Node CAN

A Node.js CAN library supporting multiple transports & protocols, heavily inspired by python-can.

This is an early alpha version, do not use in production.

Installation

npm install node-can

Usage

const can = require('node-can');
const bus = new can.Bus('protocolName', 'transportName', options);

Exemple usage :

const can = require('node-can');
const bus = new can.Bus('raw', 'USBCanAnalyserV7', {
	port: '/dev/tty.wchusbserial14110',
});

// Initialize bus communication
bus.run().then(() => {
	console.log('Bus ready');
	bus.on('message', console.log);
});

Transports

USBCanAnalyserV7

This transport implement support for the USBCanAnalyserV7 serial to can adapter.

OS support

Serial communication are done with node-serialport. So it support MacOS, Linux and Windows. See node-serialport supported environments for more informations.

Initialization sequence

node-can take care to send initialization parameters to the serial adapater, and configure it to transfert frames in normal mode (Extended frame will be supported soon).

Usage

const can = require('node-can');
const bus = new can.Bus('raw', 'USBCanAnalyserV7', {
	port: '/some/serial/port', // String, required
});

SocketCAN

OS support

SocketCan is available only on linux. The transport should working on all linux distributions built with socketCAN support.

Usage

const can = require('node-can');
const bus = new can.Bus('raw', 'socketCan', {
	interface: 'can0', // String, required
});

Protocols

RAW

Usage

const can = require('node-can');
const bus = new can.Bus('raw', 'USBCanAnalyserV7', {
	interface: 'can0',
});

// Listen for messages
bus.protocol.on('message', console.log);

// Write message
bus.transport.write({ ...messageProps });

CanOPEN

CanOPEN is not fully implemented !

Usage

const can = require('node-can');
const bus = new can.Bus('canopen', 'USBCanAnalyserV7', {
	port: '/some/serial/port',
});

bus.run().then(() => {
	const applyNetworkDef = bus.protocol.dic.loadEdsFile('filepath.eds');

	// Scan for slave nodes
	bus.protocol.network.scanner.search().then((nodeIds) => {
		if (nodeIds.length) {
			// Slaves are present in network
			const node = bus.protocol.network.addNode(nodeIds[0], applyNetworkDef());

			node.pdo.read().then(() => {
				console.log(`Node ${node.id} : PDO OK`);

				// Listen for change on a given signal
				const pdoSignal = node.pdo.get('SOME_SIGNAL');
				pdoSignal.on('change', console.log);

				// Read SDO
				node.sdo.get('SOME_RECORD').get('SOME_VARIABLE').read().then(console.log);

				// Write SDO
				const sdoVal = 0x01;
				node.sdo.get('SOME_RECORD').get('SOME_VARIABLE').setRaw(sdoVal).save().then(console.log);
			});
		} else {
			console.error('Node slave node found');
		}
	});
});

TODO

• Write tests
• Write real documentation
• More comments in code
• Prepbuild library with babel at installation, instead of using @babel/register
• Ability to configure extended frame mode using USBCanAnalyserV7 transport
• Create an interface to allow developers to extending protocols & transports
• Implement .kcd parser for raw protocol
• Implement socket can support (need a native interface)
• CanOPEN protocol
  • Ability to auto download object dictionary from a slave node
  • Implement LSS
  • PDO write
  • Implement SYNC
  • Implement TIME PRODUCER
  • Implement xml dictionary parser
  • Implement segment download
  • Implement block uploads / downloads