Suppose we have two PCs on the same network (which could be a VPN). There is a SLCAN adapter connected to PC A; we are sitting in front of PC B and want to interact with the CAN bus to which PC A is connected. Both PCs run GNU/Linux.
Install can-utils on both PCs (APT/AUR package can-utils). Grab cannelloni, build & install it on both PCs following the instructions in the README:
Don’t forget to do sudo ldconfig after installation (or sudo ldconfig /usr/local/lib or whatever if the installation destination is not configured as a default ldconfig path). Then grab setup_slcan -- a simple script for managing SocketCAN SLCAN interfaces on GNU/Linux · GitHub and put it in your PATH.
On PC A
Initialize slcan0:
sudo setup_slcan -r /dev/serial/by-id/usb-Zubax_Robotics_Zubax_Babel_32003D000757424E3430302000000000-if00
Run the bridge:
cannelloni -I slcan0 -R 192.168.1.200
On PC B
Set up vcan0:
sudo modprobe can
sudo modprobe can_raw
sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 mtu 72 # Optional: Enable CAN FD by configuring MTU=64+8
sudo ip link set up vcan0
Run the bridge:
cannelloni -I vcan0 -R 192.168.1.6
Test
Ensure there is something connected to PC A’s CAN bus. Ensure you have Yakut installed & configured. Then you can interact with it from PC B as if it was connected to vcan0:
source env_vcan0.sh # Whatever your configuration is
y mon -P ~/allocation_table.db