Redpesk canbus-binding's plugins

You will find more advanced plugins in the repository. This concern mainly ARS408 maritim Radar or handle the NMEA2000 protocol by example.

How to build

Pre-requisites

To build theses plugins you need the following development packages installed on your system:

• afb-binding-devel
• canbus-binding-devel
• afb-libcontroller
• afb-libhelpers

And the building tools:

• cmake
• gcc or clang
• systemd-devel
• oniguruma
• json-c
• jq

From the sources

Get the Redpesk Application Framework Binder and install it:

$ git clone https://github.com/redpesk-core/app-framework-binder.git
Cloning into 'app-framework-binder'...
remote: Enumerating objects: 10708, done.
remote: Counting objects: 100% (10708/10708), done.
remote: Compressing objects: 100% (2908/2908), done.
remote: Total 10708 (delta 8036), reused 10389 (delta 7717), pack-reused 0
Receiving objects: 100% (10708/10708), 4.25 MiB | 681.00 KiB/s, done.
Resolving deltas: 100% (8036/8036), done.
$ mkdir build
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=DEBUG -DUSE_SIMULATION=YES ..
-- The C compiler identification is GNU 10.2.1
-- The CXX compiler identification is GNU 10.2.1
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc - works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ - works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found PkgConfig: /usr/bin/pkg-config (found version "1.6.3")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Checking for module 'json-c'
--   Found json-c, version 0.13.1
-- Looking for include file magic.h
-- Looking for include file magic.h - found
-- Looking for magic_load in magic
-- Looking for magic_load in magic - found
-- Checking for module 'libsystemd>=222'
--   Found libsystemd, version 245
-- Checking for module 'libmicrohttpd>=0.9.60'
--   Found libmicrohttpd, version 0.9.71
-- Checking for module 'openssl'
--   Found openssl, version 1.1.1g
-- Checking for module 'uuid'
--   Found uuid, version 2.35.2
-- Checking for module 'cynara-client'
--   Package 'cynara-client', required by 'virtual:world', not found
-- Checking for module 'check'
--   Found check, version 0.14.0
-- Configuring done
-- Generating done
-- Build files have been written to: /home/claneys/Workspace/Sources/IOTbzh/gitlab/redpesk-core/app-framework-binder/build
$ make -j
Scanning dependencies of target afb-json2c
Scanning dependencies of target afb-genskel
Scanning dependencies of target afb-dbus-binding
Scanning dependencies of target hello3
Scanning dependencies of target hello2
Scanning dependencies of target demoContext
Scanning dependencies of target afb-lib
Scanning dependencies of target tic-tac-toe
Scanning dependencies of target afb-exprefs
Scanning dependencies of target afbwsc
Scanning dependencies of target authLogin
Scanning dependencies of target demoPost
Scanning dependencies of target tuto-app1
[  1%] Building C object src/devtools/CMakeFiles/afb-genskel.dir/genskel.c.o
[  2%] Building C object src/devtools/CMakeFiles/afb-json2c.dir/json2c.c.o
[  3%] Building C object src/devtools/CMakeFiles/afb-exprefs.dir/exprefs.c.o
[  4%] Building C object bindings/intrinsics/CMakeFiles/afb-dbus-binding.dir/afb-dbus-binding.c.o
[  5%] Building C object bindings/samples/CMakeFiles/hello3.dir/hello3.c.o
[  6%] Building C object bindings/samples/CMakeFiles/hello2.dir/hello2.c.o
[  7%] Building C object src/CMakeFiles/afbwsc.dir/afb-ws.c.o
[  9%] Building C object bindings/samples/CMakeFiles/tic-tac-toe.dir/tic-tac-toe.c.o
[  9%] Building C object src/CMakeFiles/afbwsc.dir/afb-ws-client.c.o
[ 10%] Building C object bindings/samples/CMakeFiles/demoPost.dir/DemoPost.c.o
[...]
[ 94%] Linking C executable test-globset
[ 95%] Linking C executable test-session
[ 96%] Linking C executable test-apiv3
[ 96%] Built target test-globset
[ 97%] Linking C executable test-u16id
[ 97%] Built target test-u16id
[ 97%] Built target test-session
[ 98%] Linking C executable test-wrap-json
[ 98%] Built target test-apiv3
[ 99%] Linking C executable afb-daemon
[ 99%] Built target test-wrap-json
[100%] Linking C executable test-apiset
[100%] Built target test-apiset
[100%] Built target afb-daemon
$ sudo make install

Do the same for the lib afb-libhelpers and afb-libcontroller:

git clone https://github.com/redpesk-common/afb-libhelpers.git
git clone https://github.com/redpesk-common/afb-libcontroller.git
# install afb-libhelpers
cd afb-libhelpers
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=DEBUG ..
make -j
sudo make install
# install afb-libcontroller
cd ../afb-libcontroller
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=DEBUG ..
make -j
sudo make install

Finally, get the canbus-binding and install it:

git clone https://github.com/redpesk-common/canbus-binding.git
cd canbus-binding
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=DEBUG  -DCMAKE_INSTALL_PREFIX=/usr/local ..
make -j
sudo make install

You can specify if you want the j1939 and isotp enabled by add these options to you cmake command:

-DWITH_FEATURE_J1939=ON/OFF and -DWITH_FEATURE_ISOTP=ON/OFF

From the distribution packages

INSTRUCTIONS WHEN THE PUBLICS OBS PROJECTS AND REPOS WILL BE CREATED INSTRUCTIONS WHEN THE PUBLICS OBS PROJECTS AND REPOS WILL BE CREATED INSTRUCTIONS WHEN THE PUBLICS OBS PROJECTS AND REPOS WILL BE CREATED

Install the canbus-binding from official packages repositories if you want to test your canbus-plugin natively on your host:

^- Fedora

export DISTRO="Fedora_32"
export REVISION=28
source /etc/os-release ; export DISTRO="${NAME}_${VERSION_ID}"
sudo wget -O /etc/yum.repos.d/redpesk_devel_${REVISION}.repo http://download.opensuse.org/repositories/IotBzh/redpesk_devel_${REVISION}/${DISTRO}/redpesk_devel_${REVISION}.repo
sudo dnf install canbus-binding

^- OpenSUSE

export DISTRO="openSUSE_Leap_15.2"
export REVISION=28
source /etc/os-release; export DISTRO=$(echo $PRETTY_NAME | sed "s/ /_/g")
sudo zypper ar http://download.opensuse.org/repositories/IotBzh/redpesk_devel_${REVISION}/${DISTRO}/redpesk_devel_${REVISION}.repo
sudo zypper --gpg-auto-import-keys ref
sudo zypper install canbus-binding

^- Ubuntu

export REVISION="28"
export DISTRO="xUbuntu_20.04"
wget -O - http://download.opensuse.org/repositories/IotBzh/redpesk_devel_${REVISION}/${DISTRO}/Release.key | sudo apt-key add -
sudo bash -c "cat >> /etc/apt/sources.list.d/redpesk.list <<EOF
deb http://download.opensuse.org/repositories/IotBzh/redpesk_devel_${REVISION}/${DISTRO}/ ./
EOF"
sudo apt-get update
sudo apt-get install canbus-binding

^- Debian

export REVISION="28"
export DISTRO="Debian_10"
wget -O - http://download.opensuse.org/repositories/IotBzh/redpesk_devel_${REVISION}/${DISTRO}/Release.key | sudo apt-key add -
sudo bash -c "cat >> /etc/apt/sources.list.d/redpesk.list <<EOF
deb http://download.opensuse.org/repositories/IotBzh/redpesk_devel_${REVISION}/${DISTRO}/ ./
EOF"
sudo apt-get update
sudo apt-get install canbus-binding

INSTRUCTIONS WHEN THE PUBLICS OBS PROJECTS AND REPOS WILL BE CREATED INSTRUCTIONS WHEN THE PUBLICS OBS PROJECTS AND REPOS WILL BE CREATED INSTRUCTIONS WHEN THE PUBLICS OBS PROJECTS AND REPOS WILL BE CREATED

Build

This project do not build anything by default. You have to select the plugin you want to build:

$ mkdir build
$ cd build
$ cmake ..
-- The C compiler identification is GNU 10.2.1
-- The CXX compiler identification is GNU 10.2.1
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc - works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ - works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
=== Including plugin 'ARS408_signals'
=== Including plugin 'can-ethernet'
=== Including plugin 'gps-signals'
=== Including plugin 'j1939-signals'
=== Including plugin 'joystick-signals'
=== Including plugin 'simrad-draft-signals'
=== Including plugin 'n2k-basic-signals'
-- Configuring done
-- Configuring done
-- Generating done
-- Build files have been written to: /home/claneys/Workspace/Sources/IOTbzh/github/redpesk/canbus-plugins-community/build
$ make gps-signals
Scanning dependencies of target gps-signals
[ 50%] Building CXX object src/gps/CMakeFiles/gps-signals.dir/gps-signals.cpp.o
[100%] Linking CXX shared module gps-signals.ctlso
[100%] Built target gps-signals

How to use

Adapt the canbus-binding configuration file

Change the control-canbus-binding.json file by selecting the plugin(s) to load. Here is an example selecting the gps-signals plugin:

{
        "$schema": "",
        "metadata": {
                "uid": "CAN bus",
                "version": "2.0",
                "api": "canbus",
                "info": "CAN bus Configuration"
        },
        "config": {
                "active_message_set": 0,
                "dev-mapping": {
                        "hs": "can0"
                },
                "diagnostic_bus": "hs"
        },
        "plugins": [
                {
                        "uid": "gps-signals",
                        "info": "gps signals",
                        "libs": "gps-signals.ctlso"
                }
        ]
}

You also have to change the CAN device if you do not use the can0 default one. Also make it correspond to your needs against the json configuration you used. Here about the gps-signals json definitions, we only need the hs bus.

Setup CAN bus

Virtual CAN device

Connected to the target, here is how to load the virtual CAN device driver and set up a new vcan device :

modprobe vcan
ip link add vcan0 type vcan
ip link set vcan0 up
You also can named your linux CAN device like you want and if you need name it can0 :

modprobe vcan
ip link add can0 type vcan
ip link set can0 up

CAN device using the USB CAN adapter

Using real connection to CAN bus of your car using the USB CAN adapter connected to the OBD2 connector.

Once connected, launch dmesg command and search which device to use:

$ dmesg
[...]
[  131.871441] usb 1-3: new full-speed USB device number 4 using ohci-pci
[  161.860504] can: controller area network core (rev 20120528 abi 9)
[  161.860522] NET: Registered protocol family 29
[  177.561620] usb 1-3: USB disconnect, device number 4
[  191.061423] usb 1-2: USB disconnect, device number 3
[  196.095325] usb 1-2: new full-speed USB device number 5 using ohci-pci
[  327.568882] usb 1-2: USB disconnect, device number 5
[  428.594177] CAN device driver interface
[ 1872.551543] usb 1-2: new full-speed USB device number 6 using ohci-pci
[ 1872.809302] usb_8dev 1-2:1.0 can0: firmware: 1.7, hardware: 1.0
[ 1872.809356] usbcore: registered new interface driver usb_8dev

Here device is named can0.

This instruction assuming a speed of 500000kbps for your CAN bus, you can try others supported bitrate like 125000, 250000 if 500000 doesn’t work:

$ ip link set can0 type can bitrate 500000
$ ip link set can0 up
$ ip link show can0
  can0: <NOARP, UP, LOWER_UP, ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 500000 sample-point 0.875
    tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1
    sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1
    clock 16000000

On a Rcar Gen3 board, you’ll have your CAN device as can1 because can0 already exists as an embedded device.

The instructions will be the same:

$ ip link set can1 type can bitrate 500000
$ ip link set can1 up
$ ip link show can1
  can0: <NOARP, UP, LOWER_UP, ECHO> mtu 16 qdisc pfifo_fast state UNKNOWN qlen 10
    link/can
    can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 0
    bitrate 500000 sample-point 0.875
    tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1
    sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1
    clock 1600000

Rename an existing CAN device

You can rename an existing CAN device using following command and doing so move an existing can0 device to anything else and then use another device as can0 . For a Rcar Gen3 board do the following by example:

sudo ip link set can0 down
sudo ip link set can0 name bsp-can0
sudo ip link set bsp-can0 up

Then connect your USB CAN device that will be named can0 by default.

Install and launch the binding

Now, install the configuration and plugin(s) to be used by the binding:

$ cd build
$ sudo make install
Install the project...
-- Install configuration: ""
-- Up-to-date: /usr/local/canbus-binding/etc/control-canbus-binding.json
$ make gps-signal
Scanning dependencies of target gps-signals
[ 50%] Building CXX object src/gps/CMakeFiles/gps-signals.dir/gps-signals.cpp.o
[100%] Linking CXX shared module gps-signals.ctlso
[100%] Built target gps-signals
$ sudo make install_gps-signal
Scanning dependencies of target install_gps-signals
[100%] Built target install_gps-signals

Launch it using the afb-daemon (look out at the gps-signals.ctlso plugin load):

$ afb-daemon --name=afbd-canbus-binding --port=1234 --roothttp=. --tracereq=common --token= --workdir=/var/local/lib/afm/applications/canbus-binding --binding=lib/afb-canbus-binding.so --ws-server=unix:/tmp/canbus -vvv
------BEGIN OF CONFIG-----
-- {
--    "name": "afbd-canbus-binding",
--    "port": 1234,
--    "roothttp": ".",
--    "tracereq": "common",
--    "token": "",
--    "workdir": "/usr/local/canbus-binding",
--    "binding": [
--      "lib/afb-canbus-binding.so"
--    ],
--    "ws-server": [
--      "unix:/tmp/canbus"
--    ],
--    "apitimeout": 20,
--    "cache-eol": 100000,
--    "cntxtimeout": 32000000,
--    "session-max": 200,
--    "rootdir": ".",
--    "uploaddir": ".",
--    "rootbase": "/opa",
--    "rootapi": "/api",
--    "ldpaths": [
--      "/usr/local/lib64/afb"
--    ]
--  }
------END OF CONFIG-----
INFO: running with pid 161605
INFO: API monitor added
INFO: binding [lib/afb-canbus-binding.so] looks like an AFB binding V3
INFO: API canbus added
WARNING: [API canbus] CTL-INIT JSON file found but not used : /usr/local/canbus-binding/etc/control-canbus-binding.json [/home/claneys/Workspace/Sources/IOTbzh/gitlab/redpesk-common/libappcontroller/ctl-lib/ctl-config.c:93,ConfigSearch]
WARNING: [API canbus] CTL-INIT JSON file found but not used : /home/claneys/Workspace/Sources/IOTbzh/gitlab/redpesk-common/canbus-binding/build/package/etc/control-canbus-binding.json [/home/claneys/Workspace/Sources/IOTbzh/gitlab/redpesk-common/libappcontroller/ctl-lib/ctl-config.c:93,ConfigSearch]
INFO: [API canbus] CTL-LOAD-CONFIG: loading config filepath=/usr/local/canbus-binding/etc/control-canbus-binding.json
DEBUG: [API canbus] Config { "active_message_set": 0, "dev-mapping": { "hs": "can0" }, "diagnostic_bus": "hs" }
DEBUG: [API canbus] BCM socket ifr_name is : can0
DEBUG: [API canbus] BCM socket ifr_name is : can0
DEBUG: [API canbus] BCM socket ifr_name is : can0
DEBUG: [API canbus] Shims initialized
DEBUG: [API canbus] Clearing existing diagnostic requests
DEBUG: [API canbus] Diagnostic Manager initialized
DEBUG: [API canbus] Plugin search path : '/usr/local/canbus-binding:/usr/local/canbus-binding/lib/..'
NOTICE: [API canbus] CTL-PLUGIN-LOADONE virtual-car successfully registered
WARNING: [API canbus] Plugin multiple instances in searchpath will use /usr/local/canbus-binding/lib/plugins/vcar-signals.ctlso [/home/claneys/Workspace/Sources/IOTbzh/gitlab/redpesk-common/libappcontroller/ctl-lib/ctl-plugin.c:247,LoadFoundPlugins]
INFO: Scanning dir=[/usr/local/lib64/afb] for bindings
DEBUG: Init config done
NOTICE: API canbus starting...
DEBUG: [API canbus] Found 1 signal(s)
DEBUG: [API canbus] Found 2 signal(s)
NOTICE: [API canbus] is_engine_on: engine.speed CAN signal found, but engine seems off
NOTICE: [API canbus] is_engine_on: engine.speed diagnostic message found, but engine seems off
WARNING: [API canbus] signal: Engine is off, diagnostic_messages.engine.speed won't received responses until it's on [/home/claneys/Workspace/Sources/IOTbzh/gitlab/redpesk-common/canbus-binding/canbus-binding/binding/canbus-cb.cpp:207,subscribe_unsubscribe_diagnostic_messages]
DEBUG: [API canbus] BCM socket ifr_name is : can0
DEBUG: [API canbus] Sending diagnostic request: arb_id: 0x7df, mode: 0x1, pid: 0xc, no payload
DEBUG: [API canbus] BCM socket ifr_name is : can0
DEBUG: [API canbus] Signal: diagnostic_messages.engine.speed subscribed
INFO: API canbus started
NOTICE: API monitor starting...
INFO: API monitor started
WARNING: unable to set the upload directory . [/home/claneys/Workspace/Sources/IOTbzh/github/redpesk-core/app-framework-binder/src/main-afb-daemon.c:373,start_http_server]
NOTICE: Serving rootdir=. uploaddir=/tmp
NOTICE: Listening interface *:1234
NOTICE: Browser URL= http://localhost:1234

Simple usage examples

Plug your GPS to your hardware CAN bus or use canplayer to replay a set of CAN messages to send, ie:

canplayer gps-record

Then connect to your binding using the CLI utility provided with the binder and call directly API's verbs, ie:

$ afb-client-demo -H -d unix:/tmp/canbus
list
ON-REPLY 1:list: success
[
  "messages.hvac.fan.speed",
  "messages.hvac.temperature.left",
  "messages.hvac.temperature.right",
  "messages.hvac.temperature.average",
  "messages.engine.speed",
  "messages.fuel.level.low",
  "messages.fuel.level",
  "messages.vehicle.average.speed",
  "messages.engine.oil.temp",
  "messages.engine.oil.temp.high",
  "messages.doors.boot.open",
  "messages.doors.front_left.open",
  "messages.doors.front_right.open",
  "messages.doors.rear_left.open",
  "messages.doors.rear_right.open",
  "messages.windows.front_left.open",
  "messages.windows.front_right.open",
  "messages.windows.rear_left.open",
  "messages.windows.rear_right.open",
  "diagnostic_messages.engine.load",
  "diagnostic_messages.engine.coolant.temperature",
  "diagnostic_messages.fuel.pressure",
  "diagnostic_messages.intake.manifold.pressure",
  "diagnostic_messages.engine.speed",
  "diagnostic_messages.vehicle.speed",
  "diagnostic_messages.intake.air.temperature",
  "diagnostic_messages.mass.airflow",
  "diagnostic_messages.throttle.position",
  "diagnostic_messages.running.time",
  "diagnostic_messages.EGR.error",
  "diagnostic_messages.fuel.level",
  "diagnostic_messages.barometric.pressure",
  "diagnostic_messages.ambient.air.temperature",
  "diagnostic_messages.commanded.throttle.position",
  "diagnostic_messages.ethanol.fuel.percentage",
  "diagnostic_messages.accelerator.pedal.position",
  "diagnostic_messages.hybrid.battery-pack.remaining.life",
  "diagnostic_messages.engine.oil.temperature",
  "diagnostic_messages.engine.fuel.rate",
  "diagnostic_messages.engine.torque"
]
subscribe {"event": "doors*"}
ON-EVENT-CREATE: [1:canbus/messages.doors.boot.open]
ON-EVENT-SUBSCRIBE 2:subscribe: [1]
ON-EVENT-CREATE: [2:canbus/messages.doors.front_left.open]
ON-EVENT-SUBSCRIBE 2:subscribe: [2]
ON-EVENT-CREATE: [3:canbus/messages.doors.front_right.open]
ON-EVENT-SUBSCRIBE 2:subscribe: [3]
ON-EVENT-CREATE: [4:canbus/messages.doors.rear_left.open]
ON-EVENT-SUBSCRIBE 2:subscribe: [4]
ON-EVENT-CREATE: [5:canbus/messages.doors.rear_right.open]
ON-EVENT-SUBSCRIBE 2:subscribe: [5]
ON-REPLY 2:subscribe: success
null
ON-EVENT-PUSH: [5]
{
  "id":1568,
  "name":"messages.doors.rear_right.open",
  "value":false,
  "timestamp":1601458833434743
}
ON-EVENT-PUSH: [1]
{
  "id":1568,
  "name":"messages.doors.boot.open",
  "value":false,
  "timestamp":1601458833434837
}
ON-EVENT-PUSH: [2]
{
  "id":1568,
  "name":"messages.doors.front_left.open",
  "value":false,
  "timestamp":1601458833434988
}
ON-EVENT-PUSH: [3]
{
  "id":1568,
  "name":"messages.doors.front_right.open",
  "value":false,
  "timestamp":1601458833435048
}
ON-EVENT-PUSH: [4]
{
  "id":1568,
  "name":"messages.doors.rear_left.open",
  "value":false,
  "timestamp":1601458833435083
}
get { "event": "doors.rear_left.open" }
ON-REPLY 3:get: success
[
  {
    "event":"messages.doors.rear_left.open",
    "value":0.0
  }
]

Get more details from the binding complete documentation