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nodes for socketcan","maintainers":[{"name":"akhe","email":"akhe@grodansparadis.com"}],"readme":"# node-red-contrib-socketcan\n\n![socketcan](./images/node-red-contrib-socketcan.png)\n\nCredits: Built upon [https://github.com/sebi2k1/node-can](https://github.com/sebi2k1/node-can) which is a very good nodejs socketcan implementation. Thanks to Sebastian Hildebrandt for that.\n\nThis is a couple of nodes to read CAN frames from and send CAN frames to a CAN bus using socketcan. [Socketcan](https://www.kernel.org/doc/Documentation/networking/can.txt) is the standard CAN subsystem on Linux. Socketcan is not available on Windows.\n\nThis project is inspired by [node-red-contrib-canbus](https://flows.nodered.org/node/node-red-contrib-canbus) (Rajesh Sola <rajeshsola@gmail.com>) which almost did what I needed but not quite.\n\n[can-utils](https://github.com/linux-can/can-utils) is a good set of companion tools when working with socketcan.\n\nSome info about bringing a (virtual) CAN interface up is [here](https://elinux.org/Bringing_CAN_interface_up). If you need real CAN hardware [TouCAN](https://www.rusoku.com/products) is a good choice (no affiliation except for using it myself).\n\nThis project is part of the VSCP ([https://www.vscp.org](https://www.vscp.org)) project.\n\n## Install\n\nGo to node-red folder and\n\n```bash\nnpm install node-red-contrib-socketcan\n```\n\nor install in node-red palette.\n\n## Sending CAN frames\n\n![socketcan-in](./images/socketcan-in.png)\n\n<b>socketcan-in</b> node is provided for sending CAN frames. You can send standard or extended id frames, FD frames are supported. \n\nSet up the interface to some real CAN hardware or use a virtual interface.\n\n### payload\n\n#### Object/JSON formated message\nThe CAN message is defined as a JSON object with the following payload format\n\n```json\n{\n\t\"canfd\":false,\n\t\"ext\":false,\n\t\"rtr\":false,\n\t\"canid\":123,\n\t\"dlc\":5,\n\t\"data\":[1,2,3,4,5]\n}\n```\n* <b>canfd</b> - Marks the frame as a CAN-FD frame.\n* <b>ext</b> - Marks the message as an extended id message.\n* <b>rtr</b> - The message is a remote transmission request. No data should be specified in this case (set to null).\n* <b>canid</b> - The canid for the CAN message. Must be less then 0x7ff for a standard CAN message.\n* <b>dlc</b> - Number of databytes, 0-64.\n* <b>data</b> - An array, comma separated list or buffer with data bytes. Set to null if no data.\n\n\n#### String formated messages\n\nThe CAN message is defined as a string with the following payload format\n\n```\n<canid>#{R|data}\n```\n\n* <b>canid</b> - Less than 0x7ff and with less than three digits for a standard id. Always defined in hex format.\n* <b>data</b> - The data part for the can frame. Always in hex format.\n* <b>R</b> - Specifies a remote transmission request frame.\n\n##### Examples\n\n```\n123#DEADBEEF - standard frame \n5AA#         - Standard frame no data\n1F334455#1122334455667788 - extended frame\n123#R         - for remote transmission request.\n123##         - FD frame no data\n123##AA       - FD frame standard\n```\n\n## Receiving CAN frames\n\n![socketcan-out](./images/socketcan-out.png)\n\n<b>socketcan-out</b> node is provided for receiving CAN frames. You can receive standard or extended CAN id frames. \n\nSet up the interface to some real CAN hardware or use a virtual interface.\n\n### Payload\n\nThe payload is always a Javascript object on the following form.\n\n{\n  \"err\": false,\n\ttimestamp: 1552881174,\n\text: 0,\n\trtr: 0,\n\tcanid: 123,\n\tdlc: 5,\n\tdata: [1,2,3,4,5]\n}\n\n* <b>canid</b> - The standard or extended can id.\n* <b>ext</b> - Set to true if this is a extended id frame. False otherwise.\n* <b>rtr</b> - Specifies a remote transmission request frame if set to true.\n* <b>dlc</b> - Number of databytes.\n* <b>data</b> - An array with data or null or an empty array if no data. \n* <b>rawData</b> - Holds frame data on buffer format for convinience.\n* <b>err</b> - Marks the frame as an error frame. canid will hold the error code in this case. Normally no data.\n\nThe timestamp (in microseconds) is generated by the node if not supplied by the interface.\n\nError codes are defined in the Linux kernel header file [can/error.h](https://github.com/torvalds/linux/blob/master/include/uapi/linux/can/error.h)\n\n  * CAN_ERR_TX_TIMEOUT   = 0x00000001  // TX timeout\n  * CAN_ERR_LOSTARB      = 0x00000002  // Lost arbitration\n  * CAN_ERR_CRTL         = 0x00000004  // Controller problems\n  * CAN_ERR_PROT         = 0x00000008  // Protocol violations\n  * CAN_ERR_TRX          = 0x00000010  // Transceiver status\n  * CAN_ERR_ACK          = 0x00000020  // No ACK received\n  * CAN_ERR_BUSOFF       = 0x00000040  // Bus off\n  * CAN_ERR_BUSERROR     = 0x00000080  // Bus error\n  * CAN_ERR_RESTARTED    = 0x00000100  // Controller restarted\n\n\n### Handling error frames\n```javascript\nif (msg.payload.err) {\n  switch (msg.payload.canid) {\n    case 0x00000040:\n      console.log('Bus off condition');\n      break;\n      // etc...\n  }\n}\n```\n\n## Manual recovery\n\n![socketcan-recover](./images/socketcan-recover.png)\n\nThe **socketcan-recover** node allows you to manually trigger a socket reconnect on a CAN interface without restarting Node-RED. When triggered, it instructs all `socketcan-in` and `socketcan-out` nodes sharing the same config to drop their current socket connection and reconnect.\n\nThis is useful when a CAN bus goes into a bus-off state or otherwise becomes unresponsive, and you want to recover programmatically — for example, from an error-frame handler or a scheduled watchdog.\n\n### Input\n\nAny message triggers recovery. You can optionally supply a reason string:\n\n| Property | Type | Description |\n|---|---|---|\n| `msg.reason` | string | Optional reason for the recovery (logged/passed through). |\n| `msg.payload` | string or object | If `msg.reason` is not set, a string payload or `msg.payload.reason` is used as the reason. |\n\n### Output\n\nThe input message is forwarded with an added `msg.socketcan` object:\n\n```json\n{\n  \"interface\": \"vcan0\",\n  \"recoveryRequested\": true,\n  \"reason\": \"manual recovery\",\n  \"timestamp\": 1718400000000\n}\n```\n\n### Example: recover on bus-off\n\nWire a **socketcan-out** (receive) node into a **function** node that checks for bus-off errors, then connect it to a **socketcan-recover** node on the same config:\n\n```javascript\n// Function node: detect bus-off and trigger recovery\nif (msg.payload.err && msg.payload.canid === 0x00000040) {\n    msg.reason = \"bus-off detected\";\n    return msg;\n}\nreturn null;\n```\n\n## Example flow\n\nEnable a virtual CAN interface with\n\n```bash\n$ modprobe vcan\n$ sudo ip link add dev vcan0 type vcan\n$ sudo ip link set up vcan0\n```\n\ninstall can-utils with\n\n```bash\nsudo apt install can-utils\n```\n\nReceive CAN frames with\n\n```bash\ncandump vcan0\n```\n\nSend CAN frames with\n\n```bash\ncansend vcan0 123#1122334455\n```\n\nUse this flow to interact with the other tools.\n\n```json\n[\n    {\n        \"id\": \"829af3ee.a57c1\",\n        \"type\": \"tab\",\n        \"label\": \"Flow 1\",\n        \"disabled\": false,\n        \"info\": \"\"\n    },\n    {\n        \"id\": \"b2855d5b.1215c8\",\n        \"type\": \"socketcan-config\",\n        \"z\": \"\",\n        \"interface\": \"can0\"\n    },\n    {\n        \"id\": \"38e8307.1653f5\",\n        \"type\": \"socketcan-config\",\n        \"z\": \"\",\n        \"interface\": \"vcan0\"\n    },\n    {\n        \"id\": \"7b24a62e.8f5458\",\n        \"type\": \"debug\",\n        \"z\": \"829af3ee.a57c1\",\n        \"name\": \"\",\n        \"active\": true,\n        \"tosidebar\": true,\n        \"console\": false,\n        \"tostatus\": false,\n        \"complete\": \"false\",\n        \"x\": 350,\n        \"y\": 360,\n        \"wires\": []\n    },\n    {\n        \"id\": \"5f671b29.cd24bc\",\n        \"type\": \"socketcan-out\",\n        \"z\": \"829af3ee.a57c1\",\n        \"name\": \"socketcan-out\",\n        \"config\": \"38e8307.1653f5\",\n        \"x\": 150,\n        \"y\": 360,\n        \"wires\": [\n            [\n                \"7b24a62e.8f5458\"\n            ]\n        ]\n    },\n    {\n        \"id\": \"caba412f.047b2\",\n        \"type\": \"socketcan-in\",\n        \"z\": \"829af3ee.a57c1\",\n        \"name\": \"socketcan-out\",\n        \"config\": \"38e8307.1653f5\",\n        \"x\": 360,\n        \"y\": 120,\n        \"wires\": []\n    },\n    {\n        \"id\": \"a64240cb.3f0788\",\n        \"type\": \"inject\",\n        \"z\": \"829af3ee.a57c1\",\n        \"name\": \"Send object - std\",\n        \"topic\": \"\",\n        \"payload\": \"{\\\"ext\\\":false,\\\"canid\\\":123,\\\"dlc\\\":5,\\\"data\\\":[1,2,3,4,5]}\",\n        \"payloadType\": \"json\",\n        \"repeat\": \"\",\n        \"crontab\": \"\",\n        \"once\": false,\n        \"onceDelay\": 0.1,\n        \"x\": 160,\n        \"y\": 120,\n        \"wires\": [\n            [\n                \"caba412f.047b2\"\n            ]\n        ]\n    },\n    {\n        \"id\": \"3ff96369.ef6f5c\",\n        \"type\": \"inject\",\n        \"z\": \"829af3ee.a57c1\",\n        \"name\": \"Send string - std\",\n        \"topic\": \"\",\n        \"payload\": \"123#00112233\",\n        \"payloadType\": \"str\",\n        \"repeat\": \"\",\n        \"crontab\": \"\",\n        \"once\": false,\n        \"onceDelay\": 0.1,\n        \"x\": 160,\n        \"y\": 200,\n        \"wires\": [\n            [\n                \"caba412f.047b2\"\n            ]\n        ]\n    },\n    {\n        \"id\": \"6879c00a.5edb68\",\n        \"type\": \"inject\",\n        \"z\": \"829af3ee.a57c1\",\n        \"name\": \"Send string - ext\",\n        \"topic\": \"\",\n        \"payload\": \"1F334455#1122334455667788\",\n        \"payloadType\": \"str\",\n        \"repeat\": \"\",\n        \"crontab\": \"\",\n        \"once\": false,\n        \"onceDelay\": 0.1,\n        \"x\": 160,\n        \"y\": 240,\n        \"wires\": [\n            [\n                \"caba412f.047b2\"\n            ]\n        ]\n    },\n    {\n        \"id\": \"1ee3b274.4cb8fe\",\n        \"type\": \"inject\",\n        \"z\": \"829af3ee.a57c1\",\n        \"name\": \"Send object - ext\",\n        \"topic\": \"\",\n        \"payload\": \"{\\\"ext\\\":true,\\\"canid\\\":32278,\\\"dlc\\\":5,\\\"data\\\":[1,2,3,4,5]}\",\n        \"payloadType\": \"json\",\n        \"repeat\": \"\",\n        \"crontab\": \"\",\n        \"once\": false,\n        \"onceDelay\": 0.1,\n        \"x\": 160,\n        \"y\": 160,\n        \"wires\": [\n            [\n                \"caba412f.047b2\"\n            ]\n        ]\n    },\n    {\n        \"id\": \"391a4c45.7acd8c\",\n        \"type\": \"comment\",\n        \"z\": \"829af3ee.a57c1\",\n        \"name\": \"Send CAN frames in using different payloads on VCAN0\",\n        \"info\": \"\",\n        \"x\": 260,\n        \"y\": 80,\n        \"wires\": []\n    },\n    {\n        \"id\": \"912f9928.da2758\",\n        \"type\": \"comment\",\n        \"z\": \"829af3ee.a57c1\",\n        \"name\": \"Receiove CAN data from interface VCAN0\",\n        \"info\": \"\",\n        \"x\": 220,\n        \"y\": 320,\n        \"wires\": []\n    }\n]\n```\n\n## Debugging\n\nIt is possible to get extra debug information from the nodes in this package.\n\nIssue\n\n``` bash\nexport NODE_DEBUG=socketcan-in\n```\nbefore starting node-red to get extra debug info for the socketcan-in node.\n\nIssue\n\n``` bash\nexport NODE_DEBUG=socketcan-out\n```\nbefore starting node-red to get extra debug info for the socketcan-out node.\n\nIssue\n\n``` bash\nexport NODE_DEBUG=socketcan-in socketcan-out\n```\nbefore starting node-red to get extra debug info for both the socketcan-in and socketcan-out node.\n\nIssue\n\n``` bash\nexport NODE_DEBUG=socketcan-recover\n```\nbefore starting node-red to get extra debug info for the socketcan-recover node.\n\n---\nCopyright © 2020-2026 Ake Hedman, Grodans Paradis AB - MIT License\n","readmeFilename":"README.md"}