# Topics To Be Covered In This Post #
- What I did this week
- Created CAN interface using cannelloni
- Implemented the FeedCAN module.
- Added support for sending Steering wheel CAN messages.
- Created a test script for sending CAN frames using the USB CAN adapter.
- What I plan to do next
# How to use cannelloni #
To test the AGL Demo Control Panel for sending CAN messages to the target machine, we can create a virtual CAN interface using cannelloni. Cannelloni is a SocketCAN over Ethernet tunnel that uses UDP to transfer CAN frames between two machines. Here are the steps used to create a vcan interface using Cannelloni between the host machine (laptop) and target machine (Raspberry Pi) running the AGL IVI Image:
Note: Since I am using the IVI image for testing this, there is no need to install cannelloni and configure the can0 interface on the target machine.
- On both machines, create the virtual CAN interface with the command:
sudo ip link add dev can0 type vcan
- On both machines, bring the virtual CAN interface online with the command:
sudo ip link set up can0
- On both machines, install cannelloni from its GitHub repository
- On one machine (e.g. the laptop), run cannelloni as a server with the command:
cannelloni -I can0 -R <raspberry pi IP address> -L \
<laptop IP address> -S 20000 -D 20000
- On the other machine (e.g. the Raspberry Pi), run cannelloni as a client with the command:
cannelloni -I can0 -R <laptop IP address> -L \
<raspberry pi IP address> -S 20000 -D 20000
- You should now be able to send and receive CAN frames between the two machines using the vcan interface and Cannelloni.
To test connection #
On the sender machine (Laptop):
cansend can0 021#FFFFFFFF80000000
On receiver machine (RPi4):
can_viewer.py -c can0 -i socketcan
# OR
candump can0
# FeedCAN module #
The “FeedCAN” module sends a CAN signal using the can module by defining a function send_can_signal that takes a CAN frame as input, separates the frame into arbitration ID and data parts, and sends the CAN signal using the can.interface.Bus class.
import can
def send_can_signal(frame):
msg = separate_can_frame(frame)
bus = can.interface.Bus(channel='can0', bustype='socketcan')
try:
bus.send(msg)
print("CAN signal sent successfully:")
print("CAN ID:", hex(msg.arbitration_id))
print("Data:", msg.data)
except can.CanError:
print("Failed to send CAN signal")
finally:
bus.shutdown()
def separate_can_frame(frame):
# split the frame into arbitration ID and data parts
arb_id, data = frame.split("#")
arb_id = int(arb_id, 16)
data = bytes.fromhex(data)
message = can.Message(arbitration_id=arb_id, data=data)
return message
def main():
frame = "021#FFFFFFFF10000000"
send_can_signal(frame)
if __name__ == "__main__":
main()
# Steering wheel CAN messages #
After making the FeedCAN, the next step involved defining the relevant CAN frames for the Steering controls and mapping them accordingly. To simplify the convention, I decided to map the VSS path and CAN frame message to the Object name (QPushButton).
self.switches = {
"VolumeUp": ["Vehicle.Cabin.SteeringWheel.Switches.VolumeUp","021#FFFFFFFF40000000"],
"VolumeDown": ["Vehicle.Cabin.SteeringWheel.Switches.VolumeDown","021#FFFFFFFF10000000"],
"VolumeMute": ["Vehicle.Cabin.SteeringWheel.Switches.VolumeMute","021#FFFFFFFF01000000"],
...
}
Then depending on whether the user wishes to send the Kuksa signal or CAN messages, we can easily switch between the two.
def controls_clicked(self, button):
button_clicked = button.objectName()
# send CAN message
feed_can.send_can_signal(self.Steering.switches[button_clicked][1])
# send kuksa signal
self.feed_kuksa.send_values\
(self.Steering.switches[button_clicked][0], str(true))
# Test script for USB CAN adapters #
I also created a test script for the USB CAN adapters which allows us to send messages over the interface, however, the downside is that the adapter does not show up as a CAN interface on the machine. Possible solutions, if we decide to go ahead with the adapters for demo purposes, we could create a small Python script that routes all the incoming messages to the can0 interface.
Test script #
Sender (Host machine):
from can import Message
from can.interfaces.seeedstudio import SeeedBus
import threading
import time
class CanSend(threading.Thread):
def __init__(self, channel):
super(CanSend, self).__init__()
self.bus = SeeedBus(bustype='seeedstudio', channel=channel, bitrate=1000000)
self.stop_requested = threading.Event()
def run(self):
while not self.stop_requested.is_set():
button_actions = [
{ "button": "previous", "data": 0xFFFFFFFF80000000 },
{ "button": "volup", "data": 0xFFFFFFFF40000000 },
# We can add more buttons here
]
for button_action in button_actions:
self.send_button_action(button_action)
def stop(self):
self.stop_requested.set()
def send_button_action(self, button_action):
arbitration_id = 0x021
data = button_action["data"]
message = Message(arbitration_id=arbitration_id, data=[data & 0xff, (data >> 8) & 0xff, (data >> 16) & 0xff, (data >> 24) & 0xff], is_extended_id=False)
self.bus.send(message)
sender = CanSend('/dev/ttyUSB0')
sender.start()
Receiver (RPi4):
import can
def receive_can_messages():
# Create a new 'SeeedBus' instance with 'usb0' channel
bus = can.interface.Bus(channel='/dev/ttyUSB0', bustype='seeedstudio')
# Loop to continuously receive messages
while True:
# Receive a message
message = bus.recv()
# If a message is received, print its details
if message is not None:
print(f'Received message: {message}')
if __name__ == '__main__':
receive_can_messages()
# What Next? #
- Initial work on using kuksa-client version 0.4.0
- Subscribe to VSS signals for registering changes made on target.
- If necessary, I could implement a service to route the incoming messages on the can0 interface. (after discussion with mentors)