socketcan_bridge_node error handling

asked 2017-08-03 04:52:39 -0600

9a3eedi
63 ●7 ●10 ●16

I have an application that uses socketcan_bridge_node to do CAN communication. It works well, but occasionally the CAN network enters an error mode and the entire bridge node stops working. Is there a way I can detect this and reset the CAN?

The interesting thing is that, even if the node is in error mode, I can still send CAN packets on the same network without resetting using canutils (cansend, etc.). This tells me that the problem lies with the node not handling the error properly

I am not an expert on CAN networks however, so there might be something about CAN errors that I'm not understanding...

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Which errors do you get?

Mathias Lüdtke ( 2017-08-04 10:14:44 -0600 )edit

I'm getting "controller problems". It's really hard to isolate though, it only seems to happen when a microcontroller (not the computer running ROS) in the CAN network starts controlling a motor, and outdoors (hot weather) not indoors. Either way, I just want to be able to recover as a workaround.

9a3eedi ( 2017-08-07 01:19:24 -0600 )edit

HI! I also want to use ros socketcan_interface to communicate with the robot. i.e. subscribe data and send it to my microcontroller by USB-CAN. But I don't have any idea,can you tell me maybe how should i do?

peterlin300 ( 2017-08-07 09:40:43 -0600 )edit

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answered 2017-08-04 10:14:29 -0600

Mathias Lüdtke

1596 ●2 ●26 ●26

updated 2017-08-07 14:55:56 -0600

There is no way to read the error state from the socketcan_bridge nodes or some sort of recover mechanism.

I have filed an issue to track this.

SocketCAN has different error notfications and socketcan_interface treats all as errors. The higher-level node (e.g. socketcan_bridge_node) is supposed to handle them.

In general you should not get any errors, otherwise something is wrong with your network, your settings or your load is too high.

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There's definitely something wrong in the network, but I was at least hoping there's a way to recover for now until I figure out what the problem was. Thanks for filing the issue. I might actually even fix it myself.

9a3eedi ( 2017-08-07 01:20:53 -0600 )edit

You can read (only) the error frames with candump -l any,0~0,#FFFFFFFF. (see /usr/include/linux/can/error.h for the layout)

Mathias Lüdtke ( 2017-08-07 14:48:35 -0600 )edit

The can::DriverInterface class (base of ThreadedSocketCANInterface) provides a recover function for soft errors. For hard errors the kernel interface needs to be restarted (see https://www.kernel.org/doc/Documentat... )

Mathias Lüdtke ( 2017-08-07 15:03:47 -0600 )edit

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socketcan_bridge_node error handling

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