vsomeip-hello_world

概要

vsomeipのhello_worldをubuntu上でビルド & 実行します。

(作成日: 2022/12/27)

筆者の環境

ホストマシン

MacBook Air 2020 M1
macOS Ventura 13.1
UTM 4.0.9

ゲストマシン(UTM上の仮想マシン)

Ubuntu 22.04.1 LTS (Ubuntu Server for ARM) (ubuntu-22.04.1-live-server-arm64.iso)

筆者はホストマシンの環境が汚れるのを避けるため、仮想環境上でvsomeipをビルドし動かします。

vsomeipをビルドしよう

以降のコマンドは注記がある場合を除き、すべてUbuntu環境上で実行します。

必要なパッケージのインストール

まずはapt updateしておきます。

sudo apt update

次にUbuntuで使う基本的なパッケージ群をインストールしておきます。

sudo apt install -y --no-install-recommends \
  sudo curl wget apt-transport-https gnupg \
  ca-certificates cmake\
  gcc build-essential git vim unzip openssh-server

さらにvsomeipをビルドするために下記のパッケージをaptを使ってインストールしておきます。これらを入れておかないとcmake実行時にエラーになります。なお、asciidocは1GB以上あったため筆者は入れませんでしたが、入れなくても動きました。

Boost
libsystemd
Doxygen
graphviz
(asciidoc)

sudo apt install -y libboost-all-dev \
                    libudev-dev libsystemd-dev \
                    doxygen \
                    graphviz

dlt-daemonのビルド

vsomeipのビルドのため、dlt-daemonが必要になります。 gitからソースコードをcloneしてビルド・インストールします。

筆者はホームフォルダにdevというフォルダを作成し、その中でdlt-daemonおよびvsomeipのビルド作業を行なっていきます。

そのため、事前に~/devフォルダを作成しておいてください。

mkdir ~/dev

それでは、下記のコマンドでdlt-daemonをビルド・インストールします。

# dlt-daemon
cd ~/dev
git clone https://github.com/COVESA/dlt-daemon -b v2.18.8
cd ./dlt-daemon
mkdir build
cd ./build
cmake ..
make
sudo make install
sudo ldconfig

インストールコマンド実行ログ

Install the project...
-- Install configuration: "RelWithDebInfo"
-- Installing: /usr/local/lib/pkgconfig/automotive-dlt.pc
-- Installing: /usr/local/lib/libdlt.so.2.18.8
-- Installing: /usr/local/lib/libdlt.so.2
-- Installing: /usr/local/lib/libdlt.so
-- Installing: /usr/local/lib/cmake/automotive-dlt/automotive-dlt-targets.cmake
-- Installing: /usr/local/lib/cmake/automotive-dlt/automotive-dlt-targets-relwithdebinfo.cmake
-- Installing: /usr/local/lib/cmake/automotive-dlt/automotive-dlt-config.cmake
-- Installing: /usr/local/bin/dlt-daemon
-- Installing: /usr/local/etc/dlt.conf
-- Installing: /usr/local/etc/dlt_gateway.conf
-- Installing: /usr/local/bin/dlt-receive
-- Set runtime path of "/usr/local/bin/dlt-receive" to ""
-- Installing: /usr/local/bin/dlt-convert
-- Set runtime path of "/usr/local/bin/dlt-convert" to ""
-- Installing: /usr/local/bin/dlt-control
-- Set runtime path of "/usr/local/bin/dlt-control" to ""
-- Installing: /usr/local/bin/dlt-passive-node-ctrl
-- Set runtime path of "/usr/local/bin/dlt-passive-node-ctrl" to ""
-- Installing: /usr/local/bin/dlt-sortbytimestamp
-- Set runtime path of "/usr/local/bin/dlt-sortbytimestamp" to ""
-- Installing: /usr/local/bin/dlt-logstorage-ctrl
-- Set runtime path of "/usr/local/bin/dlt-logstorage-ctrl" to ""
-- Installing: /usr/local/bin/dlt-example-user-func
-- Set runtime path of "/usr/local/bin/dlt-example-user-func" to ""
-- Installing: /usr/local/bin/dlt-example-filetransfer
-- Set runtime path of "/usr/local/bin/dlt-example-filetransfer" to ""
-- Installing: /usr/local/bin/dlt-example-user
-- Set runtime path of "/usr/local/bin/dlt-example-user" to ""
-- Installing: /usr/local/bin/dlt-example-user-common-api
-- Set runtime path of "/usr/local/bin/dlt-example-user-common-api" to ""
-- Installing: /usr/local/share/dlt-filetransfer/dlt-test-filetransfer-file
-- Installing: /usr/local/share/dlt-filetransfer/dlt-test-filetransfer-image.png
-- Installing: /usr/local/bin/dlt-test-multi-process
-- Set runtime path of "/usr/local/bin/dlt-test-multi-process" to ""
-- Installing: /usr/local/bin/dlt-test-multi-process-client
-- Set runtime path of "/usr/local/bin/dlt-test-multi-process-client" to ""
-- Installing: /usr/local/bin/dlt-test-user
-- Set runtime path of "/usr/local/bin/dlt-test-user" to ""
-- Installing: /usr/local/bin/dlt-test-client
-- Set runtime path of "/usr/local/bin/dlt-test-client" to ""
-- Installing: /usr/local/bin/dlt-test-stress-user
-- Set runtime path of "/usr/local/bin/dlt-test-stress-user" to ""
-- Installing: /usr/local/bin/dlt-test-stress-client
-- Set runtime path of "/usr/local/bin/dlt-test-stress-client" to ""
-- Installing: /usr/local/bin/dlt-test-stress
-- Set runtime path of "/usr/local/bin/dlt-test-stress" to ""
-- Installing: /usr/local/bin/dlt-test-fork-handler
-- Set runtime path of "/usr/local/bin/dlt-test-fork-handler" to ""
-- Installing: /usr/local/bin/dlt-test-init-free
-- Set runtime path of "/usr/local/bin/dlt-test-init-free" to ""
-- Installing: /usr/local/bin/dlt-test-preregister-context
-- Set runtime path of "/usr/local/bin/dlt-test-preregister-context" to ""
-- Installing: /usr/local/bin/dlt-test-filetransfer
-- Set runtime path of "/usr/local/bin/dlt-test-filetransfer" to ""
-- Installing: /usr/local/bin/dlt-test-non-verbose
-- Set runtime path of "/usr/local/bin/dlt-test-non-verbose" to ""
-- Installing: /usr/local/include/dlt/dlt.h
-- Installing: /usr/local/include/dlt/dlt_user_macros.h
-- Installing: /usr/local/include/dlt/dlt_client.h
-- Installing: /usr/local/include/dlt/dlt_protocol.h
-- Installing: /usr/local/include/dlt/dlt_common.h
-- Installing: /usr/local/include/dlt/dlt_types.h
-- Installing: /usr/local/include/dlt/dlt_shm.h
-- Installing: /usr/local/include/dlt/dlt_offline_trace.h
-- Installing: /usr/local/include/dlt/dlt_filetransfer.h
-- Installing: /usr/local/include/dlt/dlt_common_api.h
-- Installing: /usr/local/include/dlt/dlt_version.h
-- Installing: /usr/local/include/dlt/dlt_user.h

vsomeipのビルド

それではvsomeipをビルド・インストールしましょう。

# vsomeip
cd ~/dev
git clone https://github.com/COVESA/vsomeip -b 3.1.20.3
cd ./vsomeip
mkdir build
cd ./build
cmake ..
make
sudo make install
sudo ldconfig

インストールコマンド実行ログ

Install the project...
-- Install configuration: "RelWithDebInfo"
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/application.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/constants.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/defines.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/enumeration_types.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/error.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/export.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/function_types.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/handler.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/internal/deserializable.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/internal/serializable.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/message.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/message_base.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/payload.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/plugin.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/plugins/application_plugin.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/plugins/pre_configuration_plugin.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/primitive_types.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/runtime.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/trace.hpp
-- Installing: /usr/local/include/vsomeip/../compat/vsomeip/vsomeip.hpp
-- Installing: /usr/local/include/vsomeip/application.hpp
-- Installing: /usr/local/include/vsomeip/constants.hpp
-- Installing: /usr/local/include/vsomeip/defines.hpp
-- Installing: /usr/local/include/vsomeip/enumeration_types.hpp
-- Installing: /usr/local/include/vsomeip/error.hpp
-- Installing: /usr/local/include/vsomeip/export.hpp
-- Installing: /usr/local/include/vsomeip/function_types.hpp
-- Installing: /usr/local/include/vsomeip/handler.hpp
-- Installing: /usr/local/include/vsomeip/internal/deserializable.hpp
-- Installing: /usr/local/include/vsomeip/internal/logger.hpp
-- Installing: /usr/local/include/vsomeip/internal/policy_manager.hpp
-- Installing: /usr/local/include/vsomeip/internal/serializable.hpp
-- Installing: /usr/local/include/vsomeip/message.hpp
-- Installing: /usr/local/include/vsomeip/message_base.hpp
-- Installing: /usr/local/include/vsomeip/payload.hpp
-- Installing: /usr/local/include/vsomeip/plugin.hpp
-- Installing: /usr/local/include/vsomeip/plugins/application_plugin.hpp
-- Installing: /usr/local/include/vsomeip/plugins/pre_configuration_plugin.hpp
-- Installing: /usr/local/include/vsomeip/primitive_types.hpp
-- Installing: /usr/local/include/vsomeip/runtime.hpp
-- Installing: /usr/local/include/vsomeip/trace.hpp
-- Installing: /usr/local/include/vsomeip/vsomeip.hpp
-- Installing: /usr/local/lib/libvsomeip3.so.3.1.20
-- Installing: /usr/local/lib/libvsomeip3.so.3
-- Installing: /usr/local/lib/libvsomeip3.so
-- Set runtime path of "/usr/local/lib/libvsomeip3.so.3.1.20" to ""
-- Installing: /usr/local/lib/libvsomeip3-e2e.so.3.1.20
-- Installing: /usr/local/lib/libvsomeip3-e2e.so.3
-- Installing: /usr/local/lib/libvsomeip3-e2e.so
-- Set runtime path of "/usr/local/lib/libvsomeip3-e2e.so.3.1.20" to ""
-- Installing: /usr/local/lib/libvsomeip3-cfg.so.3.1.20
-- Installing: /usr/local/lib/libvsomeip3-cfg.so.3
-- Installing: /usr/local/lib/libvsomeip3-cfg.so
-- Set runtime path of "/usr/local/lib/libvsomeip3-cfg.so.3.1.20" to ""
-- Installing: /usr/local/lib/libvsomeip3-sd.so.3.1.20
-- Installing: /usr/local/lib/libvsomeip3-sd.so.3
-- Installing: /usr/local/lib/libvsomeip3-sd.so
-- Set runtime path of "/usr/local/lib/libvsomeip3-sd.so.3.1.20" to ""
-- Installing: /usr/local/etc/vsomeip/vsomeip.json
-- Installing: /usr/local/etc/vsomeip/vsomeip-local.json
-- Installing: /usr/local/etc/vsomeip/vsomeip-tcp-client.json
-- Installing: /usr/local/etc/vsomeip/vsomeip-tcp-service.json
-- Installing: /usr/local/etc/vsomeip/vsomeip-udp-client.json
-- Installing: /usr/local/etc/vsomeip/vsomeip-udp-service.json
-- Installing: /usr/local/lib/cmake/vsomeip3/vsomeip3Config.cmake
-- Installing: /usr/local/lib/cmake/vsomeip3/vsomeip3ConfigVersion.cmake
-- Installing: /usr/local/lib/cmake/vsomeip3/vsomeip3Targets.cmake
-- Installing: /usr/local/lib/cmake/vsomeip3/vsomeip3Targets-relwithdebinfo.cmake
-- Installing: /usr/local/lib/pkgconfig/vsomeip3.pc

以上の手順で、vsomeipのビルドおよびインストールが完了です。

vsomeipのhello_worldをビルドしよう

下記コマンドでhello_worldをビルドします。

# vsomeip hello_world
cd ~/dev/vsomeip/build
cmake --build . --target hello_world
cd ./examples/hello_world
make

ビルドが完了したら、実行時に必要なJSONファイルを一つ上の階層にコピーします。

cd ~/dev/vsomeip/build/examples/hello_world
cp ../../../examples/hello_world/helloworld-local.json ../

参考：https://github.com/COVESA/vsomeip/tree/3.1.20.3/examples/hello_world

hello_worldを実行しよう

実行方法

Ubuntu上でターミナルを2つ立ち上げ、はじめにサーバーを起動させ、次にクライアント側を実行してください。

サーバー側

VSOMEIP_CONFIGURATION=../helloworld-local.json \
VSOMEIP_APPLICATION_NAME=hello_world_service \
./hello_world_service

クライアント側

VSOMEIP_CONFIGURATION=../helloworld-local.json \
VSOMEIP_APPLICATION_NAME=hello_world_client \
./hello_world_client

実行結果

サーバー側

aki@aki:~/dev/vsomeip/build/examples/hello_world$ VSOMEIP_CONFIGURATION=../helloworld-local.json \
                                                  VSOMEIP_APPLICATION_NAME=hello_world_service \
                                                  ./hello_world_service
2022-11-27 13:50:05.189323 [info] Parsed vsomeip configuration in 0ms
2022-11-27 13:50:05.192535 [info] Using configuration file: "../helloworld-local.json".
2022-11-27 13:50:05.192793 [info] Configuration module loaded.
2022-11-27 13:50:05.192959 [info] Initializing vsomeip application "hello_world_service".
2022-11-27 13:50:05.223445 [info] Instantiating routing manager [Host].
2022-11-27 13:50:05.230412 [info] create_local_server Routing endpoint at /tmp/vsomeip-0
2022-11-27 13:50:05.234493 [info] Application(hello_world_service, 4444) is initialized (11, 100).
2022-11-27 13:50:05.234827 [info] Starting vsomeip application "hello_world_service" (4444) using 2 threads I/O nice 255
2022-11-27 13:50:05.247311 [info] Watchdog is disabled!
2022-11-27 13:50:05.249519 [info] io thread id from application: 4444 (hello_world_service) is: ffff9cf78020 TID: 8158
2022-11-27 13:50:05.251114 [info] vSomeIP 3.1.20.3 | (default)
2022-11-27 13:50:05.252047 [info] io thread id from application: 4444 (hello_world_service) is: ffff9a77f100 TID: 8163
2022-11-27 13:50:05.253233 [info] shutdown thread id from application: 4444 (hello_world_service) is: ffff9b79f100 TID: 8161
2022-11-27 13:50:05.254055 [info] main dispatch thread id from application: 4444 (hello_world_service) is: ffff9bfaf100 TID: 8160
2022-11-27 13:50:05.255646 [info] OFFER(4444): [1111.2222:0.0] (true)
2022-11-27 13:50:05.258112 [info] Listening at /tmp/vsomeip-4444
2022-11-27 13:50:12.099307 [info] Application/Client 5555 is registering.
2022-11-27 13:50:12.100717 [info] Client [4444] is connecting to [5555] at /tmp/vsomeip-5555
2022-11-27 13:50:12.102644 [info] REGISTERED_ACK(5555)
2022-11-27 13:50:12.240608 [info] REQUEST(5555): [1111.2222:255.4294967295]
2022-11-27 13:50:12.250853 [info] RELEASE(5555): [1111.2222]
2022-11-27 13:50:12.252220 [info] Application/Client 5555 is deregistering.
2022-11-27 13:50:12.358086 [info] Client [4444] is closing connection to [5555]
2022-11-27 13:50:15.260351 [info] vSomeIP 3.1.20.3 | (default)
2022-11-27 13:50:17.278163 [info] STOP OFFER(4444): [1111.2222:0.0] (true)
2022-11-27 13:50:17.288218 [info] Stopping vsomeip application "hello_world_service" (4444).

クライアント側

aki@aki:~/dev/vsomeip/build/examples/hello_world$ VSOMEIP_CONFIGURATION=../helloworld-local.json
                                                  VSOMEIP_APPLICATION_NAME=hello_world_client
                                                  ./hello_world_client
2022-11-27 13:50:12.065704 [info] Parsed vsomeip configuration in 0ms
2022-11-27 13:50:12.067371 [info] Using configuration file: "../helloworld-local.json".
2022-11-27 13:50:12.067436 [info] Configuration module loaded.
2022-11-27 13:50:12.067470 [info] Initializing vsomeip application "hello_world_client".
2022-11-27 13:50:12.067504 [info] Instantiating routing manager [Proxy].
2022-11-27 13:50:12.069498 [info] Client [5555] is connecting to [0] at /tmp/vsomeip-0
2022-11-27 13:50:12.070982 [info] Application(hello_world_client, 5555) is initialized (11, 100).
2022-11-27 13:50:12.082098 [info] Starting vsomeip application "hello_world_client" (5555) using 2 threads I/O nice 255
2022-11-27 13:50:12.084734 [info] main dispatch thread id from application: 5555 (hello_world_client) is: ffff90e3f100 TID: 8165
2022-11-27 13:50:12.087966 [info] shutdown thread id from application: 5555 (hello_world_client) is: ffff9062f100 TID: 8166
2022-11-27 13:50:12.092812 [info] io thread id from application: 5555 (hello_world_client) is: ffff915f6020 TID: 8164
2022-11-27 13:50:12.093955 [info] io thread id from application: 5555 (hello_world_client) is: ffff8fe1f100 TID: 8167
2022-11-27 13:50:12.098716 [info] Listening at /tmp/vsomeip-5555
2022-11-27 13:50:12.098932 [info] Client 5555 (hello_world_client) successfully connected to routing  ~> registering..
2022-11-27 13:50:12.101778 [info] Application/Client 5555 (hello_world_client) is registered.
Sending: World
2022-11-27 13:50:12.246600 [info] Client [5555] is connecting to [4444] at /tmp/vsomeip-4444
2022-11-27 13:50:12.247585 [info] ON_AVAILABLE(5555): [1111.2222:0.0]
Received: Hello World
2022-11-27 13:50:12.250553 [info] Stopping vsomeip application "hello_world_client" (5555).
2022-11-27 13:50:12.252784 [info] Application/Client 5555 (hello_world_client) is deregistered.
2022-11-27 13:50:12.253203 [info] Client [5555] is closing connection to [4444]

エラー対処

~FIFO /tmp/dlt cannot be opened. Retrying later...

原因

dlt-daemonが起動していないため(/tmp/dltが存在しない)

対処

dlt-daemonを起動させる(/tmp/dltができる)

/usr/local/bin/dlt-daemon

faq

Q. Wiresharkが何も反応しないのはなんで？

A. 同一マシン上での通信にはBoostを利用したUNIXドメインソケット通信が使われているため、Wiresharkにはキャプチャされない。

akigi/vsomeip-hello_world