A Golang package for modelling complex CAN networks. It defines data structures for representing CAN networks, buses, nodes, messages, signals, and so on.
The model can be saved/loaded into/from a .binpb, .json, or .txtpb file. Under the hood, it uses Protocol Buffers for serializing/deserializing the model, so it can be read by any language that supports Protocol Buffers. The definition of the Protocol Buffers messages can be found in the ./proto folder. The library uses the buf cli for handling the .proto files.
The library also provides tools for importing/exporting .dbc files into/from the model, as well as a decoding of raw CAN messages (the method is owned by the signal layout structure).
The package documentation can be found here.
Important
If you want to load a v1 model (acmelib v1.14.2) that contains multiplexed signals it is better to export the old model with the v1.14.2 version of acmelib into a DBC file and then import it (with the latest version of the package).
Golang 1.24
Run the following Go command to install the acmelib package:
go get -u github.com/squadracorsepolito/acmeliberDiagram
NETWORK ||--o{ BUS : contains
BUS ||--o{ NODE-INTERFACE : attaches
CAN-ID-BUILDER ||--o{ BUS : uses
NODE ||--|{ NODE-INTERFACE : has
NODE-INTERFACE ||--o{ MESSAGE : sends
MESSAGE ||--|| SIGNAL-LAYOUT : contains
SIGNAL-LAYOUT ||--o{ MULTIPLEXED-LAYER : attaches
MULTIPLEXED-LAYER ||--|{ SIGNAL-LAYOUT : multiplexes
SIGNAL-LAYOUT ||--o{ SIGNAL : has
SIGNAL |o--o{ SIGNAL-TYPE : defines
SIGNAL |o--o{ SIGNAL-UNIT : defines
SIGNAL |o--o{ SIGNAL-ENUM : defines
ATTRIBUTE }o--o{ BUS : associates
ATTRIBUTE }o--o{ NODE : associates
ATTRIBUTE }o--o{ MESSAGE : associates
ATTRIBUTE }o--o{ SIGNAL : associates
A Network models a CAN network composed of buses.
A Bus models a CAN bus. It can be seen as a physical cable that connects multiple nodes.
A CANIDBuilder is a data structure in charge of generating CAN IDs for a message sent over a bus. It can peform operations for the CAN ID generation, like masking, shifting the message id or node id, and so on.
A Node models a CAN node. It can be seen as a physical device that is connected to a bus through a node interface. A node can have multiple node interfaces.
A NodeInterface models a CAN node interface. It can be seen as the connector mounted on a node that is used to connect a bus. It is the interface that sends messages on the bus because a node can send different messages in different buses.
A Message models a CAN message. It contains a signal layout that has the same size of the message.
A SignalLayout is a data structure that owns the signals delivered in a message. It can also contains multiplexed layers if the message has multiplexed signals.
A MultiplexedLayer is a data structure that is directly attached to a signal layout and contains N inner signal layouts. An inner signal layout can also have a multiplexed layer, so it is possible to construct a tree of multiplexed layers.
A Signal models a CAN signal. It is contained in a signal layout (it does not matter if the signal layout is part of a message or a multiplexed layer).
There are 3 kinds of signals:
- Standard: it is just a regular numerical signal that has a type and an optional unit.
- Enum: it is a signal that associates a numerical value with a string value. It has a signal enum.
- Muxor: it is a signal used as the multiplexor of a multiplexed layer.
A SignalType models the type of a signal. It defines the size, sign, min, max, scale, and offset of the signal.
A SignalUnit models the unit of a signal. It defines the unit of the signal.
A SignalEnum models an enum of a signal. It contains a list of values. A value is just an index/name pair, and an optional description.
An Attribute corresponds to an attribute of a DBC file. It can be assigned to a bus, node, message, or signal.
There are 4 types of attributes:
- String
- Integer
- Float
- Enum