware.

• interface towards the pubsub middleware and is reading to the topic sampleapp/getSpeed and writing the topics sampleapp/currentSpeed, sampleapp/getSpeed/response.

The example has no provided interfaces.

Structure

Describes all external properties and interfaces of a Vehicle Application.

Properties

Interfaces

Properties

Config

The configuration of the functional interface type. Content may vary between all types.

Refer to the JSON Schema of the current AppManifest here .

Visualization

Functional interface types supported by Velocitas

Here is a list of functional interface types directly supported by the Velocitas toolchain and which Velocitas CLI packages are exposing the support:

• Vehicle Signal Interface
• gRPC interface
• Publish and subscribe

Support for additional interface types may be added by providing a 3rd party CLI package .

Planned, but not yet available features

Some FIs are dependent on used classes, methods or literals in your Vehicle App’s source code. For example the vehicle-model FI requires you to list required or provided datapoints. At the moment, these attributes need to be filled manually. There are ideas to auto-generate these attributes by analyzing the source code, but nothing is planned for that, yet.

Further information

• Tutorial: Quickstart
• Tutorial: Vehicle Model Creation
• Tutorial: Vehicle App Development
• Concept: Lifecycle Management

2.1.3.1 - Interfaces

2.1.3.1.1 - Vehicle Signal Interface

The Vehicle Signal Interface formerly known as Vehicle Model interface type creates an interface to a signal interface described by the VSS spec. This interface will generate a source code package equivalent to the contents of your VSS JSON automatically upon devContainer creation.

If a Vehicle App requires a vehicle-signal-interface, it will act as a consumer of datapoints already available in the system. If, on the other hand, a Vehicle App provides a vehicle-signal-interface, it will act as a provider (formerly feeder in KUKSA terms) of the declared datapoints.

Furthermore, in the source code generated by this functional interface, a connection to KUKSA Databroker will be established via the configured Velocitas middleware. It uses the broker.proto if provided by the KUKSA Databroker to connect via gRPC. A seperate declaration of a grpc-interface for the databroker is NOT required.

More information: Vehicle Model Creation

Configuration structure

Example

{
    "type": "vehicle-signal-interface",
    "config": {
        "src": "https://github.com/COVESA/vehicle_signal_specification/releases/download/v3.0/vss_rel_3.0.json",
        "datapoints": {
            "required": [
                {
                    "path": "Vehicle.Speed",
                    "access": "read"
                },
                {
                    "path": "Vehicle.Body.Horn.IsActive",
                    "optional": true,
                    "access": "write"
                }
            ],
            "provided": [
                {
                    "path": "Vehicle.Cabin.Seat.Row1.Pos1.Position"
                }
            ]
        }
    }
}

Different VSS versions

The model generation is supported for VSS versions up to v4.0. There are some changes for some paths from v3.0 to v4.0. For example Vehicle.Cabin.Seat.Row1.Pos1.Position in v3.0 is Vehicle.Cabin.Seat.Row1.DriverSide.Position in v4.0. If you are using the mock provider you would need to take that into account when you sepcify your mock.py.

2.1.3.1.2 - gRPC Service Interface

Description

This interface type introduces a dependency to a gRPC service. It is used to generate either client stubs (in case your application requires the interface) or server stubs (in case your application provides the interface). The result of the generation is a language specific and package manager specific source code package, integrated with the Velocitas SDK core.

If a Vehicle App requires a grpc-interface - a client stub embedded into the Velocitas framework will be generated and added as a build-time dependency of your application. It enables you to access your service from your Vehicle App without any additional effort.

If a Vehicle App provides a grpc-interface - a server stub embedded into the Velocitas framework will be generated and added as a build-time dependency of your application. It enables you to quickly add the business logic of your application.

Configuration structure

Execution

velocitas init or velocitas exec grpc-interface-support generate-sdk

Project configuration

{
  "type": "grpc-interface",
  "config": {
      "src": "https://raw.githubusercontent.com/eclipse-kuksa/kuksa-incubation/0.4.0/seat_service/proto/sdv/edge/comfort/seats/v1/seats.proto",
      "required": {
        "methods": [
          "Move", "MoveComponent"
        ]
      },
      "provided": { }
  }
}

You need to specify devenv-devcontainer-setup >= v2.4.2 in your project configuration. Therefore your .veloitas.json should look similair to this example:

{
  "packages": {
    "devenv-devcontainer-setup": "v2.4.2"
  },
  "components": [
    {
      "id": "grpc-interface-support", 
    }
  ],
}

To do that you can run velocitas component add grpc-interface-support when your package is above or equal to v2.4.2

2.1.3.1.3 - Publish Subscribe

Description

This interface type introduces a dependency to a publish and subscribe middleware. While this may change in the future due to new middlewares being adopted, at the moment this will always indicate a dependency to MQTT.

If a Vehicle App requires pubsub - this will influence the generated deployment specs to include a publish and subscribe broker (i.e. an MQTT broker).

If a Vehicle App provides pubsub - this will influence the generated deployment specs to include a publish and subscribe broker (i.e. an MQTT broker).

Configuration structure

Example

{
  "type": "pubsub",
  "config": {
    "reads":  [ "sampleapp/getSpeed" ],
    "writes": [ "sampleapp/currentSpeed", "sampleapp/getSpeed/response" ]
  }
}

2.2 - Deployment Model

The Velocitas project uses a common deployment model. It uses OCI-compliant containers to increase the flexibility for the support of different programming languages and runtimes, which accelerates innovation and development. OCI-compliant containers also allow for a standardized yet flexible deployment process, which increases the ease of operation. Using OCI-compliant is portable to different architectures as long as there is support for OCI-compliant containers on the desired platform (e.g., like a container runtime for arm32, arm64 or amd64).

Guiding principles

The deployment model is guided by the following principles

• Applications are provided as OCI-compliant container images.
• The container runtime offers a control plane and API to manage the container lifecycle.

The template projects provided come with a pre-configured developer toolchain that accelerates the development process. The developer toolchain ensures an easy creation through a high-degree of automation of all required artifacts needed to follow the Velocitas principles.

Testing your container during development

The Velocitas project provides for developers a repository template and devcontainer that contains everything to build a containerized version of your app locally and test it. Check out our tutorial e.g., for the Python template to learn more.

Automated container image builds

Velocitas uses GitHub workflows to automate the creation of your containerized application. A workflow is started with every increment of your application code that you push to your GitHub repository. The workflow creates a containerized version of your application and stores this container image in a registry. Further actions are carried out using this container (e.g., integration tests).

The workflows are set up to support multi-platform container creation and generate container images for amd64 and arm64 out of the box. This provides a great starting point for developers and lets you add additional support for further platforms easily.

Further information

2.2.1 - Build and Release Process

The Velocitas project provides a two-stage process for development, continuous integration, and release of a new version of a Vehicle App.

• Stage 1 - Build & Test On every new push to the main branch or every update to a pull request, a GitHub workflow is automatically executed to build your application as a container (optionally for different platforms), runs automated tests and code quality checks, and stores all results as GitHub artifacts for future reference with a default retention period of 90 days .

  The workflow provides a quick feedback during development and improves efficient collaboration.

• Stage 2 - Release Once the application is ready to be released in a new version, a dedicated release workflow is automatically executed as soon as you create a new release via GitHub.

  The release workflow bundles all relevant images and artifacts into one tagged set of files and pushes it to the GitHub Container Registry. In addition, all the information needed for quality assurance and documentation are published as release artifacts on GitHub. The image pushed to the GitHub Container Registry can afterwards be deployed on your target system using the Over-The-Air (OTA) update system of your choice.

The drawing below illustrates the different workflows, actions and artifacts that are automatically created for you. All workflows are intended as a sensible baseline and can be extended and adapted to the needs of your own project.

CI Workflow ( ci.yml )

The Continuous Integration (CI) workflow is triggered on every commit to the main branch or when creating/updating a pull request and contains a set of actions to achieve the following objectives:

• Building a container for the Vehicle App - actions create a containerized version of the Vehicle App.
• Scanning for vulnerabilities - actions scan your code and container for vulnerabilities and in case of findings the workflow will be marked as “failed”.
• Running integration tests - actions provision a runtime instance and deploy all required services as containers together with your containerized application to allow for automatically executing integration test cases. In case the test cases fail, the workflow will be marked as “failed”.
• Running unit tests & code coverage - actions run unit tests and calculate code coverage for your application, in case of errors or unsatisfactory code coverage, the workflow will be marked as “failed”.
• Storing scan & test results as GitHub action artifacts - actions store results from the previously mentioned actions for further reference or download as Github Action Artifacts.

Check out the example GitHub workflows in our template repository for Python

Build multi-arch image Workflow ( build-multiarch-image.yml )

The Build multi-arch image workflow is triggered on every commit to the main branch and contains a set of actions to achieve the following objectives:

• Building a multi-arch container for the app - actions create a containerized version of the Vehicle App for multiple architectures (currently AMD64 and ARM64).
• Scanning for vulnerabilities - actions scan your code and container for vulnerabilities and in case of findings the workflow will be marked as “failed”.
• Storing container images to GitHub action artifacts - at the end of the workflow, the container image created is stored in a Github Action Artifacts so that it can be referenced by the Release Workflow later.

Release Workflow ( release.yml )

The Release workflow is triggered as soon as the main branch is ready for release and the Vehicle App developer creates a new GitHub release. This can be done manually through the GitHub UI.

On creating a new release with a specific new version, GitHub creates a tag and automatically runs the Release workflow defined in .github/workflows/release.yml, given that CI workflow has run successfully for the current commit on the main branch.

The set of actions included in the Release workflow cover the objective:

• Generating and publishing QA information - actions load the QA information from GitHub artifacts stored for the same commit reference and verify it. Additionally, release documentation is generated and added to the GitHub release. If there is no information available for the current commit, the release workflow will fail.
• Publish as GitHub pages - all information from the release together with the project documentation is built as a static page using hugo. The result is pushed to a separate branch and can be published as a GitHub page in your repository.
• Pull & label container image - actions pull the Vehicle App container image based on the current commit hash from the GitHub artifacts and label it with the specified tag version. If the image cannot be found, the workflow will fail.
• Push container image to ghcr.io - finally the labeled container image is pushed to the GitHub container registry and can be used as a deployment source.

GitHub Actions artifacts

GitHub Actions artifacts are used for storing data, which is generated by the CI workflow and referenced by the Release workflow. This saves time during workflow runs because we don’t have to create artifacts multiple times.

GitHub Actions artifacts always have a retention period, which is 90 days by default. This may be configured differently in the specific GitHub organization. After this period, the QA info gets purged automatically. In this case, a re-run of the CI workflow would be required to regenerate all QA info needed for creating a release.

Container Registry

The GitHub container registry is used for storing container images pushed by the Release workflow. These images can easily be used for a deployment and don’t have a retention period. Since the registry does not have an automatic cleanup, it keeps container images as long as they are not deleted. It is recommended that you automate the removal of older images to limit storage size and costs.

Versioning

Vehicle App image versions are set to the Git tag name during release. Though any versioning scheme can be adopted, the usage of semantic versions is recommended.

If the tag name contains a semantic version, the leading v will be trimmed. Example: A tag name of v1.0.0 will lead to version 1.0.0 of the Vehicle App container.

Maintaining multiple versions

If there is a need to maintain multiple versions of a Vehicle App, e.g., to hotfix the production version while working on a new version at the same time or to support multiple versions in production, create and use release branches.

The release process would be the same as described in the overview, except that a release branch (e.g., release/v1.0) is created before the release step and the GitHub release is based on the release branch rather than the main branch. For hotfixes, release branches may be created retroactively from the release tag, if needed.

Further information

• Tutorial: How to write integration tests

2.3 - Lifecycle Management

Introduction

Once a repository has been created from one of our Vehicle App templates, basically the only way to receive updates into your derived repository is to manually pull changes, which would be quite tedious and error prone. This is where our Lifecycle Management comes to the rescue!

All of our main components of the development environment, like

• tools
• runtimes
• devcontainer configuration and setup
• build systems
• CI workflows

are (or will be) provided as versioned packages which can be updated individually, if required.

The driver for this is our Velocitas CLI which is our package manager for Vehicle App repositories.

Overview

Here we can see how the MyVehicleApp repository references package repositories by Velocitas, customer specific packages and some packages from a totally different development platform (Gitee).

If you want to learn more about how to reference and use packages check the sections for project configuration and packages .

Lifecycle Management flow

2.3.1 - Project Configuration

Every Vehicle App repo comes with a .velocitas.json which is the project configuration of your app. It holds references to the packages and their respective versions as well as components you are using in your project.

Here is an example of this configuration:

{
    "packages": {
        "devenv-runtimes": "v3.1.0",
        "devenv-devcontainer-setup": "v2.1.0"
    },
    "components": [
        "runtime-local",
        "devcontainer-setup",
        "vehicle-signal-interface",
        "sdk-installer",
        "grpc-interface-support"
    ],
    "variables": {
        "language": "python",
        "repoType": "app",
        "appManifestPath": "app/AppManifest.json",
        "githubRepoId": "eclipse-velocitas/vehicle-app-python-template",
        "generatedModelPath": "./gen/vehicle_model"
    },
    "cliVersion": "v0.9.0"
}

More detailed information and explanation about the project configuration and fields of the .velocitas.json can be found here .

Next steps

• Lifecycle Management: Usage of Packages
• Lifecycle Management: Development of Packages

2.3.2 - Velocitas CLI

Background

Our Velocitas CLI is introduced to support the process of the lifecycle of a Vehicle App as a project manager.

Commands

You can find all information about available commands here .

CLI Flow examples

velocitas create

Create a new Velocitas Vehicle App project.

vscode ➜ /workspaces/vehicle-app-template (main) $ velocitas create
Interactive project creation started
> What is the name of your project? MyApp
> Which programming language would you like to use for your project? (Use arrow keys)
❯ python
  cpp
> Would you like to use a provided example? No
> Which functional interfaces does your application have? (Press <space> to select, <a> to toggle all, <i> to invert selection, and <enter> to proceed)
❯◉ Vehicle Signal Interface based on VSS and KUKSA Databroker
 ◯ gRPC service contract based on a proto interface description
...
Config 'src' for interface 'vehicle-signal-interface': URI or path to VSS json (Leave empty for default: v3.0)
...

velocitas init

Download packages configured in your .velocitas.json to VELOCITAS_HOME

vscode ➜ /workspaces/vehicle-app-python-template (main) $ velocitas init
Initializing Velocitas packages ...
... Downloading package: 'devenv-runtimes:v1.0.1'
... Downloading package: 'devenv-github-workflows:v2.0.4'
... Downloading package: 'devenv-github-templates:v1.0.1'
... Downloading package: 'devenv-devcontainer-setup:v1.1.7'
Running post init hook for model-generator
Running 'install-deps'
...

Single Package Init

Single packages can also easily be initialized or re-initialized using the package parameter -p / --package and the specifier parameter -s / --specifier. The specifier parameter can be either a git tag or a git hash. If the specifier parameter is omitted either the version defined in .velocitas.json resp. the latest version of the specified package will be used automatically. After initialisation the package and it’s resolved version will be written to .velocitas.json. If the package already exists in .velocitas.json, however the versions differ it will be automatically updated to the specified version. If no components from the specified package are added to .velocitas.json all components from this package are automatically written to it.

vscode ➜ /workspaces/vehicle-app-python-template (main) $ velocitas init -p devenv-runtimes -s v3.0.0
Initializing Velocitas packages ...
... Package 'devenv-runtimes:v3.0.0' added to .velocitas.json
... Downloading package: 'devenv-runtimes:v3.0.0'
... > Running post init hook for ...
...

velocitas sync

If any package provides files they will be synchronized into your repository.

vscode ➜ /workspaces/vehicle-app-python-template (main) $ velocitas sync
Syncing Velocitas components!
... syncing 'devenv-github-workflows'
... syncing 'devenv-github-templates'
... syncing 'devenv-devcontainer-setup'

velocitas upgrade

Updates Velocitas components.

vscode ➜ /workspaces/vehicle-app-python-template (main) $ velocitas upgrade --dry-run [--ignore-bounds]
Checking .velocitas.json for updates!
... devenv-devcontainer-setup:vx.x.x → up to date!
... devenv-runtimes:vx.x.x → vx.x.x
... devenv-github-templates:vx.x.x → up to date!
... devenv-github-workflows:vx.x.x → up to date!

velocitas package

Prints information about packages.

vscode ➜ /workspaces/vehicle-app-python-template (main) $ velocitas package devenv-devcontainer-setup
devenv-devcontainer-setup
    version: v1.1.7
    components:
      - id: devcontainer-setup
        type: setup
        variables:
            language
                type: string
                description: The programming language of the project. Either 'python' or 'cpp'
                required: true
            repoType
                type: string
                description: The type of the repository: 'app' or 'sdk'
                required: true
            appManifestPath
                type: string
                description: Path of the AppManifest file, relative to the .velocitas.json
                required: true

vscode ➜ /workspaces/vehicle-app-python-template (main) $ velocitas package devenv-devcontainer-setup -p
/home/vscode/.velocitas/packages/devenv-devcontainer-setup/v1.1.7

velocitas exec

Executes a script contained in one of your installed components.

vscode ➜ /workspaces/vehicle-app-python-template (main) $ velocitas exec runtime-local run-vehicledatabroker
#######################################################
### Running Databroker                              ###
#######################################################
...

More detailed usage can be found at the Velocitas CLI README .

Additional Information

Cache Usage

The Velocitas CLI supports caching data for a Vehicle App project.
The cache data makes it easy for any script/program of a component to read from or write to.
More detailed information about the Project Cache can be found here .

Built-In Variables

The Velocitas CLI also creates default environment variables which are available to every script/program.

More detailed information about Built-In Variables can be found here .

Next steps

• Lifecycle Management: Troubleshooting

2.3.3 - Phases

2.3.3.1 - Create

To be filled.

Template based creation flow

Bootstrapping creation flow

Resulting Velocitas CLI and Velocitas Package changes

• velocitas create command shall be introduced

  • it will guide through the project creation process, allowing the developer to add APIs and services at creation time which will reference the correct Velocitas CLI packages (either provided by Velocitas or by a 3rd party).
  • in addition to an interactive mode where create is invoked without arguments, there shall be a CLI mode where all of the arguments shall be passable as arguments

• Packages need to be available in a central registry (i.e. a new git repository) otherwise step 3 (depicted below) is not possible.

• Packages need to expose which dependency types they are providing in their manifest. For each dependency type a human readable name for the type shall be exposed.

Interaction mockup

> velocitas create
... Creating a new Velocitas project!
> What is the name of your project?
MyApp

> 1. Which programming language would you like to use for your project?
[ ] Python
[x] C++

> 2. Which integrations would you like to use? (multiple selections possible)
[x] Github
[x] Gitlab
[ ] Gitee

> 3. Which API dependencies does your project have?
[x] gRPC service
[ ] uProtocol service

> 4. Add an API dependency (y/n)?
y

> 5. What type of dependency?
[x] gRPC-IF

> 6. URI of the .proto file?
https://some-url/if.proto

> 7. Add an(other) API dependency (y/n)?
n

... Project created!

Arguments mockup:

$ velocitas create \
    --name MyApp \
    --lang cpp \
    --package grpc-service-support \
    --require grpc-interface:https://some-url/if.proto

> Project created!

2.3.4 - Packages

2.3.4.1 - Usage

Overview

After you have set up the .velocitas.json for your project configuration , using packages is pretty straight forward.

Currently, the packages provided by the Velocitas team are the following:

To see how these provided packages are used inside a .velocitas.json you can use the Python template repository as a reference.

Installation

The Velocitas CLI - acting as a package manager for Vehicle App repositories - is installed inside our devcontainer-base-images .
After creation of a devcontainer a postCreateCommand is configured to be executed which runs:

• velocitas init which will initialize all packages referenced in your .velocitas.json. That means, it will download them and run their respective onPostInit programs, if any. (e.g, automated model generation )
• velocitas sync to sync files provided by some packages.

Check the section about our Velocitas CLI to learn more about the background and usage of it.

Velocitas Home Directory

The packages will be downloaded by the Velocitas CLI to ~/.velocitas/packages/<package_name>. More Information: VELOCITAS_HOME .

Next steps

• Lifecycle Management: Development of Packages
• Lifecycle Management: Velocitas CLI

2.3.4.2 - Development

Getting started

First thing you need to do is to create a repository at e.g., https://github.com/my-organisation/my-velocitas-package. The URL needs to be referenced in the .velocitas.json of your Vehicle App repository.

General configuration of Packages

Every Package repository needs a manifest.json at their root. The manifest.json is the package configuration and holds package relevant information and its behaviour.

Here are examples of this configuration:

• devenv-runtimes manifest
• devenv-devcontainer-setup manifest

The manifest of a package describes a list of components. They are a collection of programs or files that serve a similar purpose or are inheritly connected. I.e. they provide a single runtime, a deployment for a runtime or add configuration required for Github Workflows or the devcontainer.

More detailed information and explanation about configuration fields of the manifest.json and package development can be found here .

Configuration of Runtime Packages

If you want to add a new service, adapt runtime.json and manifest.json . In order to use a newly created or updated service, new changes on devenv-runtimes need to be tagged and referenced inside .velocitas.json of the respective package version via a tag or branch name of the repository. When a version is changed in your .velocitas.json you have to initialize it through velocitas init from the terminal so the new package version will be installed. A new service can be started by using velocitas cli command velocitas exec runtime-local <service_id> <args> which can be also configured inside your ./.vscode/tasks.json.

If you plan to develop a Package with the purpose of managing the runtime used together with your Vehicle App the package needs a runtime.json at their root. The runtime.json is the runtime configuration containing all information for the relevant service dependencies with the following three required attributes:

Supported config keys of a service

Runtime configuration helper

{
    "id": "<service_id>",
    "interfaces": [
        "<interface>"
    ],
    "config": [
        {
            "key": "image",
            "value": "<image>:<tag>"
        },
        {
            "key": "port",
            "value": "<port_number>"
        },
        {
            "key": "port-forward",
            "value": "<source_port>:<target_port>"
        },
        {
            "key": "env",
            "value": "<env_key>=<env_value>"
        },
        {
            "key": "mount",
            "value": "<source_path>:<target_path>"
        },
        {
            "key": "arg",
            "value": "<arg>"
        },
        {
            "key": "start-pattern",
            "value": ".*Listening on \\d+\\.\\d+\\.\\d+\\.\\d+:\\d+"
        }
    ]
}

In order to use a newly created or updated service, changes on the respective Package need to be tagged and referenced inside the .velocitas.json of your Vehicle App repository via a tag or branch name of the repository. More info about installation: Usage .

Next steps

• Lifecycle Management: Velocitas CLI

2.3.5 - Troubleshooting

GitHub rate limit exceeded

To avoid exceeding GitHubs rate limit we suggest to generate a personal access token in your GitHub settings and set it as an environment variable:

• Mac/Linux
• Windows

After you have set the ENV consider to restart VS Code.

It is important that VS Code has access to this ENV during the postCreateCommand inside the devcontainer. If you experienced this error and the devcontainer still has started correctly please run either:

vscode ➜ /workspaces/vehicle-app-python-template (main) $ ./.devcontainer/scripts/postCreateCommand.sh

or

vscode ➜ /workspaces/vehicle-app-python-template (main) $ velocitas init
vscode ➜ /workspaces/vehicle-app-python-template (main) $ velocitas sync

Debugging inside installed packages

Open up a seperate VScode window where you can debug installed toolchain packages.

vscode ➜ /workspaces/vehicle-app-python-template (main) $ code ~/.velocitas/packages

Solution to (almost) all problems

The following would clean up the VELOCITAS_HOME but afterwards a new project initialization is required.

vscode ➜ /workspaces/vehicle-app-python-template (main) $ rm -rf ~/.velocitas
vscode ➜ /workspaces/vehicle-app-python-template (main) $ velocitas init

2.4 - Logging guidelines

Rationale: Logging application behavior is absolutely necessary for monitoring applications and also track down possible issues.

Levels

In Velocitas, we establish the following log levels, ordered from lowest to highest priority:

Destination of log levels

Historically

On *nix systems the philosophy is for programs to be as silent as possible by default. stdout is reserved for regular program output. Logging is never regular program output, it is there for diagnostic reasons

See the ls program as an example:

ls
integration  logs  requirements.txt

Regular output is written to stdout and should not be poluted by logging because it is designed to be pipeable into other programs.

What does this mean for Vehicle Apps/Services?

An app or a service is a long running, self-contained application which is inheritly not designed to execute and terminate quickly such that its output may be piped into other programs. Therefore, stdout would be free to be used for log levels, since there is no “regular output”.

However, due to the inherent nature of logs not being regular problem output and the issue of potentially re-ordering messages when they are directed to different files, in Velocitas we chose to output all logs to stderr:

Here the overview in table form:

References

• https://julienharbulot.com/python-cli-streams.html
• https://sematext.com/blog/logging-levels/
• https://softwareengineering.stackexchange.com/questions/439462/log-levels-and-stdout-vs-stderr

3 - Tutorials

3.1 - Getting Started

3.1.1 - Quickstart

This page describes

• how to create a GitHub repository for your Vehicle App development,
• how to set up and configure the DevContainer-based development environment , and
• how to build, customize and test the sample Vehicle App included in your freshly created Vehicle App repository.

You will learn how to use the Vehicle App SDK, interact with the Vehicle API and work with CI/CD using the pre-configured GitHub Workflows that come with the template repository.

Once you have completed all steps, you will have a solid understanding of the development workflow, and you will be able to use one of our template repositories as a starting point for your own Vehicle App development project.

Prerequisites

Please make sure you did all the prerequisite steps to create comprehensive development environment for your Vehicle App:

• Install VS Code

• Install a working container runtime

• Add the Remote-Containers extension to VS Code via the marketplace or using the command line:

  code --install-extension ms-vscode-remote.remote-containers
  

How to create your Vehicle App repository?

For your (GitHub) organization and Vehicle App repository the name MyOrg/MyFirstVehicleApp is used as a place holder during the rest of the document.

You can create your own repository using one of our provided templates or start prototyping via digital.auto.

• Using Template
• Velocitas CLI create
• digital.auto

How to start developing?

In this section you will learn different possibilities to start developing based on your repository. Basically you can work on your own machine using VS Code’s DevContainer or you can set up the environment on a remote agent, using GitHub Codespaces .

• VS Code
• GitHub Codespaces

You can find more information about the Vehicle App development in the respective pages .

How to start the runtime services?

The runtime services (like KUKSA Databroker or Vehicle Services) are required to develop Vehicle Apps and run integration tests.

Currently, the supported options to run these services is either locally or via the Kanto runtime .

• Local Runtime
• Kanto Runtime

$ velocitas exec runtime-local up

Hint: Log files can be found in your workspace's logs directory
> mqtt-broker running
> vehicledatabroker running
> seatservice running
> feedercan running
✅ Runtime is ready to use!

$ velocitas exec runtime-kanto up

Hint: Log files can be found in your workspace's logs directory
> Checking Kanto registry... registry already exists.
> Checking Kanto registry... starting registry.
> Checking Kanto registry... started.
✅ Configuring controlplane for Kanto...
⠇ Starting Kanto...waiting
✅ Kanto is ready to use!

More information about the runtimes are available here .

How to debug your Vehicle App?

Now that the runtime services are all up and running, let’s start a debug session for the Vehicle App.

• Python
• C++

How to trigger the CI Workflow?

The provided GitHub workflows are used to build the container image for the Vehicle App, run unit and integration tests and collect the test results.

The CI Workflow will be triggered by pushing a change to the main branch of your repository:

1. Make modification in any of your files

2. Navigate in your terminal to your repository

3. Commit and push your change

   git add .
   git commit -m "<explain your changes>"
   git push origin
   

To see the results open the Actions page of your repository on GitHub, go to CI Workflow and check the workflow output.

How to release your Vehicle App?

Now that the CI Workflow was successful, you are ready to build your first release. The goal is to build a ready-to-deploy container image that is published in the GitHub container registry.

1. Open the Code page of your repository on GitHub
2. Click on Create a new release in the Releases section on the right side
3. Enter a version (e.g. v1.0.0) and click on Publish release
   • GitHub will automatically create a tag using the version number

The provided release workflow will be triggered by the release. It creates a release documentation and publishes the container image of the Vehicle App to the GitHub container registry. A detailed description of the workflow can be found here .

How to deploy your Vehicle App?

After releasing the Vehicle App to the GitHub container registry you might ask how to bring the Vehicle App and the required runtime stack on a device. Here, Eclipse Leda comes into the game.

Please read the documentation of Eclipse Leda to get more information.

Next steps

• Tutorial: Creating a Vehicle Model
• Tutorial: Create a Vehicle App
• Tutorial: Develop and run integration tests for a Vehicle App

3.1.2 - Import examples

This guide will help you to import examples provided by the SDK package into your template repository.

A Visual Studio Code task called Import example app from SDK is available in the /.vscode/tasks.json which can replace your /app directory in your template repository with some example Vehicle Apps from the SDK package.

1. Press F1
2. Select command Tasks: Run Task
3. Select Import example app from SDK
4. Choose Continue without scanning the output
5. Select seat-adjuster

Run the Vehicle App from SDK example

The launch settings are already prepared for the VehicleApp in the template repository /.vscode/launch.json. The configuration is meant to be as generic as possible to make it possible to run all provided example apps.

Every example app comes with its own /app/AppManifest.json to see which Vehicle Services are configured and needed as a dependency.

To start the app: Just press F5 to start a debug session of the example Vehicle App.

To debug example, please check How to debug Vehicle App?

3.1.3 - Install a working container runtime

In the past the recommended runtime would for sure be Docker Desktop . But since Docker Inc. changed their license model it is fair enough for an open source project to look for free alternatives.

Linux

The obvious (and our recommended) “alternative” to Docker Desktop on Linux is to just use the Docker Engine (without Docker Desktop), a pure CLI-based solution available for most popular Linux distributions licensed under the Apache License, version 2.0. Installation instructions can be found here .

MacOS

Since the Docker Engine is not working out of the box on MacOS, a virtualizations tool which helps emulating linux is needed. Fortunately there are several solutions on the market. Good results could be achieved using Colima .

Setup Colima

Please uninstall or at least quit Docker Desktop if you already used it, before starting the setup.

For Colima to work properly you need Colima itself and a container client e.g. the Docker client, which is still free to use:

    brew install colima
    brew install docker

After the installation you need to start the runtime:

    colima start --cpu x --memory y

For M1 Macs it might be necessary to add --arch aarch64

Docker Desktop uses 5 cores and 12 GB of RAM by default on an M1 MacBook Pro. The equivalent in Colima can be achieved with

    colima start --cpu 5 --memory 12

That’s all you have to do. After these few steps you can go on with the devcontainer setup.

Microsoft Windows

There is currently no recommended alternative for Windows except using GitHub codespaces, a cloud-based development environment.

An option would be to setup a VM (e.g. with VirtualBox or VMWare) running a Linux system with Docker Engine (see above).

Other alternatives

Besides our recommendations above, there are further alternatives, which are not yet evaluated by this project or have some other drawbacks, blocking a recommendation.

For example, you could try Podman / Buildah , which can replace docker run and docker build, respectively. Podman is available for MacOS, Windows, and several Linux distributions. Buildah seems just being available for several Linux distributions.

3.1.4 - Working behind proxy

We know what a pain and how time consuming it can be to setup your environment behind a cooperate proxy. This guide will help you to set it up correctly.

Be aware that correct proxy configuration depends on the setup of your organization and of course of your personal development environment (hardware, OS, virtualization setup, …). So, we most probably do not cover all issues out there in the developers world. So, we encourage you to share hints and improvements with us.

HTTP(s) proxy server

Install and configure the proxy server as recommended or required by your company. For example you could use PX , which is a HTTP(s) proxy server that allows applications to authenticate through an NTLM or Kerberos proxy server, typically used in corporate deployments, without having to deal with the actual handshake. Px leverages Windows SSPI or single sign-on and automatically authenticates using the currently logged in Windows user account. It is also possible to run Px on Windows, Linux and MacOS without single sign-on by configuring the domain, username and password to authenticate with. (Source: PX )

• Install your HTTP(s) proxy server
• Start your HTTP(s) proxy server

Docker Desktop

You need to install Docker Desktop using the right version. As we recognized a proxy issue in Docker Desktop #12672 we strongly recommend to use a Docker Desktop version >= 4.8.2. In case you have an older version on your machine please update to the current version.

In the next step you need to enter your proxy settings:

• Open Docker Desktop and go to the Settings
• From Resources, select Proxies
• Enable Manual proxy configuration
• Enter your proxy settings, this depends on the configuration you did while setting up your proxy tool e.g.:
  • Web Server (HTTP): http://localhost:3128
  • Secure Web Server (HTTPS): http://localhost:3128
  • Bypass: localhost,127.0.0.1
• Apply & Restart.

Docker daemon

You also have to configure the Docker daemon, which is running the containers basically, to forward the proxy settings. For this you have to add the proxy configuration to the ~/.docker/config.json. Here is an example of a proper config (Port and noProxy settings might differ for your setup):

• Windows
• MacOS
• Linux

{
 "proxies":{
      "default":{
         "httpProxy":"http://host.docker.internal:3128",
         "httpsProxy":"http://host.docker.internal:3128",
         "noProxy":"host.docker.internal,localhost,127.0.0.1"
      }
   }
}

{
 "proxies":{
      "default":{
         "httpProxy":"http://host.docker.internal:3128",
         "httpsProxy":"http://host.docker.internal:3128",
         "noProxy":"host.docker.internal,localhost,127.0.0.1"
      }
   }
}

{
 "proxies":{
      "default":{
         "httpProxy":"http://172.17.0.1:3128",
         "httpsProxy":"http://172.17.0.1:3128",
         "noProxy":"host.docker.internal,localhost,127.0.0.1"
      }
   }
}

For more details see: Docker Documentation

Environment Variables

It is required to set the following environment variables:

• HTTP_PROXY - proxy server, e.g. http://localhost:3128
• HTTPS_PROXY - secure proxy server, e.g. http://localhost:3128

• Windows
• MacOS
• Linux

set
setx HTTP_PROXY "http://localhost:3128"
setx HTTPS_PROXY "http://localhost:3128"

echo "export HTTP_PROXY=http://localhost:3128" >> ~/.bash_profile
echo "export HTTPS_PROXY=http://localhost:3128" >> ~/.bash_profile
source ~/.bash_profile

echo "export HTTP_PROXY=http://localhost:3128" >> ~/.bash_profile
echo "export HTTPS_PROXY=http://localhost:3128" >> ~/.bash_profile
source ~/.bash_profile

Troubleshooting

Solving issues with TLS (SSL) certificate validation using https connections from containers

If you are behind a so-called intercept proxy (which you most probably are), you can run into certificate issues: Your corporate proxy works as a “man-in-the-middle” to be able to check the transferred data for malicious content. Means, there is a protected connection between the application in your local runtime environment and the proxy and another from the proxy to the external server your application wants to interact with.

For the authentication corporate proxies often use self-signed certificates (certificates which are not signed by a (well-known official) certificate authority. Those kind of certificates need to be added to the database of trusted certificates of your local runtime environment. This task is typically handled by the IT department of your corporation (if the OS and software installed on it is managed by them) and you will not run into problems, normally.

If it comes to executing containers, those are typically not managed by your IT department and the proxy certificate(s) is/are missing. So, you need to find a way to install those into the (dev) container you want to execute.

See (one of) those articles to get how to achieve that:

• Overcoming Proxy Issues with Docker Containers
• Docker behind SSL intercepting proxy

Initial DevContainer build issue

If you experience issues during initial DevContainer build, clean all images and volumes otherwise cache might be used:

• Open Docker Desktop
• From Troubleshooting choose Clean / Purge data

GitHub rate limit exceeded

How to fix can be found at Lifecycle Management Troubleshooting .

3.2 - Prototyping

3.2.1 - digital.auto

The open and web based digital.auto offers a rapid prototyping environment to explore and validate ideas of a Vehicle App.
digital.auto interacts with different vehicle sensors and actuators via standardized APIs specified by the COVESA Vehicle Signal Specification (VSS) without custom setup requirements.
Within the platform you can:

• browse, navigate and enhance vehicle signals (sensors, actuators and branches) in the Vehicle API Catalogue mapped to a 3D model of the vehicle.
• build Vehicle App prototypes in the browser using Python and the Vehicle API Catalogue.
• test the Vehicle App prototype in a dashboard with 3D animation for API calls.
• create new plugins, which usually represent UX widgets or remote server communication to enhance the vehicle mockup experience in the playground.
• collect and evaluate user feedback to prioritize your development portfolio.

Start the journey of a Vehicle App

As first step open digital.auto , select Get Started in the prototyping section of the landing page and use the Vehicle Model of your choice.

You now have the possibility to browse existing vehicle signals for the selected vehicle model which you can use for prototyping your Vehicle App by clicking on Vehicle APIs.

Add additional Vehicle APIs

If the ideation of your Vehicle App prototype comes with any new Vehicle API which is not part of the standard VSS you also have the option to include it into your pre-selected model by clicking the + New Wishlist API button. After filling out all required fields, simply click the create button - this will commit the new API to the existing model.

Prototype an idea of a Vehicle App

The next step would be to prototype your idea. To do so:

• Click on Prototype Library of your selected model.
• Create a new prototype, by clicking on New Prototype and filling out the information or select one from the list.
• Click on the Open button.
• Go to the Code section and start your prototype right away.

Test the prototype of a Vehicle App

Testing of your prototype starts in the Run section.
You will find a dashboard consisting all vehicle and application components similar to mockups.
The control center on the right side has an integrated terminal showing all of your prototyped outputs as well as a list of all called VSS API’s.
The Run button executes all your prototype code from top to bottom. The Debug button allows you to step through your prototype line by line.

To get started quickly, the digital.auto team has added a number of widgets to simulate related elements of the vehicle – like doors, seats, light, etc. – and made them available in the playground.

Feel free to add your own Plugins with widgets for additional car features (maybe an antenna waving a warm “welcome”…?).

Transfer your prototype into a Velocitas Vehicle App

In the previous steps you started with envisioning and prototyping your Vehicle App idea and tested it against mocked vehicle components in digital.auto.
The Velocitas team provides a project generator to transfer the prototype from digital.auto into your own development environment where you are able to test it with real Vehicle Services .
The generator creates a Vehicle App GitHub repository using your prototype code based on our vehicle-app-python-template .
In the ‘Code’ section of your prototype in digital.auto you have the button ‘Create Eclipse Velocitas Project’.

After pressing the button you will be forwarded to GitHub .
Login with your GitHub Account and authorize velocitas-project-generator to create the repository for you.
You will be redirected to digital.auto and asked for a repository name (equals to the name of the Vehicle App).
By clicking on “Create repository”:

• the project generator takes over your prototype code.
• the code is adapted to the structure in the vehicle-app-python-template .
• a new private repository under your specified GitHub User will be created.

A successful generation of the repository is followed by a pop-up dialogue with the URL of your repository.

Among other things the newly created repository will contain:

Your prototype Vehicle App transferred into a GitHub repository is now ready to be extended.
Clone your newly created repository and open the Vehicle App in Microsoft Visual Studio Code and start to extend it.

You can proceed with the following topics:

• Starting development environment
• Vehicle App Development

3.2.2 - Service Integration

Services can make sure, that when you write a VSS data point, something is actually happening. Eclipse Velocitas has an example seat or hvac service. If your Vehicle App makes use of e.g. Vehicle.Cabin.Seat.Row1.Pos1.Position or other seat/hvac specific data points you are in for some real action. To learn more, visit Vehicle Services .

Our maintained devenv-runtimes package ( Velocitas Lifecycle Management ) comes with the support of adding further Vehicle Services to the runtime.json of a package. More information here .

Modify existing services

For more advanced usage you can also try to modify existing services. Check out the seat service for example, modify it and integrate it into your Vehicle App repository.

Create your own services

If you want to create your own service the KUKSA Incubation repository contains examples illustrating how such kind of vehicle services can be built. You need to write an application that talks to KUKSA listening to changes of a target value of some VSS data point and then do whatever you want. You can achieve this by using the KUKSA gRPC API with any programming language of your choice (learn more about gRPC ).

Mock Provider and Mock Provider Integration

The Vehicle Mock Provider is a dummy service allowing to control all specified actuator- and sensor-signals via a configuration file. These configuration files are expressed in a Python-based domain-specific language (DSL). The default behavior is predefined in mock.py

The Mock Provider is already integrated in all our Vehicle Runtimes . To be able to configure it, you need to add a custom mock.py in the root of your Vehicle App Project. The Mock Provider Container will pick it up automatically.

3.3 - Vehicle App Development

Please visit first Getting Started page if you don’t know where to start.

3.3.1 - Python Vehicle App Development

We recommend that you make yourself familiar with the Vehicle App SDK first, before going through this tutorial.

The following information describes how to develop and test the sample Vehicle App that is included in the Python template repository . You will learn how to use the Vehicle App Python SDK and how to interact with the Vehicle Model.

Once you have completed all steps, you will have a solid understanding of the development workflow and you will be able to reuse the template repository for your own Vehicle App development project.

Develop your first Vehicle App

This section describes how to develop your first Vehicle App. Before you start building a new Vehicle App, make sure you have already read this manual:

• Quickstart

Once you have established your development environment, you will be able to start developing your first Vehicle App.

For this tutorial, you will recreate the Vehicle App that is included with the SDK repository : The Vehicle App allows to change the position of the driver’s seat in the car and also provides its current positions to other applications. A detailed explanation of the use case and the example is available here .

Setting up the basic skeleton of your app

At first, you have to create the main Python script called main.py in /app/src. All the relevant code for your new Vehicle App goes there.

If you’ve created your app development repository from our Python template repository , the Velocitas CLI create command or via digital.auto prototyping a file with this name is already present and can be adjusted to your needs.

Setting up the basic skeleton of an app consists of the following steps:

1. Manage your imports
2. Enable logging
3. Initialize your class
4. Define the entry point of your app

Manage your imports

Before you start development in the main.py you just created, it will be necessary to include the imports required, which you will understand better later through the development:

import asyncio
import json
import logging
import signal

from velocitas_sdk.util.log import (  # type: ignore
    get_opentelemetry_log_factory,
    get_opentelemetry_log_format,
)
from velocitas_sdk.vdb.reply import DataPointReply
from velocitas_sdk.vehicle_app import VehicleApp, subscribe_topic
from vehicle import Vehicle, vehicle  # type: ignore

Enable logging

The following logging configuration applies the default log format provided by the SDK and sets the log level to INFO:

logging.setLogRecordFactory(get_opentelemetry_log_factory())
logging.basicConfig(format=get_opentelemetry_log_format())
logging.getLogger().setLevel("INFO")
logger = logging.getLogger(__name__)

Initialize your class

The main class of your new Vehicle App needs to inherit the VehicleApp provided by the Python SDK .

class MyVehicleApp(VehicleApp):

In class initialization, you have to pass an instance of the Vehicle Model:

def __init__(self, vehicle_client: Vehicle):
    super().__init__()
    self.Vehicle = vehicle_client

We save the vehicle object to use it in our app. Now, you have initialized the app and can continue developing relevant methods.

Entry point of your app

Here’s an example of an entry point to the MyVehicleApp that we just developed:

async def main():
    """Main function"""
    logger.info("Starting my VehicleApp...")
    vehicle_app = MyVehicleApp(vehicle)
    await vehicle_app.run()

LOOP = asyncio.get_event_loop()
LOOP.add_signal_handler(signal.SIGTERM, LOOP.stop)
LOOP.run_until_complete(main())
LOOP.close()

With this your app can now be started. In order to provide some meaningful behaviour of the app, we will enhance it with more features in the next sections.

Vehicle Model Access

In order to facilitate the implementation, the whole vehicle is abstracted into model classes. Please check tutorial about creating models for more details about this topic. In this section, the focus is on using the model.

The first thing you need to do is to get access to the Vehicle Model. If you derived your project repository from our template, we already provide a generated model installed as a Python package named vehicle. Hence, in most cases no additional setup is necessary. How to tailor the model to your needs or how you could get access to vehicle services is described in the tutorial linked above.

If you want to access a single DataPoint e.g. for the vehicle speed, this can be done via

vehicle_speed = (await self.Vehicle.Speed.get()).value

As the get() method of the DataPoint-class there is a coroutine you have to use the await keyword when using it and access its .value.

If you want to get deeper inside the vehicle, to access a single seat for example, you just have to go the model-chain down:

self.DriverSeatPosition = await self.Vehicle.Cabin.Seat.Row1.DriverSide.Position.get()

Subscription to Data Points

If you want to get notified about changes of a specific DataPoint, you can subscribe to this event, e.g. as part of the on_start() method in your app.

    async def on_start(self):
        """Run when the vehicle app starts"""
        await self.Vehicle.Cabin.Seat.Row1.DriverSide.Position.subscribe(
            self.on_seat_position_changed
        )

Every DataPoint provides a .subscribe() method that allows for providing a callback function which will be invoked on every data point update. Subscribed data is available in the respective DataPointReply object and need to be accessed via the reference to the subscribed data point. The returned object is of type TypedDataPointResult which holds the value of the data point and the timestamp at which the value was captured by the Databroker. Therefore the on_seat_position_changed callback function needs to be implemented like this:

    async def on_seat_position_changed(self, data: DataPointReply):
        # handle the event here
        response_topic = "seatadjuster/currentPosition"
        position = data.get(self.Vehicle.Cabin.Seat.Row1.DriverSide.Position).value
        # ...

Subscription using Annotations

The Python SDK also supports annotations for subscribing to data point changes with @subscribe_data_points defined by the whole path to the DataPoint of interest. This would replace the implementation of the Subscription to Data Points

@subscribe_data_points("Vehicle.Cabin.Seat.Row1.DriverSide.Position")
async def on_seat_position_changed(self, data: DataPointReply):
    response_topic = "seatadjuster/currentPosition"
    response_data = {"position": data.get(self.Vehicle.Cabin.Seat.Row1.DriverSide.Position).value}

    await self.publish_event(response_topic, json.dumps(response_data))

Similarly, subscribed data is available in the respective DataPointReply object and needs to be accessed via the reference to the subscribed data point.

Services

Services are used to communicate with other parts of the vehicle via remote function calls (RPC). Please read the basics about them here .

location = SeatLocation(row=1, index=1)
await self.vehicle_client.Cabin.SeatService.MoveComponent(
    location, BASE, data["position"]
    )

In order to define which seat you like to move, you have to pass a SeatLocation object as the first parameter. The second argument specifies the component of the seat to be moved. The possible components are defined in the proto files. The last parameter to be passed into the method is the desired position of the component.

Make sure to use the await keyword when calling service methods, since these methods are asynchronously working coroutines.

MQTT

Interaction with other Vehicle Apps or with the cloud is enabled by using the Mosquitto MQTT Broker. The MQTT broker runs inside a docker container, which is started as part of one of our predefined runtimes .

In the quickstart section about the Vehicle App, you already tested sending MQTT messages to the app. In the previous sections, you generally saw how to use Vehicle Models, DataPoints and Services. In this section, you will learn how to combine them with MQTT.

In order to receive and process MQTT messages inside your app, simply use the @subscribe_topic annotations from the SDK for an additional method on_set_position_request_received() you have to implement:

    @subscribe_topic("seatadjuster/setPosition/request")
    async def on_set_position_request_received(self, data_str: str) -> None:
        logger.info(f"Got message: {data_str!r}")
        data = json.loads(data_str)
        response_topic = "seatadjuster/setPosition/response"
        response_data = {"requestId": data["requestId"], "result": {}}

        # ...

The on_set_position_request_received method will now be invoked every time a message is published to the subscribed topic "seatadjuster/setPosition/response". The message data (string) is provided as parameter. In the example above the data is parsed from json (data = json.loads(data_str)).

In order to publish data to topics, the SDK provides the appropriate convenience method: self.publish_event() which will be added to the on_seat_position_changed callback function from before.

    async def on_seat_position_changed(self, data: DataPointReply):
        response_topic = "seatadjuster/currentPosition"
        position = data.get(self.Vehicle.Cabin.Seat.Row1.DriverSide.Position).value
        await self.publish_event(
            response_topic,
            json.dumps({"position": position}),
        )

The above example illustrates how one can easily publish messages. In this case, every time the seat position changes, the new position is published to seatadjuster/currentPosition

Your main.py should now have a full implementation for class MyVehicleApp(VehicleApp): containing:

• __init__()
• on_start()
• on_seat_position_changed()
• on_set_position_request_received()

and last but not least a main() method to run the app.

Check the seat-adjuster example to see a more detailed implementation including error handling.

UnitTests

Unit testing is an important part of the development, so let’s have a look at how to do that. You can find some example tests in /app/tests/unit. First, you have to import the relevant packages for unit testing and everything you need for your implementation:

from unittest import mock

import pytest
from sdv.vehicle_app import VehicleApp
from sdv_model.Cabin.SeatService import SeatService  # type: ignore
from sdv_model.proto.seats_pb2 import BASE, SeatLocation  # type: ignore

@pytest.mark.asyncio
async def test_for_publish_to_topic():
    # Disable no-value-for-parameter, seems to be false positive with mock lib

    with mock.patch.object(
        VehicleApp, "publish_event", new_callable=mock.AsyncMock, return_value=-1
    ):
        response = await VehicleApp.publish_event(
            str("sampleTopic"), get_sample_request_data()  # type: ignore
        )
        assert response == -1


def get_sample_request_data():
    return {"position": 330, "requestId": 123}

Looking at a test you notice the annotation @pytest.mark.asyncio. This is required if the test is defined as a coroutine. The next step is to create a mock from all the external dependencies. The method takes 4 arguments: first is the object to be mocked, second the method for which you want to modify the return value, third a callable and the last argument is the return value. After creating the mock, you can test the method and check the response. Use asserts to make your test fail if the response does not match. Check the seat-adjuster unit tests to see a more detailed implementation.

See the results

Once the implementation is done, it is time to run and debug the app.

Run your App

In order to run the app:

• Make sure the devenv-runtimes & devenv-devcontainer-setup packages are part of your .velocitas.json (which should be the default).
• Have a correctly configured app/AppManifest.json . See more
• Trigger our automated vehicle model lifecycle . (e. g. velocitas init)
• A runtime needs to be up and running. Read more about it in the run runtime services section.

Now chose one of the options to start the VehicleApp under development:

1. Press F5

or:

1. Press F1
2. Select command Tasks: Run Task
3. Select Local Runtime - Run VehicleApp

Debug your Vehicle App

In the introduction about debugging , you saw how to start a debugging session. In this section, you will learn what is happening in the background.

The debug session launch settings are already prepared for the VehicleApp in /.vscode/launch.json.

{
    "configurations": [
        {
            "type": "python",
            "justMyCode": false,
            "request": "launch",
            "name": "VehicleApp",
            "program": "${workspaceFolder}/app/src/main.py",
            "console": "integratedTerminal",
            "env": {
                "SDV_MIDDLEWARE_TYPE": "native",
                "SDV_VEHICLEDATABROKER_ADDRESS": "grpc://127.0.0.1:55555",
                "SDV_MQTT_ADDRESS": "mqtt://127.0.0.1:1883"
            }
        }
    ]
}

We specify which python-script to run using the program key.

You can adapt the configuration in /.vscode/launch.json and in /.vscode/tasks.json to your needs (e.g., change the ports, add new tasks) or even add a completely new configuration for another Vehicle App.

Once you are done, you have to switch to the debugging tab (sidebar on the left) and select your configuration using the dropdown on the top. You can now start the debug session by clicking the play button or F5. Debugging is now as simple as in every other IDE, just place your breakpoints and follow the flow of your Vehicle App.

Next steps

• Concept: SDK Overview
• Tutorial: Deploy runtime services in Kanto
• Tutorial: Start runtime services locally
• Tutorial: Creating a Python Vehicle Model
• Tutorial: Develop and run integration tests for a Vehicle App
• Concept: Deployment Model

3.3.2 - C++ Vehicle App Development

We recommend that you make yourself familiar with the Vehicle App SDK first, before going through this tutorial.

The following information describes how to develop and test the sample Vehicle App that is included in the C++ template repository . You will learn how to use the Vehicle App C++ SDK and how to interact with the Vehicle Model.

Once you have completed all steps, you will have a solid understanding of the development workflow and you will be able to reuse the template repository for your own Vehicle App development project.

Develop your first Vehicle App

This section describes how to develop your first Vehicle App. Before you start building a new Vehicle App, make sure you have already read this manual:

• Quickstart

For this tutorial, you will recreate the Vehicle App that is included in the template repository : The Vehicle App allows you to change the position of the driver’s seat in the car and also provides its current positions to other applications. A detailed explanation of the use case and the example is available here .

Setting up the basic skeleton of your app

At first, you have to create the main C++ file which we will call App.cpp in /app/src. All the relevant code for your new Vehicle App goes there. Afterwards, there are several steps you need to consider when developing the app:

1. Manage your includes
2. Initialize your class
3. Define the entry point of your app

Manage your includes

Before you start development in the App.cpp you just created, it will be necessary to include all required header files, which you will understand better later through the development:

#include "sdk/VehicleApp.h"
#include "sdk/IPubSubClient.h"
#include "sdk/IVehicleDataBrokerClient.h"
#include "sdk/Logger.h"

#include "vehicle/Vehicle.hpp"

#include <memory>

using namespace velocitas;

Initialize your class

The main class of your new Vehicle App needs to inherit the VehicleApp provided by the C++ SDK .

class MyVehicleApp : public VehicleApp {
public:
    // <remaining code in this tutorial goes here>
private:
    vehicle::Vehicle Vehicle; // this member exists to provide simple access to the vehicle model
}

In your constructor, you have to choose which implementations to use for the VehicleDataBrokerClient and the PubSubClient. By default we suggest you use the factory methods to generate the default implementations: IVehicleDataBrokerClient::createInstance and IPubSubClient::createInstance. These will create a VehicleDataBrokerClient which connects to the VAL via gRPC and an MQTT-based pub-sub client.

MyVehicleApp()
    : VehicleApp(IVehicleDataBrokerClient::createInstance("vehicledatabroker"), // this is the app-id of the KUKSA Databroker in the VAL.
                 IPubSubClient::createInstance("MyVehicleApp")) // the clientId identifies the client at the pub/sub broker
    {}
{}

Now, you have initialized the app and can continue developing relevant methods.

Entry point of your app

Here’s an example of an entry point to the MyVehicleApp that we just developed:

int main(int argc, char** argv) {
    MyVehicleApp app;
    app.run();
    return 0;
}

With this your app can now be started. In order to provide some meaningful behaviour of the app, we will enhance it with more features in the next sections.

Vehicle Model Access

In order to facilitate the implementation, the whole set of vehicle signals is abstracted into model classes. Please check the tutorial about creating models for more details. In this section, the focus is on using the model.