https://github.com/pavel-kirienko/cyphal-bridge-and-router
https://github.com/pavel-kirienko/cyphal-bridge-and-router
Last synced: 3 days ago
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- Host: GitHub
- URL: https://github.com/pavel-kirienko/cyphal-bridge-and-router
- Owner: pavel-kirienko
- License: unlicense
- Created: 2022-05-04T11:00:10.000Z (about 3 years ago)
- Default Branch: main
- Last Pushed: 2022-06-09T21:52:21.000Z (about 3 years ago)
- Last Synced: 2025-04-05T10:31:37.710Z (2 months ago)
- Language: Python
- Size: 30.3 KB
- Stars: 1
- Watchers: 2
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Cyphal network bridge & router PoC
This is a visual aid for https://forum.opencyphal.org/t/cyphal-udp-routing-over-multiple-networks/1657/7?u=pavel.kirienko
Currently we are using Cyphal/serial instead of Cyphal/UDP because the bridge relies on the transfer spoofing feature
and it is at this moment not yet implemented for `pycyphal.transport.udp.UDPTransport`.
It makes no difference though.
## Preparation
1. Initialize `vcan0` and `vcan1` like:
```shell
modprobe can
modprobe can_raw
modprobe vcan
ip link add dev vcan0 type vcan
ip link set vcan0 mtu 72 # Enable CAN FD by configuring the MTU of 64+8
ip link set up vcan0
```
2. `y co https://github.com/OpenCyphal/public_regulated_data_types/archive/refs/heads/master.zip`
3. Open a few terminals and source `env_vcan0.sh` in some of them and `env_vcan1.sh` in others.
These are the separate CAN network segments.
Run some publishers/subscribers like:
- On `vcan0`: `y pub 1000:uavcan.primitive.scalar.integer64 '!$ n'`
- On `vcan1`: `y sub 1000:uavcan.primitive.scalar.integer64`
4. Observe that there is no traffic crossing the network segments as they are isolated.
5. Run `y mon` in each network segment to see the activity.
## Bridge evaluation
1. Run `bridge_serial_socketcan.orc.yaml`. It will launch two bridges: `vcan0 <-bridge-> serial <-bridge-> vcan1`.
2. Observe that the subscriber now sees the data from the publisher.
3. Running a new instance of `y sub 1000` or `y pub 1000 whatever` will show that type discovery is also working.
## Router evaluation
1. Run `router_serial_socketcan.orc.yaml`. It will launch two routers: `vcan0 <-router-> serial <-router-> vcan1`.
2. Observe that the subscriber now sees the data from the publisher as if it was published by the nearest bridge
(which is technically the case).
3. Running a new instance of `y sub 1000` or `y pub 1000 whatever` will fail because the router does not have the
registers containing the type information, and service transfers are not routed.