AGAAdapter - A MQTT to SDP adapter for the Automotive Grade Android (AGA) framework
Introduction
This AGAAdapter convert MQTT messages to SDP messages for use with the AGA infotainment framework.
Automotive Grade Android (AGA) is an adaption of the Android platform for automotive infotainment use, to allow app developers to read vehicle signals. The car manufacturer needs to arrange sending the vehicle signals to AGA using the System Data Protocol (SDP), which runs over TCP/IP. SDP messages are identified by a 16-bit ID.
For more details see the AGA documentation. That page also describes how to download and install AGA, and contain links to the AGA source code (which has an Apache 2.0 license).
MQ Telemetry Transport (MQTT) is a protocol running over TCP/IP, and uses the publish-subscribe pattern. It uses a broker for routing messages from the publishers to the subscribers. See Wikipedia. The MQTT messages are sent on topics, allowing for selective subscription of messages. Prototyping is very easy when using MQTT, in part due to the availability of open source MQTT libraries, brokers and command line tools.
Mosquitto is one popular open source MQTT broker, and is recommended for use with this software.
See the Mosquitto documentation. It also comes with the handy command line
tools mosquitto_pub and mosquitto_sub. The Mosquitto page also describes the installation procedure.
This small AGAAdapter tool converts messages from the MQTT protocol to the SDP protocol, for experimenting with the AGA framework. It is only intended for prototyping, as it does not implement any security features. Note that the AGA framework only accepts a hard-coded subset of SDP signals. In order to change the AGA framework to accept your custom signals, you need to recompile the entire (AGA flavoured) Android platform. This AGAAdapter does not help allowing more SDP signals to the AGA framework, but it simplifies sending the SDP signals.
AGAAdapter does not need to be running on the same machine as the AGA framework, as the communication runs over IP network. It should be running on a Linux machine (not Android, without difficulties at least). As JAVA is cross platform, it might be possible to run also under Windows (not tested).
As seen in the drawing, this AGAAdapter tool converts incoming MQTT messages to outgoing SDP messages, which are sent to the AGA infotainment system. The AGAAdapter can also handle signal conversion in the opposite direction.
In order to verify the functionality of this software, the infotainment mock utility can be used. It is an command line utility that mimics the infotainment system from a SDP communication point of view. It will print out received SDP messages (and is able to send SDP messages).
Web resources
Source code on GitHub: https://github.com/caran/agaadapter
Security
This prototyping tool does not handle any permission settings. The MQTT broker has a per-user and per-topic authorization mechanism. In the AGA framework the read and write permissions (for the apps) are handled on a per-user and per-signal level.
The SDP protocol does not support encryption.
Installation
Download the source code from Github:
git clone https://github.com/caran/agaadapter.git
Build and run
The AGAAdapter accepts command line arguments, defining the configuration files for signal conversion (.JSON) and for defining which IP ports to use etc (.properties). The verbosity of the command line output can also be set.
Arguments:
- Conversion file in
.JSONformat. Mandatory. - IP host and port definition file in
.propertiesfile format. See below for details. Optional. If not given, the filesrc/main/resources/agaadapter.propertieswill be used. -vIncrease the verbosity of the command line output.
Create a .jar file with all dependencies included:
mvn package assembly:single
Run the AGAAdapter (requires built .jar file):
java -jar {JAR-file} {Conversion-file} [Properties-file] [-v]
For example:
java -jar target/agaadapter-1.0-SNAPSHOT-jar-with-dependencies.jar src/main/resources/conversion_example.json
To specify also the .properties file:
java -jar target/agaadapter-1.0-SNAPSHOT-jar-with-dependencies.jar src/main/resources/conversion_example.json src/main/resources/agaadapter.properties -v
Clean the build:
mvn clean
Run tests
Run unit tests:
mvn test
In order to run the integration test, a MQTT broker needs to be running (but without any irrelevant traffic). Use:
mvn integration-test
The branch coverage is 100% except for the main AGAAdapter class, which has a 96% coverage. The code not covered is logging messages, mainly for informing on different types of MQTT connection errors etc.
Usage
First of all you need to have a MQTT broker running. Install the Mosquitto broker according to the link above.
To try out the functionality of the AGAAdapter, run it like described above using
the conversion_example.json file. If running the MQTT broker on localhost you
can most often use the default .properties file.
The SDP output from the AGAAdapter is easily monitored using the infotainment mock utility provided in this repository. See below for instructions.
Send MQTT messages to the AGAAdapter using the command line application moqsuitto_pub. This is described below.
When sending a MQTT message to the AGAAdapter from moqsuitto_pub, it will be
converted to a SDP message and displayed in the infotainment mock.
Change the configuation files to match your signal conversion needs.
Build API documentation in HTML format. This also include test coverage reports etc.
To build the API documentation together with test coverage reports etc, use:
mvn site
The result ends up in target/site/.
For this to be functional, the integration tests must be passing. This implies that a MQTT broker is running. If you need to build the HTML API documentation (javadoc only) without having passing unittests, use:
mvn javadoc:javadoc
Build API documentation in PDF format. This also include test coverage reports etc.
To build the API documentation in PDF format, on Linux:
source generatepdf.sh
The resulting file ends up in target/site/.
This requires that also the markdown, pdfunite and wkhtmltopdf tools are installed. On Ubuntu they can be installed using:
sudo apt-get install markdown wkhtmltopdf poppler-utils
Configuration file format
There are two configuration files for the AGAAdapter, one for setting the IP addresses etc, and one for setting the signal conversion.
The file for IP hosts/numbers and port numbers is in the .properties file format. The content should be like this:
AGA_host=localhost
AGA_port=8251
MQTT_host=localhost
MQTT_port=1883
The signal conversion file is in the .JSON file format. It contains an object with a list named signals.
Each signal is an object with the fields agaId, agaType, agaName, agaMultiplier, mqttTopic, toAga, fromAga.
An example is given below:
{"signals":[
{
"agaId": 11,
"agaType": "INTEGER",
"agaName": "TESTSIGNAL1",
"mqttTopic": "command/canadapter/testsignal1",
"fromAga": true
},
{
"agaId": 262,
"agaType": "FLOAT",
"agaName": "FMS_ENGINE_SPEED",
"mqttTopic": "data/canadapter/enginespeed",
"toAga": true
}
]}
The details of the fields are given in the table below:
| Key | Value type | Mandatory | Description |
|---------------|--------------|------------|-------------------------------------------------------------------------------|
| agaID | integer | Yes | Signal number as defined by AGA. |
| agaType | string | Yes | Signal data type, as defined by AGA. Allowed values: see below. |
| agaName | integer | No | This is a documentation feature, and is at present not used by this software. |
| agaMultiplier | float | No | Multiplication of signals originating from AGA. Defaults to 1.0 if not given. |
| mqttTopic | string | Yes | Topic for the MQTT message. |
| toAga | boolean | No | Wheter MQTT-to-SDP conversion is allowed. Defaults to false. |
| fromAga | boolean | No | Wheter SDP-to-MQTT conversion is allowed. Defaults to false. |
The agaType field should be one of:
- "UINT8"
- "SHORT"
- "INTEGER"
- "FLOAT"
- "DOUBLE"
The agaMultiplier field is a conversion multiplier used for signals originating from AGA (in SDP format). A signal originating from MQTT is instead divided by that field. The agaMultiplier should be larger than zero (strictly positive).
For example, a MQTT signal describing a vehicle speed in m/s must be multiplied with 3.6 in order to be sent as a AGA SDP signal in km/h. The way the agaMultiplier field is defined, it must be set to 0.2778 (which is 1/3.6) in this particular case.
License
This software is released under the BSD 3-clause license. See the LICENCE.md file.
Dependencies
| Dependency | Description | License |
|----------------------------|-------------------------------------|------------------------------------|
| Java 6 to 8 | Virtual machine and compiler | Oracle Binary Code License |
| Apache Maven 3.0.5 | Build tool | Apache 2.0 license |
| gson 2.3.1 | Parsing library for JSON files | Apache 2.0 license |
| slf4j-simple 1.7.7 | Logging framework | MIT license |
| Paho Java Client 1.0.1 | MQTT client library | Eclipse Public License 1.0 |
| SDP 1.3 | SDP protocol library | Apache 2.0 license |
| Mosquitto (all versions) | One of many useful MQTT brokers | BSD 3-clause license |
| (several maven plugins) | Maven helper plugins. See POM file. | Apache 2.0 license |
| Testing dependency | Description | License |
|----------------------------|-------------------------------------|------------------------------------|
| junit 4.12 | Unit testing framework | Eclipse Public License 1.0 |
| hamcrest-core 1.3 | Matching tools used by junit | BSD 3-clause license |
| system-rules 1.3.0 | Stefan Birkner's JUnit rules | Common Public License 1.0 |
| markdown 1.0.1 | HTML generation tool | BSD 3-clause license |
| mosquitto-clients 1.3.5 | MQTT command line utilities | BSD 3-clause license |
| cobertura 2.1.1 * | Code coverage mesaurement tool | GPL |
| wkhtmltopdf 0.9.9 * | HTML to PDF conversion tool | LGPLv3 |
| pdfunite 0.24.5 * | PDF page merger | GPL |
None of the dependencies are distributed in this repository. You need to install Java and Maven yourself, but the rest of the dependencies are downloaded by Maven automatically.
* Cobertura, wkhtmltopdf and pdfunite are GPL/LGPL-licensed tool for measuring code coverage and to generate documentation. They are not part of AGAAdapter, and are not used by AGAAdapter.
Make sure that your usage of AGAAdapter complies with all the licensing requirements.
Developer information
Use "Github-flavoured Markdown" formatting for this documentation.
Maven is used as the build system. All settings are done in the .POM file (project object model).
The integration tests are executed with the "maven-failsafe-plugin" helper. Any files containing for example **/*IT.java
are considered integration tests.
It seems that the PDF generation plugin does not work for Maven 3.
Build this README in HTML format
This README file is written in Markdown, which is a format designed to be easy to read for human eyes also in raw format. However, if you like to build it in HTML format, use:
markdown README.md > readme.html
Manual testing of the AGAAdapter: SDP signals
In order to verify the functionality of this software, the infotainment mock utility (receives vehicle signals) can be used. It will display received SDP messages (and can send SDP messages).
To verify the AGA infotainment system and the TCP/IP connection to it, the vehicle mock utility (sends vehicle signals) can be used. It will send SDP messages (scriptable) to the AGA infotainment system, and display SDP messages sent from the AGA infotainment system.
Both the infotainment mock utility and the vehicle mock utility are scriptable, and the IP-numbers and IP ports can be set. These details are set in the source code (hardcoded), but are very easy to adjust. Change the source accordingly, and recompile using the maven command below.
Compile mocks:
mvn test-compile
Run the simulated (mock) AGA infotainment system (requires compiled mocks):
mvn exec:java -Dexec.mainClass="com.caran.agaadapter.AGAInfotainmentMock" -Dexec.classpathScope="test"
Run the simulated (mock) vehicle (requires compiled mocks):
mvn exec:java -Dexec.mainClass="com.caran.agaadapter.AGAVehicleMock" -Dexec.classpathScope="test"
There are also bash scripts containing the last two commands (in the root folder of this project).
Manual testing of the AGAAdapter: MQTT signals
The MQTT part can be tested using MQTT command line clients mosquitto_pub and mosquitto_sub in Linux,
for sending and receiving MQTT messages respectively. Run this in a terminal to view all MQTT messages:
mosquitto_sub -v -t +/#
To send messages on specific topics:
mosquitto_pub -t data/canadapter/vehiclespeed -m 32
mosquitto_pub -t data/canadapter/enginespeed -m 1700
Verification of the verification tools
The infotainment mock utility (receives vehicle signals) is a verification tool for testing the AGAAdapter. In order to verify this mock utility, it is possible to use the "Automotive Grade Android Simulator", provided by the AGA team.
It is a Windows application that can send SDP messages.
- Install and start the "Automotive Grade Android Simulator". See AGA documentation.
- Start the infotainment mock utility (provided in this repository), see above. Make sure that is subscribes to a few well known signals, for example 262 (dec) Engine Speed and 320 (dec) Wheel Based Speed.
- In the "Automotive Grade Android Simulator" enter the IP number of the machine running the infotainment mock utility. Press "Connect".
- When connected (blue indicator), add the signal Engine Speed using the button "Add/Remove Signal) and the option "From database".
- Press "Play" icon and drag the corresponding slider.
Sometime it seems to be OK for the Windows firewall to initiate outgoing SDP communication on port 8251. Otherwise you need to adjust the firewall settings.
Measure code coverage
Generate unit test code coverage report:
mvn cobertura:clean cobertura:cobertura
firefox ./target/site/cobertura/index.html &
Generate unit and integration test code coverage report:
mvn cobertura:clean cobertura:cobertura-integration-test
firefox ./target/site/cobertura/index.html &
Create separate JAR files with the compiled class files, the source files and the javadocs
Use:
mvn package
Create a JAR file with all the project report HTML files etc
Use:
mvn site:jar
Create a project ZIP file with all source files, README, documentation images etc
To create the .zip file:
mvn package assembly:single
It will end up in the target directory.
Authors
This is part of the Caran Open Source Portal, by Semcon. See Caran Open Source Portal
Contact us at caranopensource@semcon.com
Acknowledgements
Niklas Mellegård at Viktoria Swedish ICT has provided invalueable help with the SDP communication.