can

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🇺🇸

Original

English

🇨🇳

Translation

Chinese

CAN — 嵌入式 CAN / CAN-FD 调试工具

CAN — Embedded CAN/CAN-FD Debugging Tool

统一封装接口发现、实时监控、报文发送、日志记录、数据库文件解码和统计分析能力。

Unified encapsulation of interface discovery, real-time monitoring, message transmission, log recording, database file decoding, and statistical analysis capabilities.

配置

Configuration

环境级配置 (

skill/config.json

)

Environment-level Configuration (

skill/config.json

)

仅保留 slcan 相关的环境级配置：

json

{
  "slcan_serial_port": "",
  "slcan_serial_baudrate": 115200
}

字段	说明	默认值
`slcan_serial_port`	slcan 场景的串口	`""`
`slcan_serial_baudrate`	slcan 场景的串口速率	`115200`

Only retain slcan-related environment-level configurations:

json

{
  "slcan_serial_port": "",
  "slcan_serial_baudrate": 115200
}

Field	Description	Default Value
`slcan_serial_port`	Serial port for slcan scenario	`""`
`slcan_serial_baudrate`	Serial baud rate for slcan scenario	`115200`

工程级配置 (

.embeddedskills/config.json

)

Project-level Configuration (

.embeddedskills/config.json

)

工作区下的

.embeddedskills/config.json

存放工程级 CAN 配置：

json

{
  "can": {
    "interface": "",
    "channel": "",
    "bitrate": 500000,
    "data_bitrate": 2000000,
    "log_dir": ".embeddedskills/logs/can"
  }
}

字段	说明	默认值
`interface`	CAN 后端，如 `pcan` / `vector` / `slcan`	`""`
`channel`	通道名，如 `PCAN_USBBUS1`	`""`
`bitrate`	仲裁域比特率	`500000`
`data_bitrate`	CAN-FD 数据域比特率	`2000000`
`log_dir`	日志输出目录	`.embeddedskills/logs/can`

The

.embeddedskills/config.json

in the workspace stores project-level CAN configurations:

json

{
  "can": {
    "interface": "",
    "channel": "",
    "bitrate": 500000,
    "data_bitrate": 2000000,
    "log_dir": ".embeddedskills/logs/can"
  }
}

Field	Description	Default Value
`interface`	CAN backend, e.g., `pcan` / `vector` / `slcan`	`""`
`channel`	Channel name, e.g., `PCAN_USBBUS1`	`""`
`bitrate`	Arbitration field bit rate	`500000`
`data_bitrate`	CAN-FD data field bit rate	`2000000`
`log_dir`	Log output directory	`.embeddedskills/logs/can`

参数解析优先级

Parameter Parsing Priority

CLI 参数 (
```
--interface
```
,
```
--channel
```
,
```
--bitrate
```
等) - 最高优先级
工程级配置 (
```
.embeddedskills/config.json
```
中的
```
can
```
部分)
状态文件 (
```
.embeddedskills/state.json
```
中的历史记录)
默认值 - 最低优先级

CLI Parameters (
```
--interface
```
,
```
--channel
```
,
```
--bitrate
```
, etc.) - Highest priority
Project-level Configuration (the
```
can
```
section in
```
.embeddedskills/config.json
```
)
State File (historical records in
```
.embeddedskills/state.json
```
)
Default Values - Lowest priority

自动扫描行为

Automatic Scanning Behavior

当未指定

interface

和

channel

时，脚本会自动扫描系统 CAN 接口：

若只找到一个接口，自动使用并写入工程配置
若找到多个接口，返回候选列表让用户选择
若未找到接口，提示错误

When

interface

and

channel

are not specified, the script will automatically scan system CAN interfaces:

If only one interface is found, it will be used automatically and written to the project configuration
If multiple interfaces are found, a candidate list will be returned for the user to select
If no interface is found, an error will be prompted

子命令

Subcommands

子命令	用途	风险
`scan`	扫描可用 CAN 接口与 USB-CAN 设备	低
`monitor`	实时监控总线报文	低
`send`	发送标准帧 / 扩展帧 / 远程帧 / CAN-FD 帧	高
`log`	记录总线报文到 ASC / BLF / CSV 文件	低
`decode`	用 DBC 等数据库文件解码报文或日志	低
`stats`	统计总线负载、ID 分布和帧率	低

Subcommand	Purpose	Risk
`scan`	Scan available CAN interfaces and USB-CAN devices	Low
`monitor`	Real-time monitoring of bus messages	Low
`send`	Send standard/extended/remote/CAN-FD frames	High
`log`	Record bus messages to ASC/BLF/CSV files	Low
`decode`	Decode messages or logs using database files like DBC	Low
`stats`	Statistics on bus load, ID distribution, and frame rate	Low

执行流程

Execution Flow

检查
```
python-can
```
是否可用，未安装时提示
```
pip install python-can
```
按优先级解析参数：CLI > 工程级配置 > 状态文件 > 默认值
无子命令时默认执行
```
scan
```
```
monitor / send / log / stats
```
使用解析后的连接参数
```
decode
```
先确认数据库文件和输入源存在
若未指定
```
interface
```
/
```
channel
```
，自动扫描系统 CAN 接口：
- 唯一候选：自动使用并写入工程配置
- 多候选：返回列表让用户选择
成功执行后，将确认的参数写回工程配置
```
send
```
只要配置可连接就直接执行，不二次确认
运行对应脚本并输出结构化结果
失败时优先反馈接口、驱动、比特率和过滤条件问题

Check if
```
python-can
```
is available; prompt
```
pip install python-can
```
if not installed
Parse parameters by priority: CLI > Project-level Configuration > State File > Default Values
Execute
```
scan
```
by default when no subcommand is specified
```
monitor / send / log / stats
```
use the parsed connection parameters
```
decode
```
first confirms the existence of the database file and input source
If
```
interface
```
/
```
channel
```
are not specified, automatically scan system CAN interfaces:
- Unique candidate: automatically use and write to project configuration
- Multiple candidates: return list for user selection
After successful execution, write the confirmed parameters back to the project configuration
```
send
```
executes directly as long as the configuration is connectable, no secondary confirmation required
Run the corresponding script and output structured results
When failed, prioritize feedback on interface, driver, bit rate, and filter condition issues

脚本调用

Script Invocation

所有脚本位于 skill 目录的

scripts/

下，通过

python

直接调用。脚本会按优先级从 CLI 参数、工程级配置、状态文件中读取参数。

bash

undefined

All scripts are located in the

scripts/

directory under the skill directory, and can be called directly via

python

. Scripts read parameters from CLI parameters, project-level configuration, and state file by priority.

bash

undefined

扫描接口

Scan interfaces

python scripts/can_scan.py [--json]

实时监控

Real-time monitoring

python scripts/can_monitor.py [--interface <接口>] [--channel <通道>] [--bitrate <速率>] [--fd] [--filter-id <ID列表>] [--exclude-id <ID列表>] [--dbc <DBC文件>] [--timeout <秒>] [--json]

python scripts/can_monitor.py [--interface <interface>] [--channel <channel>] [--bitrate <bitrate>] [--fd] [--filter-id <ID list>] [--exclude-id <ID list>] [--dbc <DBC file>] [--timeout <seconds>] [--json]

发送报文

Send messages

python scripts/can_send.py [--interface <接口>] [--channel <通道>] [--bitrate <速率>] <id> <data> [--extended] [--remote] [--fd] [--repeat <次>] [--interval <秒>] [--periodic <毫秒>] [--listen] [--json]

python scripts/can_send.py [--interface <interface>] [--channel <channel>] [--bitrate <bitrate>] <id> <data> [--extended] [--remote] [--fd] [--repeat <times>] [--interval <seconds>] [--periodic <milliseconds>] [--listen] [--json]

日志记录

Log recording

python scripts/can_log.py [--interface <接口>] [--channel <通道>] [--bitrate <速率>] [--output <文件>] [--duration <秒>] [--max-count <数量>] [--filter-id <ID列表>] [--console] [--json]

python scripts/can_log.py [--interface <interface>] [--channel <channel>] [--bitrate <bitrate>] [--output <file>] [--duration <seconds>] [--max-count <number>] [--filter-id <ID list>] [--console] [--json]

数据库解码

Database decoding

python scripts/can_decode.py <db_file> [--db-format <auto|dbc|arxml|kcd|sym|cdd>] [--id <CAN_ID>] [--data <HEX数据>] [--log <日志文件>] [--signal <信号名>] [--list] [--json]

python scripts/can_decode.py <db_file> [--db-format <auto|dbc|arxml|kcd|sym|cdd>] [--id <CAN_ID>] [--data <HEX data>] [--log <log file>] [--signal <signal name>] [--list] [--json]

总线统计

Bus statistics

python scripts/can_stats.py [--interface <接口>] [--channel <通道>] [--bitrate <速率>] [--duration <秒>] [--top <数量>] [--watch <ID列表>] [--json]

undefined

python scripts/can_stats.py [--interface <interface>] [--channel <channel>] [--bitrate <bitrate>] [--duration <seconds>] [--top <number>] [--watch <ID list>] [--json]

undefined

输出格式

Output Format

单次命令返回标准 JSON：

json

{
  "status": "ok",
  "action": "scan",
  "summary": "发现 2 个 CAN 接口",
  "details": { ... }
}

持续命令（monitor --json、send --listen --json）输出 JSON Lines，结束摘要写入 stderr。

错误输出：

json

{
  "status": "error",
  "action": "send",
  "error": { "code": "interface_open_failed", "message": "无法打开指定 CAN 接口" }
}

Single command returns standard JSON:

json

{
  "status": "ok",
  "action": "scan",
  "summary": "Found 2 CAN interfaces",
  "details": { ... }
}

Continuous commands (monitor --json, send --listen --json) output JSON Lines, and the end summary is written to stderr.

Error output:

json

{
  "status": "error",
  "action": "send",
  "error": { "code": "interface_open_failed", "message": "Failed to open the specified CAN interface" }
}

核心规则

Core Rules

不自动猜测 interface、channel、bitrate，多接口时不自动选择
参数解析优先级：CLI > 工程级配置 > 状态文件 > 默认值
未指定
```
interface
```
/
```
channel
```
时自动扫描，唯一候选自动写入配置，多候选需用户选择
成功执行后，确认的参数自动写回
```
.embeddedskills/config.json
```
未明确说明用途时不主动发送任何报文
```
--json
```
输出的持续流使用 JSON Lines，摘要写 stderr 不污染数据流
DBC 解码失败不应导致监控中断
找不到帧定义时返回明确错误，不静默吞掉

Do not automatically guess interface, channel, or bitrate; do not automatically select when multiple interfaces exist
Parameter parsing priority: CLI > Project-level Configuration > State File > Default Values
Automatically scan when
```
interface
```
/
```
channel
```
are not specified; automatically write the unique candidate to configuration, require user selection for multiple candidates
After successful execution, automatically write confirmed parameters back to
```
.embeddedskills/config.json
```
Do not actively send any messages without clear instructions on usage
Continuous streams output via
```
--json
```
use JSON Lines, with summaries written to stderr to avoid polluting the data stream
DBC decoding failure should not interrupt monitoring
Return clear errors when frame definitions are not found, do not silently discard them

参考

References

```
references/common_interfaces.json
```
：常见 USB-CAN 设备信息

```
references/common_interfaces.json
```
: Information on common USB-CAN devices

can

Original

Translation

CAN — 嵌入式 CAN / CAN-FD 调试工具

CAN — Embedded CAN/CAN-FD Debugging Tool

配置

Configuration

环境级配置 (
`skill/config.json`
)

Environment-level Configuration (
`skill/config.json`
)

工程级配置 (
`.embeddedskills/config.json`
)

Project-level Configuration (
`.embeddedskills/config.json`
)

参数解析优先级

Parameter Parsing Priority

自动扫描行为

Automatic Scanning Behavior

子命令

Subcommands

执行流程

Execution Flow

脚本调用

Script Invocation

扫描接口

Scan interfaces

实时监控

Real-time monitoring

发送报文

Send messages

日志记录

Log recording

数据库解码

Database decoding

总线统计

Bus statistics

输出格式

Output Format

核心规则

Core Rules

参考

References

can

Original

Translation

CAN — 嵌入式 CAN / CAN-FD 调试工具

CAN — Embedded CAN/CAN-FD Debugging Tool

配置

Configuration

环境级配置 (skill/config.json)

Environment-level Configuration (skill/config.json)

工程级配置 (.embeddedskills/config.json)

Project-level Configuration (.embeddedskills/config.json)

参数解析优先级

Parameter Parsing Priority

自动扫描行为

Automatic Scanning Behavior

子命令

Subcommands

执行流程

Execution Flow

脚本调用

Script Invocation

扫描接口

Scan interfaces

实时监控

Real-time monitoring

发送报文

Send messages

日志记录

Log recording

数据库解码

Database decoding

总线统计

Bus statistics

输出格式

Output Format

核心规则

Core Rules

参考

References

环境级配置 (
`skill/config.json`
)

Environment-level Configuration (
`skill/config.json`
)

工程级配置 (
`.embeddedskills/config.json`
)

Project-level Configuration (
`.embeddedskills/config.json`
)