シミュレーション上でCANで送受信

python-canを使用し、シミュレーション上でCANの送受信を行う。

完成イメージ

RequesterがID0x111のCANを送信し、Receiverがそれを受信後、ID0x222を返す。
また、それぞれが送受信するときにprintで出力する。

Receiver

receiver.py

import can
import time

#バス接続
bus = can.interface.Bus(
  interface='vector',
  channel=0,
  bitrate=500000,
  app_name='xlCANcontrol'
)

#受信
while True:
  recv_msg = bus.recv(timeout=1)
  if recv_msg != None:
    print('Receiver: Recieve msg')
    break

#送信
reader = can.io.ASCReader("receve.asc")
start_time = None

for msg in reader:
  if msg.timestamp is not None:
    if start_time is None:
      start_time = msg.timestamp
      t0 = time.time()
    else:
      sleep_time = (msg.timestamp - start_time) - (time.time() - t0)
      if sleep_time > 0:
        time.sleep(sleep_time)

  bus.send(msg)

print('Receiver: Send msg')


bus.shutdown()

receive.asc

Begin Triggerblock
 0.000000 Start of measurement
 0.000000 1  222       Rx   d 02 03 04
End TriggerBlock

Requester

Requester.py

import can
import time

#バス接続
bus = can.interface.Bus(
  interface='vector',
  channel=0,
  bitrate=500000,
  app_name='xlCANcontrol'
)

#送信
reader = can.io.ASCReader("request.asc")
start_time = None

for msg in reader:
  if msg.timestamp is not None:
    if start_time is None:
      start_time = msg.timestamp
      t0 = time.time()
    else:
      sleep_time = (msg.timestamp - start_time) - (time.time() - t0)
      if sleep_time > 0:
        time.sleep(sleep_time)
  bus.send(msg)
print('Requester: Send msg')

#受信
recv_msg = bus.recv(timeout=1)
print('Requester: Receive msg')


bus.shutdown()

request.asc

Begin Triggerblock
 0.000000 Start of measurement
 0.000000 1  111       Rx   d 02 03 04
End TriggerBlock

実行結果

receiver.py→requester.pyの順番で実施したそれぞれの結果が以下。

>python receiver.py
Receiver: Recieve msg
Receiver: Send msg

>python requester.py
Requester: Send msg
Requester: Receive msg

BUSMASTERでの測定結果

test.log

***BUSMASTER Ver 3.2.2***
***PROTOCOL CAN***
***NOTE: PLEASE DO NOT EDIT THIS DOCUMENT***
***[START LOGGING SESSION]***
***START DATE AND TIME 8:2:2026 21:29:27:442***
***HEX***
***SYSTEM MODE***
***START CHANNEL BAUD RATE***
***CHANNEL 1 - Vector - Virtual Channel 1 SN - 100 - 500000 bps***
***END CHANNEL BAUD RATE***
***START DATABASE FILES***
***END DATABASE FILES***
***<Time><Tx/Rx><Channel><CAN ID><Type><DLC><DataBytes>***
21:29:42:4984 Rx 1 0x111 s 2 03 04 
21:29:42:5017 Rx 1 0x222 s 2 03 04 
***END DATE AND TIME 8:2:2026 21:29:45:805***
***[STOP LOGGING SESSION]***