VILLASnode/tests/integration/node-can.sh

#!/usr/bin/env bash
#
# Integration can test using villas node.
#
# Author: Niklas Eiling <niklas.eiling@eonerc.rwth-aachen.de>
# SPDX-FileCopyrightText: 2014-2023 Institute for Automation of Complex Power Systems, RWTH Aachen University
# SPDX-License-Identifier: Apache-2.0
# To set up vcan interface use the following commands
# sudo modprobe vcan
# sudo ip link add dev vcan0 type vcan
# sudo ip link set vcan0 up

set -e

CAN_IF=$(ip link show type vcan | head -n1 | awk '{match($2, /(.*):/,a)}END{print a[1]}')

if [[ ! ${CAN_IF} ]]; then
    echo "Did not find any vcan interface"
    exit 99
fi

# Check if vcan0 interface is present
if [[ ! $(ip link show "${CAN_IF}" up) ]]; then
    echo "Interface ${CAN_IF} is not up"
    exit 99
fi

DIR=$(mktemp -d)
pushd ${DIR}

function finish {
    popd
    rm -rf ${DIR}
}
trap finish EXIT

NUM_SAMPLES=${NUM_SAMPLES:-10}
NUM_VALUES=${NUM_VALUES:-3}

cat > config.json << EOF
{
    "nodes": {
        "can_node1": {
             "type": "can",
             "interface_name": "${CAN_IF}",
             "sample_rate": 500000,
             "in": {
             	"signals": [
             		{
             			"name": "sigin1",
             			"unit": "Volts",
             			"type": "float",
             			"enabled": true,
             			"can_id": 66,
             			"can_size": 4,
             			"can_offset": 0
             		},
             		{
             			"name": "sigin2",
             			"unit": "Volts",
             			"type": "float",
             			"enabled": true,
             			"can_id": 66,
             			"can_size": 4,
             			"can_offset": 4
             		},
             		{
             			"name": "sigin3",
             			"unit": "Volts",
             			"type": "float",
             			"enabled": true,
             			"can_id": 67,
             			"can_size": 8,
             			"can_offset": 0
             		}
             	]
             },
             "out": {
             	"signals": [
             		{
             			"type": "float",
             			"can_id": 66,
             			"can_size": 4,
             			"can_offset": 0
             		},
             		{
             			"type": "float",
             			"can_id": 66,
             			"can_size": 4,
             			"can_offset": 4
             		},
             		{
             			"type": "float",
             			"can_id": 67,
             			"can_size": 8,
             			"can_offset": 0
             		}
             	]
             }
        }
    }
}
EOF

villas signal -v ${NUM_VALUES} -l ${NUM_SAMPLES} -n random > input.dat

villas node config.json &

# Wait for node to complete init
sleep 1

candump -n ${NUM_SAMPLES} -T 1000 -L ${CAN_IF} | awk '{print $3}' > can_out.dat &

# Send / Receive data to node
villas pipe -l ${NUM_SAMPLES} config.json can_node1 > output.dat < input.dat &

wait $candump

cat can_out.dat | xargs -I % cansend ${CAN_IF} %

# Wait for node to handle samples
sleep 1

kill %villas
wait %villas

villas compare input.dat output.dat