Actuation Service
The Actuation Service provides the Safety Island feature of the Actuation Demo.
It spawns a Pure Pursuit node and waits for termination of the program.
Zephyr configuration
The project configuration options are split into several prj.conf files in
order to avoid duplication of the options when used for different purposes. The
files are:
- prj_actuation.conf:
Contains the core options. It configures the Zephyr libc used, the common networking options (IPv4, net sockets, UDP and network buffers), the threads and the memory.
- boards/<BOARD>_actuation.conf:
Board-specific configurations that get used along with
prj_actuation.conf.- prj_net.conf:
Contains options specific to the network configuration. It configures the L2 layer and static IP addresses.
The core configuration file is meant to be used by setting the cmake
CONF_FILE variable. The other configuration files are meant to be used by
setting the cmake OVERLAY_CONFIG variable. The selection process of the
configuration files is explained in Zephyr’s Initial Configuration.
Devicetree overlays
The Zephyr app uses devicetree overlays
to enable the board-specific devices defined in the platform’s DTS. They are
placed in boards/ and meant to be discovered automatically by the Zephyr
build system.
Build variations
The Zephyr app can be built to either publish control commands via DDS or
forward them over a BSD TCP socket by setting the CONTROL_CMDS_FWD build
time cmake variable to either dds (the default) or bsd_socket. When
built with bsd_socket, the Zephyr app starts a TCP server thread on port
49152 that does the following:
Listen for TCP Connect request from the Packet Analyzer (at most 1 connection)
Publish control commands on the spawned client socket if a client is connected
Perform a parallel blocking read against the client socket to listen for a tear off request from the client
Reset the client socket upon the tear off request OR a send failure OR a read failure, and continue to listen for connection request from the Packet Analyzer