add hint if you run the simulator with already created slcan

scripts/docker_wrapper.py

@@ -13,6 +13,16 @@
 
 logger = logging.getLogger(__name__)
 
+def is_slcan_already_created(sniffer_path: Optional[str]) -> bool:
+    return sniffer_path in ["slcan0", "slcan1"]
+    # if not isinstance(sniffer_path, str):
+    #     return False
+
+    # if platform.system() == 'Windows':
+    #     return bool(re.match(r'^COM\d+$', sniffer_path, re.IGNORECASE))
+
+    # return os.path.exists(sniffer_path)
+
 def is_valid_sniffer_path(sniffer_path: Optional[str]) -> bool:
     if not isinstance(sniffer_path, str):
         return False
@@ -74,8 +84,17 @@ def run_sim_container(mode: SimMode,
                           image_name: str,
                           argument: str,
                           sniffer_path: Optional[str]=None) -> Optional[subprocess.Popen]:
-        if mode.is_hitl() and not is_valid_sniffer_path(sniffer_path):
-            raise RuntimeError(f"CAN-Sniffer has not been found (sniffer_path={sniffer_path})")
+        print(sniffer_path)
+        if mode.is_hitl():
+            if is_slcan_already_created(sniffer_path):
+                raise RuntimeError(
+                    "slcan0 is already exist. "
+                    "You can see it by running 'ifconfig' command. "
+                    "Please, remove slcan0 before using the simulator. "
+                    "Try './scripts/socketcan.sh --remove' or reconnect the SLCAN adapter manually."
+                )
+            if not is_valid_sniffer_path(sniffer_path):
+                raise RuntimeError(f"CAN-Sniffer has not been found (sniffer_path={sniffer_path})")
 
         if mode == SimMode.CYPHAL_HITL:
             flags = [

scripts/socketcan.sh

@@ -0,0 +1,191 @@
+#!/bin/bash
+# wget https://raw.githubusercontent.com/PonomarevDA/tools/main/scripts/can/create_slcan.sh
+# This software is distributed under the terms of the MIT License.
+# Copyright (c) 2023-2024 Dmitry Ponomarev.
+# Author: Dmitry Ponomarev <[email protected]>
+
+SCRIPT_NAME=$(basename $BASH_SOURCE)
+RED='\033[0;31m'
+YELLOW='\033[0;33m'
+NC='\033[0m' # No Color
+
+HELP="usage: $SCRIPT_NAME [--help] [--device <dev_path>] [--interface <interface>] [--only-find].
+
+The $SCRIPT_NAME utility is about Linux kernel's implementation of CAN protocols called SocketCAN.
+SocketCAN includes support for virtual CAN interfaces, hardware CAN devices and SLCAN (serial line CAN) adapters.
+The script allows you to automatically find a CAN-sniffer, create SLCAN or virtual CAN and remove them.
+
+options:
+    -d, --device DEV_PATH           Specify device path manually instead of trying to find it
+                                    among known sniffers. Example: /dev/ttyACM0.
+    -i, --interface INTERFACE       Specify custom interface. By default it attach it to slcan0.
+    -r, --remove                    Remove interface.
+    -v, --virtual-can               Create virtual CAN interface.
+    -o, --only-find                 Do not create the interface, only look for a sniffer.
+    -h, --help                      Show this help message and exit.
+
+UC1. Create slcan0 based on a CAN-sniffer
+    ./$SCRIPT_NAME
+
+UC2. Remove an existed slcan0 interface
+    ./$SCRIPT_NAME --remove
+
+UC3. Create virtual CAN interface slcan0
+    ./$SCRIPT_NAME -v
+
+UC4. Just check for online CAN-sniffers
+    ./$SCRIPT_NAME -o
+
+UC5. Customize interface name and device path
+    ./$SCRIPT_NAME -d /dev/ttyACM0 -i vcan0
+"
+
+INTERFACE=slcan0
+DEV_PATH=""
+ONLY_FIND="no"
+REMOVE_INTERFACE="no"
+VIRTUAL_CAN="no"
+
+function log_error() {
+    lineno=($(caller))
+    printf "$RED$SCRIPT_NAME ERROR on line ${lineno}: $1!$NC\n"
+}
+
+function log_warn() {
+    lineno=($(caller))
+    printf "$YELLOW$SCRIPT_NAME WARN on line ${lineno}: $1.$NC\n"
+}
+
+function log_info() {
+    printf "$SCRIPT_NAME INFO: $1.\n"
+}
+
+while [[ $# -gt 0 ]]; do
+    case $1 in
+        -d|--device)
+        DEV_PATH="$2"
+        shift
+        ;;
+
+        -i|--interface)
+        INTERFACE="$2"
+        shift
+        ;;
+
+        -r|--remove)
+        REMOVE_INTERFACE="yes"
+        ;;
+
+        -v|--virtual-can)
+        VIRTUAL_CAN="yes"
+        ;;
+
+        -o|--only-find)
+        ONLY_FIND="yes"
+        ;;
+
+        -h|--help)
+        echo "$HELP"
+        [[ "${BASH_SOURCE[0]}" -ef "$0" ]] && exit 0 || return 0
+        ;;
+
+        *)
+        log_error "Unknown option: $1"
+        echo "$HELP"
+        [[ "${BASH_SOURCE[0]}" -ef "$0" ]] && exit 1 || return 1
+        ;;
+    esac
+    shift
+done
+
+function find_sniffer() {
+    KNOWN_SNIFFERS=(
+        "ID_MODEL_ID=374b|ID_VENDOR_ID=0483" # RaccoonLab programmer-sniffer
+        "ID_MODEL_ID=60c7|ID_VENDOR_ID=1d50" # Zubax Babel-Babel
+    )
+
+    EXPECTED_DEV_PATH="/dev/ttyACM*"
+    EXPECTED_SYMLINK_PATH="/dev/serial/by-id/"
+    for dev_path in $EXPECTED_DEV_PATH; do
+        [ -e "$dev_path" ] || continue
+        for sniffer in ${KNOWN_SNIFFERS[@]}; do
+            is_sniffer=$(udevadm info $dev_path | grep -E "($sniffer)" -wc || true)
+            if [ "$is_sniffer" == 2 ]; then
+                DEV_PATH=$(find -L $EXPECTED_SYMLINK_PATH -samefile $dev_path)
+                break
+            fi
+        done
+    done
+}
+
+function create_slcan() {
+    sudo slcand -o -c -f -s8 -t hw -S 1000000 $DEV_PATH $INTERFACE
+    sleep 1 # without sleep next commands may fail with 'Cannot find device "slcan0"'
+    sudo ip link set up $INTERFACE
+    sudo tc qdisc add dev $INTERFACE root handle 1: pfifo_head_drop limit 1000
+}
+
+function create_virtual_can() {
+    sudo modprobe vcan
+    sudo ip link add dev $INTERFACE type vcan
+    sudo ip link set up $INTERFACE
+}
+
+function remove_interface() {
+    if [[ $(ifconfig | grep $INTERFACE) ]]; then
+        log_info "Trying to remove $INTERFACE interface.."
+    fi
+    sudo ip link delete $INTERFACE
+    if [[ $(ifconfig | grep $INTERFACE) ]]; then
+        log_warn "Removing $INTERFACE interface failed. Try to reconnect the CAN-sniffer manually"
+    fi
+}
+
+echo "SLCAN creator settings:
+- DEV_PATH=$INTERFACE"
+
+# Step 1. Remove interface if requested
+if [[ $REMOVE_INTERFACE == "yes" ]]; then
+    echo "- REMOVE_INERFACE: yes ($INTERFACE)"
+    remove_interface
+    [[ "${BASH_SOURCE[0]}" -ef "$0" ]] && exit 0 || return 0
+fi
+
+# Step 2.
+if [[ $VIRTUAL_CAN == "yes" ]]; then
+    echo "- VIRTUAL_CAN: yes ($INTERFACE)"
+    create_virtual_can
+    [[ "${BASH_SOURCE[0]}" -ef "$0" ]] && exit 0 || return 0
+fi
+
+
+# Step 2. Define the device path
+if [ -z $DEV_PATH ]; then
+    find_sniffer
+
+    if [ -z "$DEV_PATH" ]; then
+        log_error "Can't find a sniffer"
+        [[ "${BASH_SOURCE[0]}" -ef "$0" ]] && exit 2 || return 1
+    fi
+
+    if [[ $ONLY_FIND == "yes" ]]; then
+        echo "$DEV_PATH"
+        [[ "${BASH_SOURCE[0]}" -ef "$0" ]] && exit 0 || return 0
+    fi
+fi
+
+
+# Step 3. Create SLCAN based on device path
+echo "- INTERFACE=$INTERFACE"
+
+if [[ $(ifconfig | grep $INTERFACE) ]]; then
+    log_warn "specified interface already exist, skip"
+    [[ "${BASH_SOURCE[0]}" -ef "$0" ]] && exit 0 || return 1
+fi
+
+create_slcan
+
+if [[ -z $(ifconfig | grep $INTERFACE) ]]; then
+    log_error "Interface '$INTERFACE' has not been successfully created"
+    [[ "${BASH_SOURCE[0]}" -ef "$0" ]] && exit 3 || return 1
+fi