Week 08 Progress Report ·

Table of Contents

Tasks Completed:
#

During the eighth week of my Google Summer of Code (GSoC) project, I made significant strides in implementing the CARLA-CAN-File playback feature within the Automotive Grade Linux (AGL) ecosystem. Below, I provide detailed information about the tasks completed, documentation updates, and plans for the upcoming week.

# Fixed file playback bug for the Control Panel
#

This week, I refactored the file playback toggle, such that now the playback of recorded CAN messages is executed on a separate QThread, and once the demo is toggled off, the thread process is killed.

This was implemented to avoid GUI freezing due to the App and playback being run on a single thread.

# Implemented the Skeletal Tyre pressure Page
#

This week I also implemented the new Tyre Pressure Page for the AGL Demo Control Panel.

While it is not currently hooked to any VSS signal, once the signal has been added to the vspec file, I will map the relevant signals to the various widgets on the page.

# Fixed the “Out of Range” error for the Transmission signal when CARLA is run in manual mode.
#

I submitted code changes to Gerrit for review and integration into the AGL demo control panel repository. The specific change can be found here :- 30049: Add Python Script to Convert CARLA data into CAN messages

The carla_to_CAN.py script can be run run alongside an existing CARLA simulation to fetch data and convert it into CAN messages based on the agl-vcar.dbc file.

NOTE: This does not require the CARLA server to be running.

Bug fixes this week:

This week’s work addressed the edge case where the CARLA hero car is in manual transmission, and the provided int value goes out of range for the 1: Drive signal.

0 = Neutral (N)

-1 = Reverse gears (R)

126 = Park (P)

127 = Drive (D)

1/2/3/.. = Manual Forward gears (M)
30049: Add Python Script to Convert CARLA data into CAN messages

# Updated Settings Page.
#

Improved the alignment of toggle toggle elements in the settings page.
Added a new dropdown menu to select the playback file.

# Resource Compilation
#

Since there’s no pyrcc6 tool for PyQt6 and pyside6-rcc is not available with PySide6 on the Host and Target while building AGL, We can instead use Qt’s own rcc tool to convert the assets/res.qrc file.

The rcc tool is available by default in a full Qt6 installation. Infact, the PySide6 tool , pyside6-rcc locates and runs the Qt6 rcc tool via subprocess, resulting in the same output.

To convert the .qrc file, we run the following command:

$ /usr/lib64/qt6/libexec/rcc -g python assets/res.qrc | sed '0,/PySide6/s//PyQt6/' > res_rc.py

Changes pushed to meta-agl-demo include:

Use rcc to compile qrc resource file on host, and remove post install step to compile on target.
Remove PySide6 as dependency for demo control panel as python3-qtwidgets is no longer used to provide toggle button, and pyside6-rcc is not provided.
30107: Pre-compile resources and remove unused dependencies