Main project page:
https://projects.eclipse.org/projects/tools.titan
The source code of the TTCN-3 compiler and executor:
https://github.com/eclipse/titan.core
References: https://www.kernel.org/doc/Documentation/networking/can.txt
Other useful documentation: https://docs.python.org/3/library/socket.html (search for: “AF_CAN”) https://media.readthedocs.org/pdf/python-can/latest/python-can.pdf http%3A%2F%2Fwww.can-cia.de%2Ffileadmin%2Fresources%2Fdocuments%2Fproceedings%2F2012_hartkopp.pdf http://www.can-cia.de/fileadmin/resources/documents/proceedings/2012_hartkopp.pdf http://v2.can-newsletter.org/uploads/media/raw/46c15d02e1fdd3b04e671693ec548ff7.pdf
#-------------------------------------- #!/bin/bash
sudo modprobe vcan sudo ip link add dev vcan0 type vcan sudo ip link set vcan0 up
#!/bin/bash
sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 mtu 72 sudo ip link set vcan0 up
ip a
#--------------------------------------
cd src ./demo/initscript.sh
or alternatively source demo/initscript.sh
make clean; make
ttcn3_start SocketCAN SocketCAN.cfg or ttcn3_start SocketCAN CAN_matrix_test.cfg
or to run a certain testcase:
ttcn3_start SocketCAN SocketCAN.cfg SocketCAN_RAW_test.tc_can_raw_send_and_receive_can_frame SocketCAN_RAW_test.tc_can_raw_setsockopt_CAN_RAW_FILTER
Review the newly created log files in the src directory and use e.g. Wireshark to trace the CAN interfacce.
#-------------------------------------- Notes: -Using multiple Test interfacces: Currently the init script sets up multiple virtual can interfaces (“vcan0”, “vcan1” in oder to allow using multiple CAN interfaces. The CAN interfaces have to be defined in the TTCN configuration files or may alternatively be defined in the optional parameters of port messages commands ioctl and send_data.
Handling of multiple CAN interfaces is work in progress and no test cases are provided. In order to configure usage with multiple test interfaces, test interfaces for each interface have to be defined in the MTC.
-CAN RAW: CAN FD has been implemented, however not been tested. Depending on the availability of the C-code #define “CAN_FD_FRAME” in /usr/include/linux/can/bcm.h, CAN-FD support is enabled at compile time. The RAW setsockopt has path coverage. However no test coverage that insures the setsockopt functionality provided by the kernel is working correctly. For this purpose in the future might be added additional test cases.
-CAN BCM: TX_SETUP, TX_DELETE have been tested, TX_READ is known to fail test cases. Some tests have indicated, that that SocketCAN BCM does not support concurrently active BCM channels. The BCM has test coverage for TX_SETUP and TX_DELETE. However no test coverage that insures the BCM functionality provided by the kernel is working correctly. For this purpose in the future might be added additional test cases. Return values other than the error code by the BCM are not yet supported. BCM wth CAN FD frames has not been tested yet.
-ISOTP: Iso TP functionality has been added, however currently no options like padding are supported. Feel free to request needed options.
First install the isotp kernel module as descibed here: https://github.com/hartkopp/can-isotp-modules
./make_isotp.sh sudo insmod ./can-isotp.ko
There is an endlessly running test case: ttcn3_start SocketCAN SocketCAN.cfg Isotptest.tc_Isotp_Example001
-CAN J1939: Configure CAN J1939 as following (requires Kernel 5.4 and compiled with can-j1939 kernel module): sudo modprobe vcan sudo ip link add vcan0 type vcan sudo ip link set vcan0 up sudo modprobe can-j1939
For the following test cases, the messages are so huge that screen output of the log file takes too long. Thus comment out as following the following lines in J1939.cfg: //FileMask := LOG_ALL | DEBUG | MATCHING //ConsoleMask := LOG_ALL | DEBUG | MATCHING
ttcn3_start SocketCAN J1939.cfg SocketCAN_J1939_test.tc_can_j1939_send_and_receive_can_frame ttcn3_start SocketCAN J1939.cfg SocketCAN_J1939_test.tc_can_j1939_send_and_receive_can_frame_parallel
Here above lines can be commented in: ttcn3_start SocketCAN J1939.cfg SocketCAN_J1939_test.tc_can_f_j1939_address_claim ttcn3_start SocketCAN J1939.cfg SocketCAN_J1939_test.tc_can_f_j1939_address_claim2
-Merging of logfiles: To merge the logfies from multiple Parallel Test Componets (PTCs) from a single run in timely order into sigle file, run: $TTCN3_DIR/bin/ttcn3_logmerge -o log_merged.txt *.log The merged log-file is found at log_merged.txt
-Dumping CAN Frames using SocketCAN: To dump all received can frames of e.g. “vcan0” run a seperate terminal: $ candump “vcan0”