moonbit-canbus
A deterministic, dependency-free CAN 2.0 and CAN-FD toolkit for MoonBit.
can
can-fd
dbc
isotp
j1939
vehicle-network
moon add myc1234567/moonbit-canbus@0.1.0
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README#MoonBit CAN Bus
一个纯 MoonBit、无原生依赖的 CAN 2.0 / CAN-FD 协议与仿真工具包，面向汽车电子、机器人、工业控制和协议测试场景。项目把帧语义、线级编解码、传输层、诊断、DBC 信号、网关和确定性仿真组合成可独立复用的 API。
#项目定位
本项目解决的是“没有硬件也能可靠验证控制器网络逻辑”的问题：同一套数据模型可以用于协议单元测试、DBC 信号解码、虚拟 ECU 联调、日志分析和网关规则验证。它不直接驱动 CAN 控制器，也不替代操作系统的 SocketCAN 或商业硬件 SDK。
#核心能力
- 标准 11-bit、扩展 29-bit、数据帧、远程帧、错误帧和 CAN-FD 帧模型。
- CAN-FD DLC 映射、CRC-15/17/21、位填充与去填充、完整 wire 编解码和稳定二进制帧格式。
- 优先级仲裁、掩码/精确过滤器、确定性虚拟总线、节点注册、发送队列和多节点网络模型。
- ISO-TP 分段与重组、J1939 标识符与 BAM、CANopen COB-ID/SDO/PDO，以及 UDS 请求、会话、DTC 编解码。
- DBC BO_ / SG_ 解析、运行时信号编解码、规范化序列化、结构校验和 schema diff。
- 路由网关、调度器、帧批处理、日志/trace、总线指标、延迟窗口和帧准入策略。
#快速开始
需要已安装 MoonBit stable 工具链。
moon check --target all --deny-warn
moon test --target all --deny-warn在 MoonBit 中创建并检查一帧：
let frame = @moonbit_canbus.data_frame(0x120, [0x2A]) catch {
_ => panic()
}
let wire = @moonbit_canbus.encode_frame(frame)
let restored = @moonbit_canbus.decode_frame(wire) catch {
_ => panic()
}
assert_true(@moonbit_canbus.frame_equal(frame, restored))#CLI
CLI 位于 src/cmd/canctl，用于快速查看帧编码和指标：
moon run src/cmd/canctl -- demo
moon run src/cmd/canctl -- decode 01000000012303102030基准程序位于 src/cmd/bench，执行 100,000 次稳定帧编码/解码并输出耗时、吞吐、字节数和校验值：
moon run src/cmd/bench#架构
| 层次 | 主要模块 | 责任 |
|---|---|---|
| Frame / wire | frame.mbt, frame_codec.mbt, wire.mbt, wire_codec.mbt | 帧不变量、DLC、CRC、bit stuffing 和可移植编码 |
| Transport | transport.mbt, isotp_engine.mbt, transport_queue.mbt | ISO-TP、队列、时序与边界处理 |
| Database | dbc.mbt, dbc_extended.mbt, dbc_runtime.mbt, dbc_serializer.mbt | DBC 解析、信号运行时和 schema 工具 |
| Diagnostics | diagnostic.mbt, uds_stack.mbt, diagnostic_session.mbt, diagnostic_codec.mbt | UDS 服务、会话状态和 DTC 报文 |
| Network | filter.mbt, can_network.mbt, routing.mbt, simulation.mbt | 过滤、网关、多节点网络和确定性仿真 |
| Analysis | trace.mbt, trace_tools.mbt, metrics.mbt, latency.mbt | 日志、指标、延迟和质量分析 |
模块之间通过 Frame、Filter、Trace 等小型值对象连接，避免把硬件 I/O、时钟和协议状态耦合到核心算法中。
#基准
基准程序使用本地 MoonBit WASM-GC 后端和固定的 8-byte Classic CAN 数据帧，实际运行记录见 BENCHMARKS.md。基准输出包含可复核的迭代次数、墙钟耗时、吞吐和 checksum；不同机器和后端的绝对数值会变化，因此仓库不把单次机器结果当作性能承诺。
#测试与边界覆盖
测试覆盖 Classic CAN、CAN-FD、29-bit ID、64-byte payload、DLC 边界、CRC/bit stuffing、ISO-TP 长消息、UDS 负响应、DTC、DBC 非法布局、队列满/空、时间逆序、节点离线、速率限制、trace 和延迟百分位等路径。
本地质量门禁：
moon fmt
moon check --target all --deny-warn
moon test --target all --deny-warn
moon info#CI
.github/workflows/check.yml 在 Linux、macOS 和 Windows 上安装 MoonBit stable，显式配置 Node.js 运行时，执行格式检查、moon info、全后端 check/build/test，并验证生产 MoonBit 源码规模门槛。工作流使用官方安装脚本，便于工具链持续跟随 stable。
#许可证
本项目采用 Apache License 2.0。
#AdmissionError
pub suberror AdmissionError {
InvalidRule
NoMatchingRule
ProtocolNotAllowed
PayloadTooLarge
RemoteNotAllowed
RateExceeded
TimestampReversed
} derive(Debug)Errors raised by a frame admission policy.
#BatchError
Errors raised by batch processing and binary archive helpers.
#BitError
Errors raised by the bit-level reader and writer.
#CanOpenError
pub suberror CanOpenError {
InvalidNodeId
InvalidCobId
InvalidIndex
InvalidSdoPayload
InvalidDataLength
} derive(Debug)Errors raised by CANopen identifier and SDO helpers.
#CanTextError
pub suberror CanTextError {
InvalidHeader
InvalidFieldCount
InvalidTimestamp
InvalidPayload
} derive(Debug)Errors raised by text log parsing.
#CanTimingError
pub suberror CanTimingError {
InvalidClock
InvalidBitrate
InvalidSamplePoint
NoTimingCandidate
} derive(Debug)Errors raised by CAN bit-timing calculations.
#DbcError
pub suberror DbcError {
InvalidMessageLine(String)
InvalidSignalLine(String)
InvalidNumber(String)
}A small, dependency-free DBC reader for message and signal definitions.
#DbcExtendedError
pub suberror DbcExtendedError {
InvalidMessage
InvalidSignal
InvalidNumber
MissingMessage
InvalidRange
} derive(Debug)Errors from the extended DBC reader.
#DbcRuntimeError
pub suberror DbcRuntimeError {
InvalidSignalLayout
PayloadTooShort
PayloadTooLong
DuplicateSignal
MissingSignalValue
ValueOutOfRange
} derive(Debug)Errors raised by checked DBC runtime operations.
#DbcSchemaError
pub suberror DbcSchemaError {
DuplicateMessageId
InvalidIdentifier
EmptyMessageName
InvalidDlc
InvalidSignalLayout
OverlappingSignals
} derive(Debug)Errors raised when validating or serializing a DBC schema.
#DtcCodecError
pub suberror DtcCodecError {
InvalidCode
InvalidPayload
InvalidRecordLength
CapacityExceeded
} derive(Debug)Errors raised while encoding or decoding diagnostic trouble codes.
#FrameCodecError
pub suberror FrameCodecError {
UnsupportedVersion
Truncated
InvalidFlags
InvalidPayloadLength
InvalidHex
} derive(Debug)Errors raised by the portable frame codec.
#FrameError
A frame validation error.
#IsoTpError
pub suberror IsoTpError {
InvalidFrameSize
PayloadTooLarge
TruncatedPacket
InvalidFirstFrame
UnexpectedConsecutive
SequenceMismatch
LengthMismatch
UnsupportedFlowStatus
} derive(Debug)Errors raised by checked ISO-TP operations.
#J1939Error
pub suberror J1939Error {
InvalidPriority
InvalidPgn
InvalidAddress
InvalidPayloadLength
InvalidSequence
TransferTooLarge
} derive(Debug)Errors raised by J1939 identifier and transport helpers.
#LatencyError
Errors raised by a latency measurement window.
#NetworkError
pub suberror NetworkError {
InvalidNodeId
DuplicateNode
UnknownNode
InvalidTimestamp
QueueFull
} derive(Debug)Errors raised by the deterministic multi-node network model.
#NodeRegistryError
Errors raised by node registry operations.
#PayloadError
Payload transformation errors.
#PdoError
CANopen PDO mapping errors.
#QueueError
Errors raised by the bounded transmit queue.
#RoutingError
Errors raised when a gateway transforms a frame.
#SchedulerError
pub suberror SchedulerError {
InvalidPeriod
InvalidDeadline
DuplicateTask
UnknownTask
} derive(Debug)Errors raised by the deterministic message scheduler.
#SimulationError
Errors raised by deterministic network simulation.
#TraceError
pub suberror TraceError {
NonMonotonicTimestamp
InvalidLine
InvalidTimestamp
InvalidFrame
} derive(Debug)Errors raised when validating or parsing a trace log.
#UdsError
pub suberror UdsError {
InvalidIdentifier
InvalidAddressFormat
EmptyPayload
InvalidBlockCounter
InvalidLength
} derive(Debug)Additional errors for building and validating UDS exchanges.
#UdsSessionError
pub suberror UdsSessionError {
InvalidTransition
SecurityRequired
ResponseTimeout
UnexpectedResponse
} derive(Debug)Errors raised by the session state machine.
#WireCodecError
pub suberror WireCodecError {
InvalidEof
InvalidCrc
InvalidControl
InvalidDlc
InvalidFrameBits
} derive(Debug)Errors raised by the complete bit-level wire codec.
#WireError
pub suberror WireError {
InvalidStuffedBit
}Errors produced when removing CAN bit stuffing.
#AdmissionDecision
pub struct AdmissionDecision {
accepted : Bool
rule_name : String
reason : String
}The result of an admission check.
#AdmissionDecision::rule_name
#AdmissionPolicy
pub struct AdmissionPolicy {
rules : Array[AdmissionRule]
accepted_count : Int
rejected_count : Int
last_timestamp_us : UInt64?
}A first-match frame admission policy with counters and timing guards.
#AdmissionPolicy::add_rule
#AdmissionPolicy::admit
Return whether a frame is admitted, preserving the policy counters.
#AdmissionPolicy::evaluate
fn AdmissionPolicy::evaluate(self : AdmissionPolicy, frame : Frame, timestamp_us : UInt64) -> AdmissionDecision raise AdmissionErrorEvaluate the first matching rule and update its rate window on success.
#AdmissionPolicy::reset
Reset all per-rule timing windows and counters.
#AdmissionRule
pub struct AdmissionRule {
name : String
filter : Filter
max_payload : Int
allow_fd : Bool
allow_remote : Bool
min_interval_us : UInt64
last_seen_us : UInt64?
}A named rule for a group of accepted frames.
#AdmissionRule::minimum_interval
#BitReader
A sequential most-significant-bit-first reader.
#BitReader::peek
Inspect a bit without advancing the reader.
#BitReader::position
Return the current read offset.
#BitReader::read
Read an unsigned value of exactly width bits.
#BitReader::read_bit
Read one bit.
#BitReader::read_signed
Read a signed two's-complement value of up to 31 bits.
#BitReader::remaining
Return the number of unread bits.
#BitWriter
A growable most-significant-bit-first writer.
#BitWriter::align_byte
Add zero padding until the writer reaches a byte boundary.
#BitWriter::finish
Return a defensive copy of the written bits.
#BitWriter::length
Return the number of bits currently written.
#BitWriter::to_bytes
Return the written bits packed into bytes, padding the final byte with 0.
#BitWriter::write
Append an unsigned value using exactly width high-to-low bits.
#BitWriter::write_bit
Append one bit.
#BusHealth
pub struct BusHealth {
state : BusHealthState
utilization : Double
drop_rate : Double
error_rate : Double
recommendations : Array[String]
}A deterministic health assessment for dashboards and CI.
#BusHealthState
Health levels for a monitored CAN channel.
#ByteOrder
pub(all) enum ByteOrder {
BigEndian
LittleEndian
}Byte ordering used by application payload adapters.
#CanBitTiming
pub struct CanBitTiming {
clock_hz : UInt
bitrate : UInt
prescaler : UInt
time_quanta : UInt
propagation_segment : UInt
phase_segment_1 : UInt
phase_segment_2 : UInt
sample_point_percent : Double
}A nominal or data-phase bit-timing candidate.
#CanBitTiming::actual_bitrate
Return the actual bitrate represented by a timing configuration.
#CanFdTiming
CAN-FD timing for nominal and data phases.
#CanGateway
A stateless rule-based CAN gateway.
#CanGateway::forward
Apply the first matching rule.
#CanGateway::rule_names
Return route names in insertion order.
#CanLog
A portable text log with stable ordering.
#CanLog::push
#CanLogEntry
A human-readable CAN log record.
#CanNetwork
pub struct CanNetwork {
timeout_us : UInt64
now_us : UInt64
nodes : Array[NetworkNode]
queue : FrameQueue
delivered : Int
}A deterministic CAN network with bounded transmit buffering and liveness.
#CanNetwork::add_node
fn CanNetwork::add_node(self : CanNetwork, node_id : Byte, name : String, timestamp_us : UInt64) -> Unit raise NetworkErrorRegister a node at a known timestamp.
#CanNetwork::heartbeat
fn CanNetwork::heartbeat(self : CanNetwork, node_id : Byte, timestamp_us : UInt64) -> Unit raise NetworkErrorRecord a heartbeat and bring a node online.
#CanNetwork::offline_nodes
fn CanNetwork::offline_nodes(self : CanNetwork, timestamp_us : UInt64) -> Array[String] raise NetworkErrorMark nodes stale at a timestamp and return their stable names.
#CanNetwork::poll
fn CanNetwork::poll(self : CanNetwork, timestamp_us : UInt64) -> Array[NetworkDelivery] raise NetworkErrorDeliver every frame queued by timestamp_us in arbitration order.
#CanNetwork::send
fn CanNetwork::send(self : CanNetwork, sender : Byte, frame : Frame, timestamp_us : UInt64) -> UInt raise NetworkErrorQueue a frame from a registered sender.
#CanNode
A monitored node and its receive filter.
#CanOpenCobId
A decoded CANopen communication object identifier.
#CanOpenCobType
pub(all) enum CanOpenCobType {
Nmt
Sync
Emergency
Pdo1Transmit
Pdo1Receive
Pdo2Transmit
Pdo2Receive
Pdo3Transmit
Pdo3Receive
Pdo4Transmit
Pdo4Receive
SdoTransmit
SdoReceive
Heartbeat
} derive(Debug)CANopen communication object types.
#CanOpenNmtCommand
pub(all) enum CanOpenNmtCommand {
Start
Stop
EnterPreOperational
ResetNode
ResetCommunication
}CANopen NMT state commands.
#CanOpenSdoCommand
pub enum CanOpenSdoCommand {
DownloadInitiate(index~ : UInt, sub_index~ : Byte, data~ : Array[Byte])
UploadInitiate(index~ : UInt, sub_index~ : Byte)
DownloadSegment(toggle~ : Bool, data~ : Array[Byte], last~ : Bool)
UploadSegment(toggle~ : Bool)
Abort(index~ : UInt, sub_index~ : Byte, code~ : UInt)
}A compact SDO command representation.
#CanScheduler
A deterministic task scheduler independent from wall-clock time.
#CanScheduler::add
fn CanScheduler::add(self : CanScheduler, name : String, frame : Frame, first_due_us : UInt64, period_us : UInt64, deadline_us : UInt64, count : Int) -> Unit raise SchedulerErrorAdd a task. period_us == 0 creates a one-shot task.
#CanScheduler::next_due
Return the next due time among pending tasks.
#CanScheduler::remove
#CanScheduler::tick
fn CanScheduler::tick(self : CanScheduler, timestamp_us : UInt64) -> Array[SchedulerTick] raise SchedulerErrorExecute all tasks due by timestamp_us, ordered by CAN arbitration.
#CanTask
pub struct CanTask {
name : String
frame : Frame
next_due_us : UInt64
period_us : UInt64
deadline_us : UInt64
remaining : Int
priority : Int
}A periodic or one-shot transmission task.
#DbcDatabase
A lookup table for message definitions.
#DbcDatabase::add
Add a message definition, rejecting duplicate numeric identifiers.
#DbcDatabase::by_id
Find a message by CAN identifier.
#DbcDatabase::by_name
Find a message by its symbolic name.
#DbcDatabase::decode_frame
fn DbcDatabase::decode_frame(self : DbcDatabase, frame : Frame) -> DecodedMessage? raise DbcRuntimeErrorDecode a frame using the message selected by its identifier.
#DbcDatabase::ids
Return all numeric message identifiers.
#DbcDatabase::length
Return the number of definitions.
#DbcDatabase::messages
Return all message definitions in source order.
#DbcParseReport
A parse result that records ignored non-semantic lines.
#DbcSchemaChange
pub struct DbcSchemaChange {
id : UInt
kind : String
before : String?
after : String?
}A single schema difference between two message collections.
#DbcSchemaReport
pub struct DbcSchemaReport {
message_count : Int
signal_count : Int
unique_identifier_count : Int
maximum_required_bytes : Int
}Stable statistics for a validated DBC schema.
#DbcSchemaReport::maximum_required_bytes
#DbcSchemaReport::message_count
#DbcSchemaReport::unique_identifier_count
#DecodedMessage
A decoded DBC message with the source identifier.
#DecodedMessage::find
Find a decoded value by signal name.
#DecodedMessage::id
Return the message identifier from a decoded message.
#DecodedMessage::name
Return the message name from a decoded message.
#DecodedMessage::signals
Return decoded signals.
#DecodedMessage::to_text
Render a decoded message as a stable diagnostic line.
#DecodedSignal
pub struct DecodedSignal {
name : String
raw : UInt
physical : Double
unit : String
}A decoded physical signal value.
#DiagnosticRequest
A diagnostic request represented as a CAN payload.
#DiagnosticRequest::payload
Return a defensive copy of the UDS payload.
#DiagnosticRequest::service
Return the service kind.
#DiagnosticRequest::service_id
Return the request's numeric service identifier.
#DiagnosticRequest::service_name
Return the service's name.
#DiagnosticRequest::suppress_response
Return whether a request contains a suppress-positive-response bit.
#DiagnosticResponse
A response classification for a diagnostic exchange.
#DtcRecord
A normalized three-byte diagnostic trouble code.
#DtcReport
A parsed ReadDTCInformation response.
#DtcReport::status_availability_mask
#DtcStore
A bounded DTC store suitable for an ECU simulator or gateway cache.
#DtcStore::clear_mask
Clear all records whose code matches a 24-bit mask.
#DtcStore::query_status
Query records whose status contains every bit in status_mask.
#DtcStore::remove
Remove one DTC, returning whether it existed.
#DtcStore::upsert
Add a code or update the status and occurrence count of an existing code.
#Filter
pub struct Filter {
id : UInt
mask : UInt
extended : Bool?
}A CAN acceptance filter.
#FilterBank
A group of filters evaluated in insertion order.
#FilterBank::accepts
Test whether any filter accepts a frame. An empty bank rejects all frames.
#FilterBank::add
Add a filter to the bank.
#FilterIndex
A compact exact-or-mask index for a monitoring application.
#Frame
A normalized CAN frame.
#Frame::bitrate_switch
Return whether the CAN-FD bit-rate switch is set.
#Frame::data
Return a defensive copy of the payload.
#Frame::error_state_indicator
Return whether the CAN-FD error-state indicator is set.
#Frame::is_data
Return whether this frame carries application data.
#Frame::is_error
Return whether this frame is a local simulation error.
#Frame::is_extended
Whether the frame uses the 29-bit identifier format.
#Frame::is_remote
Return whether this frame is a remote request.
#FrameAnalysis
pub struct FrameAnalysis {
unique_ids : Int
changed_payloads : Int
repeated_payloads : Int
average_payload : Double
minimum_gap_us : UInt64?
maximum_gap_us : UInt64?
}A compact analysis of identifier and payload behavior.
#FrameAnalysis::average_payload
#FrameAnalysis::changed_payloads
#FrameAnalysis::repeated_payloads
#FrameBatch
A validated batch of frames with a caller-provided sequence number.
#FrameBatch::checksum
Return a non-cryptographic checksum suitable for corruption detection.
#FrameBatch::encode
Encode a batch as a length-prefixed binary archive.
#FrameBatch::payload_bytes
Return the sum of payload bytes in the batch.
#FrameClass
pub enum FrameClass {
ClassicData
ClassicRemote
CanFdData
SimulationError
}A coarse frame class useful for metrics and routing policies.
#FrameMetrics
Aggregate counters for a collection of CAN frames.
#FrameMetrics::payload_count
#FrameMetrics::to_text
Render a stable metrics report for a CLI or CI artifact.
#FrameQueue
A deterministic priority queue for CAN transmit pipelines.
#FrameQueue::dequeue
Remove the highest-priority item.
#FrameQueue::enqueue
fn FrameQueue::enqueue(self : FrameQueue, channel : Byte, frame : Frame, enqueued_us : UInt64, deadline_us : UInt64) -> UInt raise QueueErrorAdd a frame and return its monotonic sequence number.
#FrameQueue::expire
Remove items whose deadline has expired at now_us.
#FrameQueue::peek
Return the highest-priority item without removing it.
#FrameQueue::remove
Remove a particular sequence number.
#FrameQueue::take_channel
fn FrameQueue::take_channel(self : FrameQueue, channel : Byte, limit : Int) -> Array[QueueItem] raise QueueErrorTake up to limit items for one logical channel.
#FrameReport
pub struct FrameReport {
valid : Bool
violations : Array[FrameViolation]
wire_bits : Int
stuffed_bits : Int
}The result of validating a normalized frame.
#FrameReport::violations
#FrameViolation
pub enum FrameViolation {
IdentifierRange
ClassicPayloadRange
FdPayloadRange
RemoteCarriesData
FdControlOnClassic
InvalidErrorShape
NonCanonicalDlc
} derive(Debug)A concrete validation finding.
#GatewayPair
Create a bidirectional bridge from two gateways.
#IsoTpConfig
pub struct IsoTpConfig {
frame_bytes : Int
block_size : Byte
separation_time : Byte
}ISO-TP transfer parameters for classic CAN and CAN-FD.
#IsoTpPacket
A decoded ISO-TP packet.
#IsoTpReceiver
pub struct IsoTpReceiver {
config : IsoTpConfig
total_length : Int
payload : Array[Byte]
next_sequence : Byte
block_count : Int
}An incremental ISO-TP receiver for a single outstanding transfer.
#IsoTpReceiver::flow_control
Return a flow-control packet for this receiver's configured limits.
#IsoTpReceiver::push
Feed one decoded packet into the receiver.
#IsoTpReceiver::reset
Clear the current transfer.
#IsoTpStatus
The state of an incremental receiver.
#J1939Id
pub struct J1939Id {
priority : Byte
data_page : Bool
pdu_format : Byte
pdu_specific : Byte
source_address : Byte
}A decoded 29-bit J1939 identifier.
#J1939Id::pgn
Return the PGN, omitting destination address for PDU1 messages.
#J1939Message
A J1939 application payload with its decoded identifier.
#J1939Message::to_frame
Create a data frame from a J1939 message.
#LatencySample
pub struct LatencySample {
sequence : UInt
created_us : UInt64
completed_us : UInt64
payload_bytes : Int
}One completed request/response timing sample.
#LatencyStats
pub struct LatencyStats {
count : Int
minimum_us : UInt64?
maximum_us : UInt64?
average_us : Double
p95_us : UInt64?
jitter_us : UInt64
payload_bytes : Int
}A summary of samples currently retained by a latency window.
#LatencyStats::throughput_bytes_per_second
Calculate payload throughput over an observation interval.
#LatencyStats::to_text
Render a compact, stable summary for benchmark artifacts.
#LatencyWindow
pub struct LatencyWindow {
capacity : Int
next_sequence : UInt
samples : Array[LatencySample]
last_completed_us : UInt64?
}A bounded rolling timing window for transport and diagnostic paths.
#LatencyWindow::latest
Return the newest retained sample, if any.
#LatencyWindow::oldest
Return the oldest retained sample, if any.
#LatencyWindow::percentile
Return an arbitrary percentile using nearest-rank selection.
#LatencyWindow::record
fn LatencyWindow::record(self : LatencyWindow, created_us : UInt64, completed_us : UInt64, payload_bytes : Int) -> UInt raise LatencyErrorRecord a completed sample and return its sequence number.
#LatencyWindow::samples
#LatencyWindow::stats
Calculate a stable summary of the retained timing samples.
#Message
A CAN message with named signals.
#Message::add_signal
Add a signal to a message.
#Message::decode
Decode all signals in a payload.
#Message::encode_frame
fn Message::encode_frame(self : Message, values : Map[String, Double], extended? : Bool) -> Frame raise DbcRuntimeErrorEncode a message definition and values as a CAN frame.
#Message::encode_values
Encode physical signal values into a message payload.
#Message::find
Find a signal by name.
#Message::required_bytes
Return a message's maximum configured bit end.
#Message::schema_text
Return a stable schema summary for tooling.
#Message::signal_count
Return the number of defined signals.
#Message::signals
Return signal definitions in source order.
#Message::signals_by_start_bit
Return a message's signals ordered by start bit.
#NetworkDelivery
One broadcast delivery produced by CanNetwork::poll.
#NetworkDelivery::recipients
#NetworkNode
pub struct NetworkNode {
node_id : Byte
name : String
last_seen_us : UInt64
online : Bool
transmitted : Int
received : Int
}A node registered with the network model.
#NodeRegistry
A registry used by simulations and gateway applications.
#NodeRegistry::deliver
Deliver a frame to every matching registered node.
#NodeRegistry::record_transmission
fn NodeRegistry::record_transmission(self : NodeRegistry, node_id : Byte) -> Unit raise NodeRegistryErrorRecord a transmission for a node.
#NodeRegistry::register
fn NodeRegistry::register(self : NodeRegistry, node_id : Byte, name : String, filter : Filter) -> Unit raise NodeRegistryError#NodeRegistry::unregister
#PdoMapEntry
pub struct PdoMapEntry {
index : UInt
sub_index : Byte
bit_offset : Int
bit_length : Int
}One object-dictionary entry mapped into a PDO.
#PdoMapping
A bit-packed PDO mapping.
#PdoMapping::add
fn PdoMapping::add(self : PdoMapping, index : UInt, sub_index : Byte, bit_length : Int) -> Unit raise PdoErrorAdd a mapping entry at the next available bit offset.
#PdoMapping::pack
Pack values in mapping order into a little-endian bit payload.
#PdoMapping::unpack
Unpack all mapped values from a PDO payload.
#PdoValue
pub struct PdoValue {
index : UInt
sub_index : Byte
value : UInt
}#PeriodicPublisher
A periodic publisher registered with a simulation.
#Pgn
pub struct Pgn {
number : UInt
name : String
data_length : Int
}#QueueItem
pub struct QueueItem {
sequence : UInt
channel : Byte
frame : Frame
enqueued_us : UInt64
deadline_us : UInt64
}A queued frame with timing and channel metadata.
#RouteRule
#RoutedFrame
A frame accepted and transformed by a route.
#ScheduledFrame
A frame scheduled for a simulated bus time.
#SchedulerTick
A scheduler execution result.
#Signal
pub struct Signal {
name : String
start_bit : Int
size : Int
little_endian : Bool
signed : Bool
factor : Double
offset : Double
minimum : Double
maximum : Double
unit : String
}A DBC signal description.
#Signal::accepts
Check a physical value against the configured range.
#Signal::decode
Decode a physical value using factor and offset.
#Signal::decode_physical
Decode a physical value while honoring the DBC signedness flag.
#Signal::decode_raw
Extract a raw signal value from a payload.
#Signal::decode_signed
Decode a signed raw value using the signal width.
#Signal::encode
Encode a physical value into a payload copy.
#Signal::encode_raw
Encode a raw value into a payload copy.
#Signal::has_range
Return the signal's inclusive physical range when configured.
#Signal::is_signed
Return whether this signal uses signed two's-complement values.
#Signal::is_valid
Check whether a signal fits inside a payload of dlc bytes.
#Signal::little_endian
Return whether the signal uses Intel/little-endian bit ordering.
#Signal::raw_max
Return the largest raw unsigned value representable by this signal.
#Simulation
pub struct Simulation {
now_us : UInt64
bus : VirtualBus
events : Array[ScheduledFrame]
publishers : Array[PeriodicPublisher]
trace : Trace
scheduled : Int
delivered : Int
dropped : Int
arbitration_bits : UInt64
bitrate_kbps : UInt
}A deterministic, single-threaded CAN network model.
#Simulation::add_periodic
fn Simulation::add_periodic(self : Simulation, source : String, frame : Frame, first_timestamp_us : UInt64, period_us : UInt64, count : Int) -> Unit raise SimulationErrorRegister a periodic publisher and schedule its first event.
#Simulation::receive
Drain the highest-priority frame ready at the current time.
#Simulation::report
Return a summary of the run so far.
#Simulation::run_steps
Execute at most limit events.
#Simulation::run_until
Execute events up to an inclusive timestamp.
#Simulation::schedule
fn Simulation::schedule(self : Simulation, timestamp_us : UInt64, frame : Frame, source? : String) -> Unit raise SimulationErrorSchedule a frame at an absolute microsecond timestamp.
#Simulation::step
Execute the next event and deliver it through the virtual bus.
#SimulationReport
pub struct SimulationReport {
start_us : UInt64
end_us : UInt64
scheduled : Int
delivered : Int
dropped : Int
arbitration_bits : UInt64
}Counters produced by a deterministic simulation run.
#SimulationReport::arbitration_bits
#SimulationReport::duration_us
#Trace
An append-only trace that can be replayed deterministically.
#Trace::between
Select entries in a closed timestamp interval.
#Trace::entries
Return entries in capture order.
#Trace::filter_id
Select entries matching an identifier.
#Trace::frames
Return all frames in capture order.
#Trace::record
Append a timestamped frame.
#Trace::replay
Replay frames to a virtual bus, preserving capture order.
#Trace::sorted
Return a capture-order copy sorted by timestamp and arbitration id.
#Trace::time_range
Return the first and last capture timestamps.
#Trace::to_text
Encode a trace in a stable CSV-like text format.
#Trace::validate
Validate timestamps and frame invariants in capture order.
#TraceEntry
A timestamped frame captured from a virtual bus.
#TraceEntry::timestamp
The capture timestamp in microseconds.
#UdsResponseInfo
pub struct UdsResponseInfo {
positive : Bool
response_service : Byte
payload : Array[Byte]
negative_code : Byte?
}A parsed positive or negative response with its service identifier.
#UdsResponseInfo::negative_code
#UdsResponseInfo::response_service
#UdsService
pub enum UdsService {
DiagnosticSessionControl
EcuReset
ReadDataByIdentifier
WriteDataByIdentifier
ReadMemoryByAddress
WriteMemoryByAddress
RoutineControl
SecurityAccess
CommunicationControl
ClearDiagnosticInformation
ReadDtcInformation
RequestDownload
TransferData
RequestTransferExit
TesterPresent
}Common UDS service identifiers used by a diagnostic client.
#UdsSession
pub struct UdsSession {
state : UdsSessionState
unlocked : Bool
last_activity_us : UInt64
p2_timeout_us : UInt64
pending_service : UdsService?
}A small deterministic UDS session tracker.
#UdsSession::accept
fn UdsSession::accept(self : UdsSession, request : DiagnosticRequest, payload : Array[Byte], timestamp_us : UInt64) -> UdsResponseInfo raise UdsSessionErrorApply a diagnostic response and advance session state.
#UdsSession::allows
Return whether a service is safe in the current state.
#UdsSession::begin
fn UdsSession::begin(self : UdsSession, request : DiagnosticRequest, timestamp_us : UInt64) -> DiagnosticRequest raise UdsSessionErrorBegin a request and remember the expected service.
#UdsSession::change_state
fn UdsSession::change_state(self : UdsSession, target : UdsSessionState) -> Unit raise UdsSessionErrorForce a session change after an externally validated response.
#UdsSession::timed_out
Check whether the response timer has expired.
#UdsSession::touch
Mark the current activity time.
#UdsSessionState
pub enum UdsSessionState {
DefaultSession
ProgrammingSession
ExtendedDiagnosticSession
SafetySystemDiagnosticSession
LockedSession
} derive(Debug)UDS application session states.
#VirtualBus
A deterministic in-memory CAN bus.
#VirtualBus::filters
Configure the receiver acceptance filters.
#VirtualBus::publish
Publish a frame. The queue is ordered by arbitration priority.
#VirtualBus::receive
Receive and remove the highest-priority pending frame.
#VirtualBus::set_filters
Replace all acceptance filters.
#admission_rule
fn admission_rule(name : String, filter : Filter, max_payload? : Int, allow_fd? : Bool, allow_remote? : Bool, min_interval_us? : UInt64) -> AdmissionRule raise AdmissionErrorConstruct a policy rule.
#analyze_trace
Analyze adjacent frames in capture order.
#append_bits
Append a value as most-significant-bit-first bits.
#arbitration_winner
Calculate the arbitration winner: the numerically lowest identifier wins.
#assess_bus_health
fn assess_bus_health(metrics : FrameMetrics, dropped : Int, duration_us : UInt64, bitrate_kbps : UInt) -> BusHealthAssess health from frame metrics and virtual-bus counters.
#batch_frames
Partition frames into batches with at most size members.
#bit_at
Return the bit at an absolute offset, or None when outside the array.
#bit_reader_from_bytes
Create a reader directly from packed bytes.
#bits_of
Convert an integer to most-significant-bit-first bits.
#bits_to_bytes
Convert bits to packed bytes. The last byte is zero padded.
#bits_to_string
Return a string made of 0 and 1 for diagnostics and golden tests.
#bus_utilization
Calculate approximate utilization for a bitrate in kbit/s.
#bytes_to_bits
Convert packed bytes to high-to-low bits.
#calculate_bit_timing
fn calculate_bit_timing(clock_hz : UInt, bitrate : UInt, sample_point_percent : Double) -> CanBitTiming raise CanTimingErrorCalculate a practical timing candidate using an integer clock divider.
#can_fd_timing
#can_line
Encode a single compact line for shell tools.
#can_log_from_text
Parse a log produced by CanLog::to_text.
#canonicalize_dbc
Parse, validate and normalize an extended DBC document.
#canopen_cob_id
Create a standard CANopen COB-ID for a node.
#canopen_cob_name
Return the textual name of a CANopen object type.
#canopen_emergency
fn canopen_emergency(error_code : UInt, error_register : Byte, manufacturer_data : Array[Byte]) -> Array[Byte] raise CanOpenErrorBuild an emergency payload with standard CANopen fields.
#canopen_nmt
Build an NMT command frame.
#canopen_sdo_decode
Decode one SDO response command.
#canopen_sdo_download
fn canopen_sdo_download(index : UInt, sub_index : Byte, data : Array[Byte]) -> Array[Byte] raise CanOpenErrorBuild an expedited SDO download request.
#canopen_sdo_download_command
fn canopen_sdo_download_command(index : UInt, sub_index : Byte, data : Array[Byte]) -> CanOpenSdoCommand raise CanOpenErrorBuild a typed expedited download command.
#canopen_sdo_download_segment
fn canopen_sdo_download_segment(toggle : Bool, data : Array[Byte], last : Bool) -> CanOpenSdoCommand raise CanOpenErrorBuild a typed segmented download command.
#canopen_sdo_frame
fn canopen_sdo_frame(node_id : Byte, transmit : Bool, payload : Array[Byte]) -> Frame raise CanOpenErrorBuild a CAN frame for an SDO payload.
#canopen_sdo_upload
Build an SDO upload request.
#canopen_sdo_upload_segment
Build a typed segmented upload command.
#classify_frame
Classify a frame for counters and dashboards.
#clear_diagnostic_information
Build a request to clear one DTC group or all groups.
#communication_control
Build a communication-control request.
#compare_frames
Compare frames in the order used by deterministic arbitration.
#count_stuffed_bits
Count stuffed bits in a sequence without allocating the stuffed result.
#counter_is_next
fn counter_is_next(previous : Byte, current : Byte) -> BoolVerify the expected modulo-16 counter progression.
#counter_nibble
Read a rolling counter nibble.
#crc17
CRC-17 used by CAN-FD frames with a payload up to 16 bytes.
#crc21
CRC-21 used by CAN-FD frames with a payload above 16 bytes.
#crc8_autosar
Return the CRC-8/AUTOSAR checksum with configurable initial value.
#crc8_sae_j1850
Return the CRC-8/SAE-J1850 checksum of a payload.
#data_frame
Create a classic CAN data frame.
#decode_canopen_cob_id
Decode a standard CANopen COB-ID using the conventional ranges.
#decode_frame
Decode one frame from the stable binary representation.
#decode_frame_batch
Decode a batch archive and check its checksum.
#decode_j1939_frame
Decode an extended CAN data frame as a J1939 message.
#decode_response
Decode a UDS response payload.
#decode_wire_can20
Decode a classic CAN wire sequence produced by encode_wire.
#decode_wire_canfd
Decode a CAN-FD wire sequence produced by encode_wire.
#destuff
Remove CAN bit stuffing from a received bit sequence.
#diagnostic_frame
fn diagnostic_frame(request : DiagnosticRequest, id : UInt, extended? : Bool) -> Frame raise FrameErrorReturn a service request encoded as a CAN data frame.
#diff_dbc_schema
Compare message collections by identifier and canonical schema text.
#dtc_record
fn dtc_record(code : UInt, status : Byte, occurrence? : UInt, snapshot? : Array[Byte]) -> DtcRecord raise DtcCodecErrorCreate a DTC record with an optional occurrence counter and snapshot.
#encode_bits
Encode a frame's arbitration and control fields before CRC.
#encode_dtc_record
Encode the four-byte DTC record used in a UDS response.
#encode_dtc_report
Encode a report while preserving record order.
#encode_frame
A stable binary representation for trace files and test fixtures.
The format is: version, flags, four-byte identifier, payload length, data.
All multi-byte values are big-endian so the format is identical on every
MoonBit backend.
#encode_j1939
Encode a J1939 identifier from its fields.
#encode_wire
Encode identifier, control, data, CRC, stuffing and EOF bits.
#encoded_wire_length
Return the stuffed frame length, including SOF-free EOF bits.
#error_frame
Create a local error frame for simulation and diagnostics.
#estimate_transmission_us
Estimate transmission time in microseconds.
#fd_frame
fn fd_frame(id : UInt, data : Array[Byte], extended? : Bool, bitrate_switch? : Bool, error_state_indicator? : Bool) -> Frame raise FrameErrorCreate a CAN-FD data frame.
#fd_frame_duration_ns
Estimate the data-phase duration for a CAN-FD frame with BRS.
#fd_length_from_dlc
fn fd_length_from_dlc(dlc : Byte) -> IntDecode a CAN-FD DLC into its payload capacity.
#filter_bank_is_valid
Return whether all filters in a bank are valid.
#filter_is_valid
Validate a filter against the selected identifier width.
#frame_batch
#frame_class_name
Return the frame class as a stable text label.
#frame_crc
Return the CRC for the unstuffed arbitration/control/data sequence.
#frame_duration_ns
Estimate a frame's nominal-only transmission duration.
#frame_encoded_size
Return the number of encoded frame bytes, including the codec header.
#frame_equal
Compare frame payloads and all control flags.
#frame_from_hex
Decode a hexadecimal frame representation.
#frame_is_valid
Return whether a frame passes all normalized invariants.
#frame_metrics
Calculate deterministic metrics without changing the input order.
#frame_summary
Return a compact human-readable frame summary.
#frame_to_hex
Encode a frame as lowercase hexadecimal bytes.
#frame_violation_message
Return a diagnostic description for a validation finding.
#frame_wire_bits
Return the approximate wire bit count before inter-frame spacing.
#frame_with_data
Rebuild a frame with a defensive payload copy.
#frame_with_id
Rebuild a frame with a different arbitration identifier.
#frames_per_second
Calculate frames per second over an observation interval.
#gateway_pair
#isotp_config
fn isotp_config(frame_bytes? : Int, block_size? : Byte, separation_time? : Byte) -> IsoTpConfig raise IsoTpErrorCreate an ISO-TP configuration. Data capacity is normally 8 or 64 bytes.
#isotp_decode_checked
Decode a packet while enforcing its declared payload length.
#isotp_frames
fn isotp_frames(tx_id : UInt, payload : Array[Byte], config : IsoTpConfig, extended? : Bool) -> Array[Frame] raise IsoTpErrorWrap ISO-TP packets in CAN or CAN-FD data frames.
#isotp_reassemble
Reassemble consecutive ISO-TP packets after a first frame.
#isotp_reassemble_checked
Reassemble a complete ISO-TP transfer and verify sequence numbers.
#isotp_reassemble_frames
fn isotp_reassemble_frames(frames : Array[Frame], config : IsoTpConfig) -> Array[Byte] raise IsoTpErrorDecode and reassemble a sequence of CAN data frames.
#isotp_segment
Encode a payload into ISO-TP packets carried by classic CAN frames.
#isotp_segment_checked
fn isotp_segment_checked(payload : Array[Byte], config : IsoTpConfig) -> Array[Array[Byte]] raise IsoTpErrorSegment a payload while respecting frame size and the 12-bit classic length.
#j1939_bam
Build a J1939 BAM transport-protocol announcement.
#j1939_destination
Return the numeric destination address, or broadcast for PDU2 messages.
#j1939_id
fn j1939_id(priority : Byte, data_page : Bool, pdu_format : Byte, pdu_specific : Byte, source_address : Byte) -> J1939IdCreate a J1939 identifier from its wire fields.
#j1939_matches_pgn
Test whether a J1939 identifier belongs to a PGN.
#j1939_message
#j1939_parse_bam
Parse a BAM announcement as (length, packet_count, pgn).
#j1939_reassemble_bam
fn j1939_reassemble_bam(packets : Array[Array[Byte]], total_length : Int) -> Array[Byte] raise J1939ErrorReassemble BAM data packets after validating their sequence numbers.
#j1939_with_priority
Return a priority-adjusted arbitration identifier.
#j1939_with_source
Return a source-address-adjusted identifier.
#locked_uds_session
Create a session that requires security access for protected services.
#mask_filter
Match identifier bits selected by a mask.
#mask_payload
Mask a payload byte range without changing its length.
#matching_filters
Return all filters that match a frame.
#max_payload
Return the maximum payload allowed by the protocol.
#merge_traces
Merge two traces and normalize their ordering.
#message
Create a message definition.
#new_bit_reader
Create a reader over a defensive copy of the input bits.
#new_bus
Create a bus. A zero capacity means an unbounded queue.
#new_can_network
Create a network. A zero timeout disables automatic offline detection.
#new_dtc_report
Construct a report for a positive ReadDTCInformation response.
#new_frame_queue
Create a queue. Capacity zero means unlimited buffering.
#new_simulation
Create a simulation with a bounded or unbounded receive queue.
#parse_can_line
Parse a compact two-field line.
#parse_dbc
Parse the message/signal subset commonly used by simulation tools.
#parse_dbc_database
Build a database using the existing DBC subset parser.
#parse_dbc_extended
Parse common factor, offset, range and unit fields in SG_ records.
#parse_dtc_report
Parse a positive ReadDTCInformation response.
#parse_uds_response
fn parse_uds_response(request : DiagnosticRequest, payload : Array[Byte]) -> UdsResponseInfo raise UdsErrorParse a response and preserve the original payload for callers.
#payload_set_uint
fn payload_set_uint(data : Array[Byte], offset : Int, width : Int, value : UInt, order : ByteOrder) -> Array[Byte] raise PayloadErrorInsert an unsigned integer into a copied payload.
#payload_uint
fn payload_uint(data : Array[Byte], offset : Int, width : Int, order : ByteOrder) -> UInt raise PayloadErrorExtract an unsigned integer from a payload.
#pdo_frame
Build a PDO frame with the standard 11-bit COB-ID.
#pgn
Describe a PGN for higher-level applications.
#read_data
Build a read-data-by-identifier request.
#read_dtc_information
Build a DTC information request.
#read_memory
fn read_memory(address : UInt, length : UInt, address_bytes? : Int, length_bytes? : Int) -> DiagnosticRequest raise UdsErrorBuild a memory read request using a compact address/length format.
#remote_frame
Create a remote request frame.
#request_download
fn request_download(data_format : Byte, address : UInt, length : UInt, address_bytes? : Int, length_bytes? : Int) -> DiagnosticRequest raise UdsErrorBuild a request-download command.
#reverse_payload
Return a payload with bytes reversed in a selected range.
#route_batch
fn route_batch(gateway : CanGateway, frames : Array[Frame]) -> Array[RoutedFrame] raise RoutingErrorRoute a batch and keep only successfully forwarded frames.
#route_rule
fn route_rule(name : String, filter : Filter, output_id? : UInt?, output_extended? : Bool?, prefix? : Array[Byte], strip_prefix? : Int) -> RouteRule raise RoutingErrorConstruct a route rule with optional identifier and payload rewrites.
#routine_control
fn routine_control(routine_type : Byte, identifier : UInt, data? : Array[Byte]) -> DiagnosticRequest raise UdsErrorBuild a routine-control request with an optional input record.
#schedule_miss_rate
Return the fraction of ticks that missed their deadline.
#schedule_wire_bits
Estimate the total wire bits for one scheduler window.
#security_access
Build a security-access seed/key request.
#serialize_dbc_schema
Serialize a schema to deterministic DBC text.
#session_control
Build a session-control request.
#set_bit
Set a bit in a defensive copy. Out-of-range positions are ignored.
#set_counter_nibble
fn set_counter_nibble(data : Array[Byte], offset : Int, counter : Byte, high_nibble : Bool) -> Array[Byte] raise PayloadErrorInsert a rolling counter into a payload nibble.
#signal
fn signal(name : String, start_bit : Int, size : Int, little_endian? : Bool, signed? : Bool, factor? : Double, offset? : Double, minimum? : Double, maximum? : Double, unit? : String) -> SignalCreate a signal descriptor.
#sort_by_arbitration
Return a stable arbitration-sorted copy.
#sort_j1939
Return the standard J1939 priority ordering for messages.
#tester_present
Build a tester-present request.
#trace_from_text
Parse a trace produced by Trace::to_text.
#trace_metrics
Compute metrics directly from a trace.
#transfer_data
Build a transfer-data block.
#uds_negative_code_name
fn uds_negative_code_name(code : Byte) -> StringReturn a stable description for common UDS negative response codes.
#uds_service_id
Return the numeric service identifier.
#uds_service_name
Return the service's stable diagnostic name.
#uds_session_name
Return a stable state label.
#validate_dbc_schema
Validate identifiers, payload bounds and signal overlap.
#validate_frame
Validate protocol and simulation invariants.
#validate_j1939
Validate a J1939 identifier's fields.
#wire_round_trip
Verify that a frame's wire encoding can be decoded without loss.
#write_data
Build a write-data-by-identifier request.
#write_memory
fn write_memory(address : UInt, data : Array[Byte], address_bytes? : Int) -> DiagnosticRequest raise UdsErrorBuild a memory write request.
Source Files
- admission.mbt
- bit_cursor.mbt
- can_network.mbt
- can_text.mbt
- can_timing.mbt
- canopen.mbt
- canopen_pdo.mbt
- crc.mbt
- dbc.mbt
- dbc_extended.mbt
- dbc_runtime.mbt
- dbc_serializer.mbt
- diagnostic.mbt
- diagnostic_codec.mbt
- diagnostic_session.mbt
- filter.mbt
- filter_tools.mbt
- frame.mbt
- frame_analysis.mbt
- frame_batch.mbt
- frame_codec.mbt
- frame_validation.mbt
- health.mbt
- isotp_engine.mbt
- j1939.mbt
- j1939_stack.mbt
- latency.mbt
- metrics.mbt
- node_registry.mbt
- payload_tools.mbt
- routing.mbt
- scheduler.mbt
- signal.mbt
- simulation.mbt
- trace.mbt
- trace_tools.mbt
- transport.mbt
- transport_queue.mbt
- uds_stack.mbt
- wire.mbt
- wire_codec.mbt
A deterministic, dependency-free CAN 2.0 and CAN-FD toolkit for MoonBit.
cancan-fddbcisotpj1939vehicle-network
0.1.0
Apache-2.0
Updated 2 hours ago
2 downloads