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Chardev Demo and Adapter Setup

This demo consists of two FIFOs which are connected to the SIL Kit via sil-kit-adapter-generic-linux-io as a SIL Kit participant. These character devices are attached to the SIL Kit in the form of a DataPublisher/DataSubscriber.

In the following diagram you can see the whole setup. It illustrates the data flow going through each component involved.

+--[ character devices ]--+
|  ./chardevs/fifo1       |
|  ./chardevs/fifo2       |
+-------------------------+                                    SIL Kit topics:
            |                                                                           +---[ SIL Kit Participant ]---+
             \        +---[ SIL Kit Participant ]---+     |  -- > fromFifo1 > --  | --- |           CANoe             |
              \______ |                             |     |  -- > fromFifo2 > --  |     +-----------------------------+
                      | SilKitAdapterGenericLinuxIO | --- |                       |
                      |                             |     |  -- <  toFifo2  < --  |     +---[ SIL Kit Participant ]---+
                      +-----------------------------+     |                       | --- |        ForwardDevice        |
                                                                                        +-----------------------------+

Note 1: The character devices used in this demo are FIFOs but the adapter can handle other kinds of character devices as well. For example files like showcased in the Analog-Digital values demo. Note 2: In order to trigger the events happening on the character devices, Linux inotify watchers are instanciated with the IN_CLOSE_WRITE flag. This means events are only triggered when a file opened for writing is closed again afterwards.

Create the character devices

In order to get the same setup on your local machine, you can run the following script:

source ./chardev/demos/create_chardevs.sh

This script will create fifo1 and fifo2 into a main folder chardevs.

YAML devices configuration file

Configure the chardev paths

In order to match the above setup, you need to adapt the chardev path attributes in the adapter configuration file ./chardev/demos/DevicesConfig.yaml.

Running the Demo

Now is a good point to start the sil-kit-registry and the sil-kit-adapter-generic-linux-io. In separate terminals:

/path/to/SilKit-x.y.z-$platform/SilKit/bin/sil-kit-registry --listen-uri 'silkit://0.0.0.0:8501'
    
./bin/sil-kit-adapter-generic-linux-io --log Debug --adapter-configuration ./chardev/demos/DevicesConfig.yaml

You should see the following output:

[date time] [SilKitAdapterGenericLinuxIO] [info] Creating participant 'SilKitAdapterGenericLinuxIO' at 'silkit://localhost:8501', SIL Kit version: 4.0.44
[date time] [SilKitAdapterGenericLinuxIO] [info] Connected to registry at 'tcp://127.0.0.1:8501' via 'tcp://127.0.0.1:34612' (local:///tmp/SilKitRegic044495579071f55.silkit, silkit://localhost:8501)
[date time] [SilKitAdapterGenericLinuxIO] [info] Creating participant SilKitAdapterGenericLinuxIO with registry silkit://localhost:8501
...
[date time] [SilKitAdapterGenericLinuxIO] [debug] Serializing and publishing initial values
[date time] [SilKitAdapterGenericLinuxIO] [debug] Serializing data and publishing on topic: fromFifo1
[date time] [SilKitAdapterGenericLinuxIO] [debug] Serializing data and publishing on topic: fromFifo2
...
Press CTRL + C to stop the process...

When the adapter starts it sends the initial values of the handled character devices.

The adapter will then produce output when data are written into the character devices or when the other participants send new values to them.

Basic Forward Demo

The basic forward demo consists to forward the data from fifo1 to fifo2 using their respective topics fromFifo1, toFifo2.

The data flow is illustrated in the following drawing:

                                                         SIL Kit topics:

+--[ fifo1 ]--+      +---[ SIL Kit Participant ]---+      > fromFifo1 >
|             | ---> |                             |       ---------- 
+-------------+      |                             |     /            \     +--[ SIL Kit Participant ]--+
                     | SilKitAdapterGenericLinuxIO | ---                --- |       ForwardDevice       |
+--[ fifo2 ]--+      |                             |     \            /     +---------------------------+
|             | <--- |                             |       ----------
+-------------+      +-----------------------------+       < toFifo2 <

You can start the forward device:

./bin/sil-kit-demo-glio-chardev-forward-device

You should see the following output:

[date time] [ChardevForwardDevice] [info] Creating participant 'ChardevForwardDevice' at 'silkit://localhost:8501', SIL Kit version: 4.0.44
[date time] [ChardevForwardDevice] [info] Connected to registry at 'tcp://127.0.0.1:8501' via 'tcp://127.0.0.1:45286' (local:///tmp/SilKitRegic044495579071f55.silkit, silkit://localhost:8501)
Press enter to stop the process...
[date time] [ChardevForwardDevice] [info] Adapter  >> ForwardDevice: message1
[date time] [ChardevForwardDevice] [info] ForwardDevice >> Adapter : message1

The GLIO Adapter published the initial data, it means message1 is the initial data from fifo1. Then the forward demo is publishing the value in order to update fifo2.

On the GLIO Adapter window you should see three new lines:

[date time] [SilKitAdapterGenericLinuxIO] [debug] New value received on toFifo2
[date time] [SilKitAdapterGenericLinuxIO] [debug] Updating ./chardevs/fifo2
[date time] [SilKitAdapterGenericLinuxIO] [debug] Serializing data and publishing on topic: fromFifo2

In your chardevs folder you can see the updated value in fifo2:

cat ./chardevs/fifo2
message1

Then you can update fifo1:

echo "new message" > ./chardevs/fifo1
cat ./chardevs/fifo2
new message

The log output should be the same with the new value in ForwardDevice and GLIO Adapter windows.

Adding CANoe (17 SP3 or newer) as a participant

Before you can connect CANoe to the SIL Kit network you should adapt the RegistryUri in ./chardev/demos/SilKitConfig_CANoe.silkit.yaml to the IP address of your system where your sil-kit-registry is running.

CANoe Desktop Edition

Load the GLIOControl_chardevs_device.cfg from the ./chardev/demos/CANoe directory. After starting the demo, the current file states appears in the Data Window. Then you can see the character devices update in this Data Window, and you can send data to fifo2 by entering a value in the DemoPanel box. Optionally you can also start the test unit execution of included test configuration. While the demo is running these tests should be successful. They set "send_receive_test" to fifo2, then send this new value and receive it.

CANoe4SW Server Edition (Windows)

You can also run the same test set with CANoe4SW SE by executing the following powershell script ./chardev/demos/CANoe4SW_SE/run.ps1. The test cases are executed automatically and you should see a short test report in powershell after execution.

CANoe4SW Server Edition (Linux)

You can also run the same test set with CANoe4SW SE (Linux). At first you have to execute the powershell script ./chardev/demos/CANoe4SW_SE/createEnvForLinux.ps1 on your windows system by using tools of CANoe4SW SE (Windows) to prepare your test environment for Linux. In ./chardev/demos/CANoe4SW_SE/run.sh you should adapt canoe4sw_se_install_dir to the path of your CANoe4SW SE installation in your Linux system. Afterwards you can execute ./chardev/demos/CANoe4SW_SE/run.sh in your Linux system. The test cases are executed automatically and you should see a short test report in your terminal after execution.