cfsd proxy CAN RES&Data logger getway
Get opendlv standard message and forward to CAN Messages
This version is for the communicate with the Remote Emergency System(RES) and Datalogger (Haven't been implemented yet)
messages:
The mapping info of messages can be found at CAN Mapping.md
lynx-v0.1.1.odvd is the message set for talking to CAN should only be used in these CAN getway microservice.
lynxres19gw.dbc is the CAN database file which is a reference for decoding and encoding the CAN message.
lynxres19gw.dbc.map is the mapping setting file for the microservice knowing how to map the messsages.
-- Change Fix the message naming : Res init -> opendlv::proxy::SwitchStateRequest 1099
Messege : opendlv::proxy::SwitchStateReading:
| senderstamp | Message Name | Value | Meaning |
|---|---|---|---|
| 1408 | resEStop | 0 | emergency Stop triggered |
| 128 | Not triggered | ||
| 1409 | resQuality | 0-100 | show the quality of connection |
| 1407 | resStatus | 0 | Off |
| 1 | On | ||
| 1410 | resButtons | 1 | 0 |
| 5 | 0+go | ||
| 3 | 1 | ||
| 7 | 1+go |
Receive(listening) Messege : opendlv::proxy::SwitchStateRequest:
| senderstamp | Message Name | Value | Meaning |
|---|---|---|---|
| 1099 | resInit | Initialize the RES device |
run the microservice:
docker run --rm -ti --net=host --privileged chalmersfsd/cfsd-proxy-cangw-res:v0.1.1 --cid=111 --can=can0 --verbose
generate the dbc map file:
docker run --rm -ti -v $PWD/src/:/in -w /in dbc2odvd:v0.0.0 generateHeaderOnly.sh lynxres19gw.dbc lynx-v0.1.0.odvd
get the code snippet:
docker run --rm -ti -v $PWD/src/:/in -w /in dbc2odvd:v0.0.0 generateMappingCodeSnippet.awk lynxres19gw.dbc.map
Setting the CAN:
sudo ip link set can1 up type can bitrate 1000000
sudo ifconfig can1 up
watch the CAN message:
candump can1
send res initialize singal manually
cansend can1 000#010000000000