OCVSMD - Open Cyphal Vehicle System Management Daemon

Build

• Change directory to the project root; init submodules:

  cd ocvsmd
  git submodule update --init --recursive
  

Then one of the two presets depending on your system:

• Demo-Linux – Linux distros like Ubuntu.
• Demo-BSD – BSD based like MacOS.

  Debug

  cmake --preset OCVSMD-Linux && \
  cmake --build --preset OCVSMD-Linux-Debug

  Release

  cmake --preset OCVSMD-Linux && \
  cmake --build --preset OCVSMD-Linux-Release

Installing

• Installing the Daemon Binary:

  Debug

  sudo cp build/bin/Debug/ocvsmd /usr/local/bin/ocvsmd && \
  sudo cp build/bin/Debug/ocvsmd-cli /usr/local/bin/ocvsmd-cli

  Release

  sudo cp build/bin/Release/ocvsmd /usr/local/bin/ocvsmd && \
  sudo cp build/bin/Release/ocvsmd-cli /usr/local/bin/ocvsmd-cli

• Installing the Init Script and Config file:

  sudo cp init.d/ocvsmd /etc/init.d/ocvsmd && \
  sudo chmod +x /etc/init.d/ocvsmd && \
  sudo mkdir -p /etc/ocvsmd && \
  sudo cp init.d/ocvsmd.toml /etc/ocvsmd/ocvsmd.toml

• Enabling at Startup if needed (on SysV-based systems):

  sudo update-rc.d ocvsmd defaults
  

Usage

• Control the daemon using the following commands:

  Start

  sudo /etc/init.d/ocvsmd start

  Status

  sudo /etc/init.d/ocvsmd status

  Restart

  sudo /etc/init.d/ocvsmd restart

  Stop

  sudo /etc/init.d/ocvsmd stop

Logging

View logs:

• Syslog:

  sudo grep -r "ocvsmd\[" /var/log/syslog

• Log files:

  cat /var/log/ocvsmd.log

Manipulate log levels:

Append SPDLOG_LEVEL and/or SPDLOG_FLUSH_LEVEL to the daemon command in the init script to enable more verbose logging level (trace or debug). Default level is info. More severe levels are: warn, error and critical. off level disables the logging.

By default, the log files are not immediately flushed to disk (at off level). To enable flushing, set SPDLOG_FLUSH_LEVEL to a required default (or per component) level.

• Example to set default level:

  sudo /etc/init.d/ocvsmd start SPDLOG_LEVEL=trace SPDLOG_FLUSH_LEVEL=trace

• Example to set default and per component level (comma separated pairs):

  sudo /etc/init.d/ocvsmd restart SPDLOG_LEVEL=debug,ipc=off SPDLOG_FLUSH_LEVEL=warn,engine=debug

vscode

Using vscode, relaunch this workspace using the appropriate devcontainer provided. Once running in the toolshed container build, using cmake, and then do "Tasks: Run Task -> Create OCVSMD Terminals". This will launch four terminals all running in the container:

• Daemon – Creates symbolic links to the build artifacts under the appropriate places in /etc, then starts the daemon, then tails the daemon logs.
• Yakut – Starts a Yakut UDP monitoring session.
• Client – Tails "ocvsmd-cli.log" in the workspace root (touches first if this doesn't exist). This allows you to use the shell to run the cli in the workspace root and see the logs in this terminal.
• Bash shell – login shell starting in the workspace root.