This demo consists of SocketCAN interface can0 which is connected to SIL Kit via SilKitAdapterSocketCAN, with the latter being a SIL Kit participant connected to CAN1 SIL Kit network.
For demonstration purposes, another SIL Kit participant CanEchoDevice is connected to the same CAN1 SIL Kit network.
First, a virtual CAN interface (SocketCAN) is set up in Linux using a shell script. Then, the SilKitAdapterSocketCAN is launched, binding to the virtual CAN interface from one side and connecting to SIL Kit as a participant from the other.
After that the CanEchoDevice is launched and its connection to SIL Kit is established.
When all the connections are set up, a shell script is run to generate CAN payload on can0 SocketCAN interface.
The following sketch shows the general setup:
+------------[ Virtual CAN ]--------------+ +-----[ SIL Kit Adapter SocketCAN ]-----+
|-CAN payload generation on [can0] <----- SocketCAN ------> connecting SocketCAN [can0] to |
|-Sending & receiving on [can0] interface | | SIL Kit [CAN1] Network |
+-----------------------------------------+ +------ʌ--------------------------------+
|
|
+------|------[ SIL Kit ]---------------+
| | |
| +---v---[ CAN1 Network ]----------+ |
+-------------[ CanEchoDevice ]-----------+ | | | |
| <----------------------|--> Peer-to-peer connection | |
+-----------------------------------------+ | | between participants on | |
+-------------[ Vector CANoe ]------------+ | | SIL Kit [CAN1] Network | |
|-CAN payload generation on SIL Kit <----------------------|--> | |
| [CAN1] network | | +---------------------------------+ |
+-----------------------------------------+ | |
This demo application implements a very simple SIL Kit participant that connects to the SIL Kit CAN1 network, to which both the SocketCAN Adapter and CANoe can connect as SIL Kit
participants in order to exchange CAN frames. The CanEchoDevice responds to CAN messages it receives on CAN1 network by incrementing the received CAN ID by 1 and shifitng the data field by one byte to the left, then sending it back on the same CAN1 network.
First, run the OpenVCan_can0.sh script in the Terminal, which will load the necessary Linux kernel modules and setup a virtual CAN interface named can0.
sudo chmod +x SocketCAN/demos/shell_scripts/OpenVCan_can0.sh
./SocketCAN/demos/shell_scripts/OpenVCan_can0.sh
You should see this output that indicates that the can0 virtual CAN device has been successfully launched:
Device "can0" does not exist.
Creating [can0] interface.
vCAN interface [can0] is up & running.
Now, you can start sending virtual CAN frames from your terminal. This can be done with the following command
cansend can0 123#AAAABBBB
Note: In this example: can0 is the name of the virtual CAN interface, 123 is the CAN frame ID, AAAABBBB is the CAN transmitted data
Note: You might need to install the can-utils package in order to have the CAN-related command line tools like cansend & candump. You can do this with sudo apt install can-utils.
Run the SendSocketCANFrames.sh script to continuously generate a 001#AAAABBBB CAN message (CAN ID = 001, Data=AAAABBBB) and send it through to can0.
sudo chmod +x SocketCAN/demos/shell_scripts/SendSocketCANFrames.sh
./SocketCAN/demos/shell_scripts/SendSocketCANFrames.sh
As of now, a virtual CAN can0 device is up and running and a 001#AAAABBBB message is continuously being sent on it.
Now is a good point to start the sil-kit-registry:
./path/to/SilKit-x.y.z-$ubuntu/SilKit/bin/sil-kit-registry --listen-uri 'silkit://0.0.0.0:8501'
After that, launch the SilKitAdapterSocketCAN
./bin/SilKitAdapterSocketCAN --configuration ./SocketCAN/demos/SilKitConfig_Adapter.silkit.yaml
You should see the following output in the terminal where the adapter was launched:
[date time] [SilKitAdapterSocketCAN] [info] Creating participant 'SilKitAdapterSocketCAN' at 'silkit://localhost:8501', SIL Kit version: 4.0.35
[date time] [SilKitAdapterSocketCAN] [info] Connected to registry at 'tcp://127.0.0.1:8501' via 'tcp://127.0.0.1:38226' (silkit://localhost:8501)
[date time] [SilKitAdapterSocketCAN] [info] Creating CAN controller 'SilKitAdapterSocketCAN_CAN_CTRL'
[date time] [SilKitAdapterSocketCAN] [info] Creating CAN device connector for 'can0'
[date time] [SilKitAdapterSocketCAN] [info] vCAN device successfully opened
Press CTRL + C to stop the process...
You should see also a SilKitAdapterSocketCAN participant announcement in the SIL Kit registry terminal
[date time] [SilKitRegistry] [info] Sending known participant message to SilKitAdapterSocketCAN
In a separate Terminal, launch the CanEchoDevice
./bin/SilKitDemoCanEchoDevice
You should see the following output in the terminal after launching the CanEchoDevice:
Creating participant 'CanEchoDevice' at silkit://localhost:8501
[date time] [CanEchoDevice] [info] Creating participant 'CanEchoDevice' at 'silkit://localhost:8501', SIL Kit version: 4.0.36
[date time] [CanEchoDevice] [info] Connected to registry at 'tcp://127.0.0.1:8501' via 'tcp://127.0.0.1:35464' (silkit://localhost:8501)
[date time] [CanEchoDevice] [info] Creating CAN controller 'CanEchoDevice_CAN1'
Press CTRL + C to stop the process...
Note: You can launch SilKitDemoCanEchoDevice with --log Debug argument if you want to see the CAN payload traffic logs.
You should also see a CanEchoDevice participant announcement in the SIL Kit registry terminal:
[date time] [SilKitRegistry] [info] Sending known participant message to CanEchoDevice
You can read data that is available on the can0 vCAN device. To do this you can use the following command in a separate Terminal:
candump can0
If both the SendSocketCANFrames.sh script and the CanEchoDevice are running along with the SilKitAdapterSocketCAN, you should see output similar to the following in the terminal:
can0 001 [4] AA AA BB BB
can0 002 [4] AA BB BB 00
can0 001 [4] AA AA BB BB
can0 002 [4] AA BB BB 00
.
.
As described earlier, CAN messages with ID of 001 are the ones sent from can0 (outgoing). On the other hand, the ones with ID 002 are being received on can0, these have been sent back from the CanEchoDevice after increasing ID by 1 and applying a shift-left of data by one byte.
If CANoe is connected to the SIL Kit, all CAN traffic is visible there as well. You can also execute a test unit which checks if the CAN messages are being transmitted as expected.
Before you can connect CANoe to the SIL Kit network you should adapt the RegistryUri in /SocketCAN/demos/CANoe_SILKit_config.silkit.yaml to the IP address of your system where your sil-kit-registry is running.
The configuration file is referenced by both following CANoe use cases (Desktop Edition and Server Edition).
Load the CANoe_vCAN_configuration.cfg from the demos/CANoe directory and start the measurement. Optionally you can also start the test unit execution of included test configuration.
While the demo is running these tests should be successful.
You can also run the same test set with CANoe4SW SE by executing the following powershell script demos/CANoe4SW_SE/run.ps1.
The test cases are executed automatically and you should see a short test report in powershell after execution.
You can also run the same test set with CANoe4SW SE (Linux). At first you have to execute the powershell script demos/CANoe4SW_SE/createEnvForLinux.ps1 on your windows system by using tools of CANoe4SW SE (Windows) to prepare your test environment for Linux.
In demos/CANoe4SW_SE/run.sh you should adapt canoe4sw_se_install_dir to the path of your CANoe4SW SE installation in your Linux system. Afterwards you can execute demos/CANoe4SW_SE/run.sh in your Linux system. The test cases are executed automatically and you should see a short test report in your terminal after execution.
This is done with the same previous setup, but instead of generating CAN traffic on the vCAN device (in Linux, by running the SendSocketCANFrames.sh script ), CANoe Desktop Edition is the source of CAN payload.
You can start generating CAN frames in CANoe Desktop Edition using the CanDemoPanel:
After starting the measurement, click on the Toggle sending button to start sending CAN frames on SIL Kit CAN1 network. The outgoing CAN frames have an ID of 0C8 and hold 87 65 43 21 data.
You can read data that is available on the can0 vCAN device
candump can0
If the CanEchoDevice is running along with the SilKitAdapterSocketCAN, you should see output similar to the following in the terminal:
can0 0C8 [4] 87 65 43 21
can0 0C9 [4] 65 43 21 00
can0 0C8 [4] 87 65 43 21
can0 0C9 [4] 65 43 21 00
.
.
As described earlier, CAN messages with ID of 0C8 are the ones sent from CANoe Desktop Edition and the ones with ID 0C9 are the response of the CanEchoDevice to those frames, after increasing their ID by 1 and applying a shift-left of data by one byte.