Replicate candump in GO

datalogging/README.md

@@ -1 +1,10 @@
 # Data Logging & Processing
+
+## Setup
+1. Ensure your Linux or WSL environment has SocketCAN enabled (Documentation WIP).
+
+2. Run `sudo ./vcan_setup.sh` to setup a virtual CAN interface.
+
+3. Run `go run can_receive.go <INTERFACE NAME>`. where `<INTERFACE NAME>` is the virtual CAN interface name. If `./vcan_setup.sh` was executed, `<INTERFACE NAME>` will be `vcan0`.
+
+4. Within another window, test the connection by executing `cansend vcan0 01a#11223344AABBCCDD` or `cangen vcan0 -v` to send continuous CAN frames.

datalogging/can_receive.go

@@ -0,0 +1,58 @@
+package main
+
+import (
+	"fmt"
+	"net"
+	"os"
+	"os/signal"
+	"syscall"
+
+	"github.com/brutella/can"
+)
+
+func main() {
+	if len(os.Args) < 2 {
+		fmt.Println("Usage: go run can_receive.go <INTERFACE NAME>")
+		os.Exit(2)
+	}
+	var interfaceName = os.Args[1]
+
+	canInterface, err := net.InterfaceByName(interfaceName)
+
+	if err != nil {
+		fmt.Printf("Could not connect to %s. Check that you have added it properly.\n", interfaceName)
+		os.Exit(1)
+	}
+
+	// Establish connection to CAN bus
+	connection, err := can.NewReadWriteCloserForInterface(canInterface)
+
+	if err != nil {
+		fmt.Println(err)
+		os.Exit(1)
+	}
+
+	can_bus := can.NewBus(connection)
+	can_bus.SubscribeFunc(func(frm can.Frame) {
+		printCANFrame(interfaceName, frm)
+	})
+	can_bus.ConnectAndPublish()
+
+	// Intercepts interrupt to perform cleanup actions before exiting program
+	signalChan := make(chan os.Signal, 1)
+	signal.Notify(signalChan, os.Interrupt)
+	signal.Notify(signalChan, syscall.SIGTERM)
+
+	go func() {
+		<-signalChan
+		fmt.Println("\nExiting...")
+		can_bus.Disconnect()
+		os.Exit(1)
+	}()
+}
+
+// Formats and outputs CAN frames to match output of candump
+func printCANFrame(interfaceName string, frm can.Frame) {
+	dataToPrint := frm.Data[:frm.Length]
+	fmt.Printf("%s   %-4X   [%d]   % -42X\n", interfaceName, frm.ID, frm.Length, dataToPrint)
+}

datalogging/go.mod

@@ -0,0 +1,8 @@
+module datalogging
+
+go 1.23.2
+
+require (
+	github.com/brutella/can v0.0.2 // direct
+	golang.org/x/sys v0.0.0-20181213200352-4d1cda033e06 // indirect
+)

datalogging/go.sum

@@ -0,0 +1,4 @@
+github.com/brutella/can v0.0.2 h1:8TyjZrBZSwQwSr5x3U9KtKzGW8HNE/NpUgsNcYDAVIM=
+github.com/brutella/can v0.0.2/go.mod h1:NYDxbQito3w4+4DcjWs/fpQ3xyaFdpXw/KYqtZFU98k=
+golang.org/x/sys v0.0.0-20181213200352-4d1cda033e06 h1:0oC8rFnE+74kEmuHZ46F6KHsMr5Gx2gUQPuNz28iQZM=
+golang.org/x/sys v0.0.0-20181213200352-4d1cda033e06/go.mod h1:STP8DvDyc/dI5b8T5hshtkjS+E42TnysNCUPdjciGhY=

datalogging/vcan_setup.sh

@@ -0,0 +1,6 @@
+#!/bin/bash
+
+modprobe -a can can_raw vcan
+ip link add dev vcan0 type vcan
+ip link set up vcan0
+ip link show vcan0