Gateway service needs to forward all CAN packets destined for Service1 and 2, to a MessageBroker over a TCP link.
It sounds like what you mean is not actually about CAN frames but rather about UAVCAN messages (or services), am I right? Because if the task was to ferry CAN frames around, you wouldn’t need UAVCAN.
How keen are you on using TCP between the Message broker and the Gateway? Have you considered using UAVCAN/UDP instead? It might provide you with seamless integration between CAN and UDP since you would be using the same protocol across the system. Find the details here:
- Implementation with usage examples in
pyuavcan.transport.udp. - Background, motivation, theory: Alternative transport protocols in UAVCAN
Would it be possible for you to provide a higher-level description of the system? What problem is it going to be solving? That might help us to provide better advice.