nnarain / canopen-device-simulator

Scriptable CANopen slave for simulating hardware devices

CANopen Device Simulator

This project aims to create scriptable CANopen slave nodes to simulate hardware devices.

Using the Lely CANopen API, common CANopen device events are detected and trigger event handlers in a specified Lua script.

Build

Follow installation instructions for Lely: https://opensource.lely.com/canopen/docs/installation/

Install dependencies using your preferred method:

• Lua
• sol2
• Boost

$ cd to/project/directory
$ mkdir build && cd build
$ cmake ..
$ cmake --build .

Usage

In order to run the scripted CANopen device you will need the following:

• An EDS/DCF file of your device
• A Lua script representing the device behavior you wish to simulate

A device script represents the device itself. A few functions are provided to access the device life cycle.

-- Called when slave node is initialized
function OnInit()
    -- Configure a period timer
    ConfigureTimer(1000)

    print('Device Initialized')
end

-- Called at the interval specified by `ConfigureTimer`
function OnTick()
    print('Called every 1s')
end

Scripts operate on CANopen objects. To access object data, first register the object with the variable you want to use.

Register('foo', 0x4000, 0x00, ObjectType.UINT32)

-- ...

function OnTick()
    print('Foo: ' .. objects.foo)
end

Package paths can be used to require other Lua packages. Use the following environment variable:

export COSIM_LIB_PATH=/path/to/package/?.lua