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‎apps/example_app/Dockerfile‎

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FROM ghcr.io/eclipse-sdv-hackathon-chapter-two/shift2sdv/ecal_base:5.12
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# RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
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# && apt-get -y install \
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# # add your packages here
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# # Cleanup
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# && rm -rf /var/lib/apt/lists/*
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WORKDIR /usr/src/app
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COPY ecal.ini /etc/ecal/
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COPY requirements.txt ./
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RUN pip install --break-system-packages --no-cache-dir -r requirements.txt
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COPY example_app.py ./
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CMD [ "python3", "-u", "./example_app.py" ]

‎apps/example_app/README.md‎

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# Example Application
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The Example App show how data from the vehicle can be received by an application running in the vehicle.
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## Build
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When running `restart-shift2sdv`, or explicitly the `build-apps` script, the Example App will be build and containerized automatically as `ghcr.io/eclipse-sdv-hackathon-chapter-two/shift2sdv/example_app:latest`.
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Of course, you are free to build manually if needed by calling the following command from the example_app folder:
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```shell
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podman build -t example_app:latest .
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```
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**Note:** Inside the test-vehicle the Example App will run on ARM-Platform. Test the build by running the command above and ask the hack coaches to build your image for ARM to run it inside the test vehicle.
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## Running
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The Example App is automatically started by Ankaios as there is an entry for it in the [shift2sdv_manifest.yaml](shift2sdv_manifest.yaml).
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In the test vehicle the Example App container image will be started and managed by Eclipse Ankaios.
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Talk to the hack coaches to build a multi-platform or ARM image before trying to run the app in the vehicle.
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## Development
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### Run
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Start the app inside the devcontainer for local development:
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```shell
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python3 example_app.py
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```
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### Testing with mock data
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Ask the hack coaches for an eCAL recording to play back a recorded driving scenario with eCAL and to receive the vehicle dynamics data in the Example App for development.
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Place the downloaded eCAL recording in a `measurements/` folder next to the current file.
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Start the eCAL recording within the devcontainer, replace `<recording_folder>` with the recording folder you received from the hack coaches:
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```shell
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ecal_play -m measurements/<recording_folder>
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```
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Start the Example App inside the devcontainer as shown above.
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You should see logs of the JSON data received, and in the web browser the tachometer should show some speed values.
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For debugging reasons you can start the eCAL Monitor terminal UI in a separate terminal window by running:
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```shell
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ecal_mon_tui
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```
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This lists all eCAL topics with their contents and meta information the host or container can see.

‎apps/example_app/ecal.ini‎

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; --------------------------------------------------
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; NETWORK SETTINGS
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; --------------------------------------------------
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; network_enabled = true / false true = all eCAL components communicate over network boundaries
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; false = local host only communication
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;
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; multicast_config_version = v1 / v2 UDP configuration version (Since eCAL 5.12.)
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; v1: default behavior
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; v2: new behavior, comes with a bit more intuitive handling regarding masking of the groups
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; multicast_group = 239.0.0.1 UDP multicast group base
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; All registration and logging is sent on this address
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; multicast_mask = 0.0.0.1-0.0.0.255 v1: Mask maximum number of dynamic multicast group
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; 255.0.0.0-255.255.255.255 v2: masks are now considered like routes masking
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;
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; multicast_port = 14000 + x UDP multicast port number (eCAL will use at least the 2 following port
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; numbers too, so please modify in steps of 10 (e.g. 1010, 1020 ...)
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;
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; multicast_ttl = 0 + x UDP ttl value, also known as hop limit, is used in determining
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; the intermediate routers being traversed towards the destination
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;
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; multicast_sndbuf = 1024 * x UDP send buffer in bytes
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;
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; multicast_rcvbuf = 1024 * x UDP receive buffer in bytes
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;
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; multicast_join_all_if = false Linux specific setting to enable joining multicast groups on all network interfacs
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; independent of their link state. Enabling this makes sure that eCAL processes
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; receive data if they are started before network devices are up and running.
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;
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; bandwidth_max_udp = -1 UDP bandwidth limit for eCAL udp layer (-1 == unlimited)
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;
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; inproc_rec_enabled = true Enable to receive on eCAL inner process layer
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; shm_rec_enabled = true Enable to receive on eCAL shared memory layer
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; udp_mc_rec_enabled = true Enable to receive on eCAL udp multicast layer
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;
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; npcap_enabled = false Enable to receive UDP traffic with the Npcap based receiver
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;
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; tcp_pubsub_num_executor_reader = 4 Tcp_pubsub reader amount of threads that shall execute workload
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; tcp_pubsub_num_executor_writer = 4 Tcp_pubsub writer amount of threads that shall execute workload
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; tcp_pubsub_max_reconnections = 5 Tcp_pubsub reconnection attemps the session will try to reconnect in
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; case of an issue (a negative value means infinite reconnection attemps)
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;
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; host_group_name = Common host group name that enables interprocess mechanisms across
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; (virtual) host borders (e.g, Docker); by default equivalent to local host name
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; --------------------------------------------------
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[network]
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network_enabled = true
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multicast_config_version = v1
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multicast_group = 239.0.0.1
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multicast_mask = 0.0.0.15
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multicast_port = 14000
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multicast_ttl = 2
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multicast_sndbuf = 5242880
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multicast_rcvbuf = 5242880
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multicast_join_all_if = false
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bandwidth_max_udp = -1
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inproc_rec_enabled = true
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shm_rec_enabled = true
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tcp_rec_enabled = true
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udp_mc_rec_enabled = true
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npcap_enabled = false
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tcp_pubsub_num_executor_reader = 4
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tcp_pubsub_num_executor_writer = 4
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tcp_pubsub_max_reconnections = 5
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host_group_name =
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; --------------------------------------------------
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; COMMON SETTINGS
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; --------------------------------------------------
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; registration_timeout = 60000 Timeout for topic registration in ms (internal)
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; registration_refresh = 1000 Topic registration refresh cylce (has to be smaller then registration timeout !)
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; --------------------------------------------------
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[common]
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registration_timeout = 60000
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registration_refresh = 1000
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; --------------------------------------------------
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; TIME SETTINGS
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; --------------------------------------------------
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; timesync_module_rt = "ecaltime-localtime" Time synchronisation interface name (dynamic library)
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; The name will be extended with platform suffix (32|64), debug suffix (d) and platform extension (.dll|.so)
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;
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; Available modules are:
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; - ecaltime-localtime local system time without synchronization
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; - ecaltime-linuxptp For PTP / gPTP synchronization over ethernet on Linux
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; (device configuration in ecaltime.ini)
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; - ecaltime-simtime Simulation time as published by the eCAL Player.
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; --------------------------------------------------
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[time]
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timesync_module_rt = "ecaltime-localtime"
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; ---------------------------------------------
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; PROCESS SETTINGS
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; ---------------------------------------------
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;
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; terminal_emulator = /usr/bin/x-terminal-emulator -e command for starting applications with an external terminal emulator. If empty, the command will be ignored. Ignored on Windows.
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; e.g. /usr/bin/x-terminal-emulator -e
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; /usr/bin/gnome-terminal -x
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; /usr/bin/xterm -e
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;
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; ---------------------------------------------
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[process]
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terminal_emulator =
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; --------------------------------------------------
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; PUBLISHER SETTINGS
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; --------------------------------------------------
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; use_inproc = 0, 1, 2 Use inner process transport layer (0 = off, 1 = on, 2 = auto, default = 0)
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; use_shm = 0, 1, 2 Use shared memory transport layer (0 = off, 1 = on, 2 = auto, default = 2)
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; use_tcp = 0, 1, 2 Use tcp transport layer (0 = off, 1 = on, 2 = auto, default = 0)
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; use_udp_mc = 0, 1, 2 Use udp multicast transport layer (0 = off, 1 = on, 2 = auto, default = 2)
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;
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; memfile_minsize = x * 4096 kB Default memory file size for new publisher
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;
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; memfile_reserve = 50 .. x % Dynamic file size reserve before recreating memory file if topic size changes
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;
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; memfile_ack_timeout = 0 .. x ms Publisher timeout for ack event from subscriber that memory file content is processed
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;
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; memfile_buffer_count = 1 .. x Number of parallel used memory file buffers for 1:n publish/subscribe ipc connections (default = 1)
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; memfile_zero_copy = 0, 1 Allow matching subscriber to access memory file without copying its content in advance (blocking mode)
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;
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; share_ttype = 0, 1 Share topic type via registration layer
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; share_tdesc = 0, 1 Share topic description via registration layer (switch off to disable reflection)
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; --------------------------------------------------
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[publisher]
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use_inproc = 0
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use_shm = 2
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use_tcp = 0
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use_udp_mc = 2
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memfile_minsize = 4096
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memfile_reserve = 50
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memfile_ack_timeout = 0
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memfile_buffer_count = 1
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memfile_zero_copy = 0
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share_ttype = 1
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share_tdesc = 1
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; --------------------------------------------------
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; MONITORING SETTINGS
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; --------------------------------------------------
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; timeout = 1000 + (x * 1000) Timeout for topic monitoring in ms
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; filter_excl = __.* Topics blacklist as regular expression (will not be monitored)
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; filter_incl = Topics whitelist as regular expression (will be monitored only)
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; filter_log_con = warning, error Log messages logged to console (all, info, warning, error, fatal, debug1, debug2, debug3, debug4)
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; filter_log_file = Log messages to logged into file system
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; filter_log_udp = warning, error, fatal Log messages logged via udp network
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; --------------------------------------------------
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[monitoring]
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timeout = 5000
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filter_excl = __.*
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filter_incl =
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filter_log_con = error, fatal, warning
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filter_log_file =
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filter_log_udp = info, warning, error, fatal
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; --------------------------------------------------
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; SYS SETTINGS
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; --------------------------------------------------
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; filter_excl = App1,App2 Apps blacklist to be excluded when importing tasks from cloud
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; --------------------------------------------------
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[sys]
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filter_excl = ^eCALSysClient$|^eCALSysGUI$|^eCALSys$
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; --------------------------------------------------
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; EXPERIMENTAL SETTINGS
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; --------------------------------------------------
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; shm_monitoring_enabled = false Enable distribution of monitoring/registration information via shared memory
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; shm_monitoring_domain = ecal_monitoring Domain name for shared memory based monitoring/registration
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; shm_monitoring_queue_size = 1024 Queue size of monitoring/registration events
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; network_monitoring_disabled = false Disable distribution of monitoring/registration information via network
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;
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; drop_out_of_order_messages = false Enable dropping of payload messages that arrive out of order
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; --------------------------------------------------
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[experimental]
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shm_monitoring_enabled = false
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shm_monitoring_domain = ecal_mon
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shm_monitoring_queue_size = 1024
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network_monitoring_disabled = false
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drop_out_of_order_messages = false

‎apps/example_app/example_app.py‎

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# Copyright (c) 2024 Elektrobit Automotive GmbH and others
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# This program and the accompanying materials are made available under the
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# terms of the Apache License, Version 2.0 which is available at
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# https://www.apache.org/licenses/LICENSE-2.0.
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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# License for the specific language governing permissions and limitations
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# under the License.
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# SPDX-License-Identifier: Apache-2.0
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import sys, time, json, logging
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import ecal.core.core as ecal_core
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from ecal.core.subscriber import StringSubscriber
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logger = logging.getLogger("example_app")
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stdout = logging.StreamHandler(stream=sys.stdout)
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stdout.setLevel(logging.INFO)
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logger.addHandler(stdout)
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logger.setLevel(logging.INFO)
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# Callback for receiving messages
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def callback(topic_name, msg, time):
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try:
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json_msg = json.loads(msg)
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print(f"Received: {msg}")
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except json.JSONDecodeError:
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logger.error(f"Error: Could not decode message: '{msg}'")
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except Exception as e:
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logger.error(f"Error: {e}")
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if __name__ == "__main__":
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logger.info("Starting example app...")
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# Initialize eCAL
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ecal_core.initialize(sys.argv, "Example App")
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# Create a subscriber that listens on the "traffic_sign_detection"
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sub = StringSubscriber("vehicle_dynamics")
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# Set the Callback
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sub.set_callback(callback)
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# Just don't exit
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while ecal_core.ok():
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time.sleep(0.5)
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# finalize eCAL API
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ecal_core.finalize()

‎apps/example_app/requirements.txt‎

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‎apps/long_distance_drive/Dockerfile‎

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FROM ghcr.io/eclipse-sdv-hackathon-chapter-two/shift2sdv/ecal_base:5.12
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# RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
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# && apt-get -y install \
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# # add your packages here
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# # Cleanup
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# && rm -rf /var/lib/apt/lists/*
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WORKDIR /usr/src/app
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COPY ecal.ini /etc/ecal/
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COPY requirements.txt ./
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RUN pip install --break-system-packages --no-cache-dir -r requirements.txt
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COPY main.py ./
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CMD [ "python3", "-u", "./main.py" ]

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