Overview

DoCAN(Diagnostic Communication over Controller Area Network) is a specialized protocol used primarily in automotive and industrial settings.

The driver must implement the CanDriver trait defined in rs-can.

The Server example

A server configuration file named docan.server.yaml needs to be added under the executable file. Example file

use docan_rs::{DoCanServer, Server};
use rs_can::{CanDevice, DeviceBuilder};
use socketcan_rs::SocketCan;
use tokio::signal::ctrl_c;

#[tokio::main]
async fn main() -> anyhow::Result<()> {
    let iface = "vcan0".to_string();
    let mut builder = DeviceBuilder::new();
    builder.add_config(iface.clone(), Default::default());

    let mut device = builder.build::<SocketCan>()?;
    let mut server = DoCanServer::new(
        device.clone(),
        iface.clone(),
    )
    .await?;

    server.service_forever(100).await;

    match ctrl_c().await {
        Ok(()) => {
            println!("\nCtrl+C Signal, exiting...");
            server.service_stop().await;
            device.shutdown();
        }
        Err(err) => {
            eprintln!("Ctrl+C error: {:?}", err);
        }
    }

    Ok(())
}

The client examples

use docan_rs::{Client, DoCanClient};
use iso14229_1::{DataIdentifier, SessionType};
use iso15765_2::{Address, AddressType, IsoTp};
use rs_can::{CanDevice, DeviceBuilder};
use rsutil::types::ByteOrder;
use socketcan_rs::SocketCan;
use std::sync::Arc;
use tokio_stream::StreamExt;

#[tokio::main]
async fn main() -> anyhow::Result<()> {
    let iface = "vcan0".to_string();
    let mut builder = DeviceBuilder::new();
    builder.add_config(iface.clone(), Default::default());

    let mut device = builder.build::<SocketCan>()?;
    let mut client = DoCanClient::new(
        device.clone(),
        iface.clone(),
        Address::default(),
        ByteOrder::default(),
        None,
    )
    .await;
    client.add_data_identifier(DataIdentifier::VIN, 17).await;
    client.tp_layer().start(100).await;

    let tp_layer = client.tp_layer().clone();
    // create task to process non-uds frame
    let handle = tokio::task::spawn(async move {
        let mut stream = tp_layer.frame_stream().await.unwrap();
        while let Some(frame) = stream.next().await {
            println!("{}", frame)
        }
    });
    let handle = Arc::new(handle);

    let mut tp_layer = client.tp_layer().clone();
    let _guard = scopeguard::guard((), |_| {
        futures::executor::block_on(async {
            tp_layer.stop().await;
            device.shutdown();
            handle.abort();
        });
    });

    client
        .session_ctrl(SessionType::Default, false, AddressType::Functional)
        .await?;

    let data = client
        .read_data_by_identifier(DataIdentifier::VIN, vec![])
        .await?
        .data;
    assert_eq!(data.did, DataIdentifier::VIN);
    assert_eq!(data.data, vin);

    Ok(())
}

Prerequisites

• Rust 1.70 or higher
• Cargo (included with Rust)

Contributing

We're always looking for users who have thoughts on how to make docan better, or users with interesting use cases. Of course, we're also happy to accept code contributions for outstanding feature requests!