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Python utilities for bridging CAN devices

pycangw.py

This is a generic bridge between two python-can devices.

usage: pycangw.py [-h] config

CAN gateway using python-can

The config file (JSON) is expected to be an array of
dictionaries - each of which represents one python-can
bus. Each dictionary will be passed to the Bus
constructor like so: can.Bus(**dict) .

positional arguments:
  config

options:
  -h, --help  show this help message and exit

kv2socand

Creates a bridge between socketcand (via TCP port) and a kvaser device.

usage: kv2socand [-h] [-ch CHANNEL] [-addr ADDRESS] [-port PORT] [-dev DEVICE] [-log LOGLEVEL]

Autodetect socketcand, and create bridge with kvaser

options:
  -h, --help            show this help message and exit
  -ch CHANNEL, --channel CHANNEL
                        Kvaser channel
  -addr ADDRESS, --address ADDRESS
                        socketcand host address
  -port PORT, --port PORT
                        socketcand port
  -dev DEVICE, --device DEVICE
                        socketcand device (e.g. vcan0)
  -log LOGLEVEL, --loglevel LOGLEVEL
                        logging level

socketcand_utils.py

Utilities for interacting with socketcand

detect()

Detects the UDP broadcast from socketcand, and returns the SocketCAN devices, and host:port address where the server is running.

client.py (don't use)

Implementation of the socketcand ASCII protocol, and bridge to a python-can device. I wrote this before I found out that python-can already had a (albeit bugy) socketcand interface. Fixed the bugs in python-can and upstreamed the changes - no need to use client.py now .

Bridging WSL SocketCAN and Windows CAN device

WSL SocketCAN device <--socketcand--> TCP socket <--kv2socand--> Windows Kvaser Device

  1. Run socketcand (SocketCAN daemon) in WSL. This creates a bridge between a WSL SocketCAN device, and a TCP socket.
  2. Run kv2socand in Windows. This bridges the TCP socket with a Kvaser device.
  3. Profit.

image

Components in blue are additional software to install and run to establish the bridge.

socketcand

Get it from here: https://github.com/linux-can/socketcand Build and install:

# Build
$ autoupdate
$ ./autogen.sh
$ ./configure
$ make
# Install
$ sudo make install
# Run socketcand bridging vcan0 to loopback network interface, redirect output to /dev/null, and put in background
$ socketcand -l eth0 -i vcan0 > /dev/null >2&1 &

kv2socand

Get it from here https://github.com/faisal-shah/python-can-gateway

> python3 -m venv .venv
> .venv\Scripts\activate.bat
> pip install --proxy http://<user>:<pass>@<proxy host> -r requirements.txt
> python3 kv2socand -ch 1
INFO:__main__:Starting Gateway
INFO:can.interfaces.socketcand.socketcand:SocketCanDaemonBus: connected with address ('172.22.160.1', 53900)
INFO:can.kvaser:loaded kvaser's CAN library
INFO:can.kvaser:CAN Filters: None
INFO:can.kvaser:Got configuration of: {'single_handle': True, 'accept_virtual': True}
INFO:can.kvaser:Found 3 available channels
INFO:can.kvaser:0: Kvaser Leaf SemiPro HS, S/N 15018 (#1)
INFO:can.kvaser:1: Kvaser Virtual CAN Driver, S/N 0 (#1)
INFO:can.kvaser:2: Kvaser Virtual CAN Driver, S/N 0 (#2)
INFO:can.kvaser:Hardware filtering has been disabled

Testing

Run candump vcan0 (or whichever interface you are bridging) in WSL. Run CanKing in windows, and use Messages->Traffic Generator to generate some CAN traffic. It should show up in candump

Run cangen vcan0 (or whichever interface you are bridging) in WSL. This will generate CAN traffic. Observe CAN traffic in CanKing