Canalyzer Build by crazab0i · Pull Request #53 · umrover/mrover-esw

crazab0i · 2026-01-30T22:05:26Z

Project builds in cmake with g++-13. Docker compose also works. To start docker project run start.sh in scripts.
Cmake, compose, and dockerfile were lowk vibed and I'm not expert please check.
Currently everything is configured through logger_start.yaml in cancode.

changes and notes

I only changed dbc_runtime includes to satisfy gcc

Everything managed by run_bus, which starts each logger on its on thread. Each logger has its own committer thread with a shared buffer for posts to Influxdb.

There are two globals
-running
-cout_mutex

Everything is kinda fragile due to relative file paths.

Have not tested taking a decoded CAN message and push to influx.

I am not ensure if this is correct for getting the name of a can message:

# line 96 logger.cpp
for (const auto &can_frame : local_buffer) {
            const auto *desc = parser.message(can_frame.id);
            builder.post(desc->name(), can_bus_name, can_frame.data, can_frame.time);
        }

logger_start.yaml

every logger shares the same auth defined in the auth field
every logger needs:

name
log_all
log_acs
log_specify
ascii_file_path
dbc_file_paths

run project

build only exe and debug

 cmake -S . -B build \
-DCMAKE_BUILD_TYPE=Debug \
-DCMAKE_CXX_COMPILER=g++-13

 cmake --build build

run the whole application

     # ensure start.sh is executable
     ./start.sh

…socketcan. Added Grafana healthcheck.

…tten to host machine

…iles, canreplay now works with the generated log asc file.

…socketcan. Added Grafana healthcheck.

…tten to host machine

…iles, canreplay now works with the generated log asc file.

loggers are now used as unique pointers. Logger object has copy and assignment disabled. Switching most errors from cerr to throw runtime.

Vibecoded the fixes to the can logger, seems ok, needs review. Created empty tests and test folder.

…ade renamed logger and changed yaml parsing to handle multiple dbc filepaths

… multiple dbc files. Co-authored-by: Riley LaMay <rylamay@users.noreply.github.com>

…INT fails gracefully

… logic with the mainthread and committer is done. Need to fix blocking read with poll or something else.

…e_processor includes to make gcc work.

…art.sh, compose, dockerfile fully vibed, may be wrong or not good. .dbcs where changed to be valied science dbcs from dbc/runtime. logger_start.yaml fixed to use valid ids.

nbaskins · 2026-02-13T19:23:33Z

src/canalyzer/can_code/src/logger.hpp

+#include <sys/socket.h>
+#include <unistd.h>
+
+#include "../../../../lib/dbc/runtime/include/dbc_runtime.hpp" //we should fix this


I'm also not great at cmake but there should be a way to check the include directory for any header files you include.

nbaskins · 2026-02-13T19:31:00Z

src/canalyzer/can_code/src/logger.hpp

+        void print();
+        void print_error();
+
+        friend void test_factory(std::vector<Logger>& loggers);


I would remove all testing code so that it's not on main and then put any testing setups on a test branch.

nbaskins · 2026-02-13T19:34:46Z

src/canalyzer/can_code/tests/test.cpp

same thing as before, just move this to a testing branch.

nbaskins · 2026-02-13T19:35:07Z

src/canalyzer/can_code/tests/test_factory.cpp

test branch

nbaskins · 2026-02-13T19:42:54Z

src/canalyzer/can_code/Dockerfile

+# Stage 2: Runtime Image
+# CHANGE: Must match the builder OS (Bookworm) to avoid GLIBC errors
+# -----------------------------------------------------------------------------
+FROM debian:bookworm-slim


I don't think this or the RUN command below are necessary. The gcc:13 image is built off of the debian:13 image so you should just be able to add the install libstdc++6 to the initial RUN command.

nbaskins · 2026-02-13T19:49:51Z

src/canalyzer/scripts/start.sh

+
+# 1. Start in detached mode (-d)
+#    This runs the containers in the background and returns immediately.
+docker compose up -d --build --remove-orphans


Should not be building on every start up. We should instead build the Docker image from the command line before we try to run the logger. Saves a lot of time on startup considering the image won't change very often.

nbaskins · 2026-02-13T19:51:18Z

src/canalyzer/scripts/systemd.service

Is the system.d stuff working yet? If not we can keep it on a test branch before merging it into main.

No system.d yet

nbaskins · 2026-02-13T19:53:50Z

src/canalyzer/compose.yaml

+    ports:
+      - "3000:3000"
+    environment:
+      - GF_SECURITY_ADMIN_USER=matt


Let's change this to the username and password both being mrover lol

If we really want to we can use Docker secrets to hide the password but thats probably overkill

nbaskins · 2026-02-13T19:55:31Z

src/canalyzer/compose.yaml

+
+  can_logger:
+    container_name: can_logger_instance
+    build:


Is this section only needed for building when bringing containers up? If so we can remove it.

nbaskins · 2026-02-13T19:57:51Z

src/canalyzer/compose.yaml

+      args:
+        PROJECT_REL_PATH: src/canalyzer/can_code
+    stop_signal: SIGINT
+    privileged: true


I don't think we want the container running with root priveleges. There should be ways to setup the contianer and any necessary volumes to work without the container being root.

nbaskins · 2026-02-13T20:00:14Z

Overall really nice work, I think that once these changes are made we can work towards testing on the pi. Once I get CAN integrated on the science board I will make some real CAN logs to replay and test on with the pi.

nbaskins and others added 30 commits September 9, 2025 19:00

added canalyzer README

4ca4126

setup initial repo structure

bbb67ac

nate please review this

ed03386

logger is ok, yaml parsing started

4706502

yaml parse kinda work

b0c76c3

ascii loggging works?

4729609

cleaned up logger code, modified dockerfile to support compiling the …

b83e3fd

…socketcan. Added Grafana healthcheck.

docker compose kinda works, maybe need to fix ioctl, vcan, and bind

9e20f1f

docker compose will work with test but it is a little jank

9bda6fe

vcan shell init fix later

0ff0e71

setup vcan works

723187a

added timestamp and can .asc format. Need to fix so canlog can be wri…

3c72995

…tten to host machine

reorganized file structure, added scripts for testing and resetting f…

f2684ef

…iles, canreplay now works with the generated log asc file.

added canalyzer README

b71c729

setup initial repo structure

94bbe57

nate please review this

e516367

logger is ok, yaml parsing started

ec6ee38

yaml parse kinda work

ae17651

ascii loggging works?

133d597

cleaned up logger code, modified dockerfile to support compiling the …

0aad952

…socketcan. Added Grafana healthcheck.

docker compose kinda works, maybe need to fix ioctl, vcan, and bind

d4a02a2

docker compose will work with test but it is a little jank

71eb99e

vcan shell init fix later

1c4fbb0

setup vcan works

b2dd783

added timestamp and can .asc format. Need to fix so canlog can be wri…

7513d02

…tten to host machine

reorganized file structure, added scripts for testing and resetting f…

85bb72f

…iles, canreplay now works with the generated log asc file.

Fixing the various concurrency bugs that are in here.

6903359

loggers are now used as unique pointers. Logger object has copy and assignment disabled. Switching most errors from cerr to throw runtime.

Updated project goals with TODO

245f239

Vibecoded the fixes to the can logger, seems ok, needs review. Created empty tests and test folder.

fixing stuff and breaking stuff. Creating new tests, won't compile, m…

627ecf2

…ade renamed logger and changed yaml parsing to handle multiple dbc filepaths

Remade testing and it won't compile. Modified yaml parsing to support…

d806026

… multiple dbc files. Co-authored-by: Riley LaMay <rylamay@users.noreply.github.com>

crazab0i added 6 commits January 18, 2026 14:33

resolution

6512f92

created the outline, remade post method to influx, need to fix so SIG…

d2ad0b6

…INT fails gracefully

Added cout locks and thread protection for cout, driver changed, most…

18e8e3f

… logic with the mainthread and committer is done. Need to fix blocking read with poll or something else.

fixed compiler errors, create cmake for canalyzer. Had to adjust fram…

106316f

…e_processor includes to make gcc work.

changed frame_processor includes

7bb9ac2

cmake build now works, compose up fully works with startup script. st…

e26cd87

…art.sh, compose, dockerfile fully vibed, may be wrong or not good. .dbcs where changed to be valied science dbcs from dbc/runtime. logger_start.yaml fixed to use valid ids.

crazab0i requested review from edurso, nbaskins and owenpark8 January 30, 2026 22:05

crazab0i self-assigned this Jan 30, 2026

crazab0i and others added 7 commits January 30, 2026 18:19

format

db284eb

src format

26a2cdb

clang format again on influxdb

821d4d9

manual clang format on influxdb

d151847

fixed loop field for unpacking can data

5def794

should pass style

e66e3b1

systemd vibed

ccbce43

nbaskins requested changes Feb 13, 2026

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crazab0i commented Jan 30, 2026

changes and notes

logger_start.yaml

run project

build only exe and debug

run the whole application

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nbaskins commented Feb 13, 2026

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