自动驾驶下CAN数据的采集（asc文件）

在车辆上， Controller Area Network（CAN）是一种常见的通信协议和设备， 用于在车辆内部的各个电子控制单元之间进行数据传输， CAN允许车辆在不同子系统之间进行快速、可靠的实时通信，以协调车辆的各个功能和系统。

有些自动驾驶公司会采集CAN数据用于模块验证，或存为asc文件， 或存为blf文件，下面介绍一种CAN的编码采集，采集的文件格式为asc

首先需要安装驱动，windows下的安装直接可视化界面安装就行， 这里介绍一下linux下的安装驱动和sdk： 

wget --content-disposition "https://www.kvaser.com/downloads-kvaser/?utm_source=software&utm_ean=7330130980754&utm_status=latest"
tar xvzf linuxcan.tar.gz
cd linuxcan
make  
sudo make install 
sudo make load 


wget --content-disposition "https://www.kvaser.com/downloads-kvaser/?utm_source=software&utm_ean=7330130981966&utm_status=latest"
tar xvzf kvlibsdk.tar.gz
cd kvlibsdk
make
make check 
sudo make install 

在驱动安装完成之后， 需要初始化并打开端口

canInitializeLibrary();
canOpenChannel();

初始化完成之后对端口设置，比如这个将频率设置成2M

canSetBusParamsFd(mHnd, canFD_BITRATE_2M_80P, 0, 0, 0);

最后读取端口接收到的数据即可

CanReadWait()

下面给出一个简单案例接收CAN数据 (来源Kvaser官方案例)：

int main(int argc, char *argv[])
{
    canHandle hnd;
    canStatus stat;
    int channel;
    struct sigaction sigact;

    if (argc != 2) {
        printUsageAndExit(argv[0]);
    }

    {
        char *endPtr = NULL;
        errno = 0;
        channel = strtol(argv[1], &endPtr, 10);
        if ((errno != 0) || ((channel == 0) && (endPtr == argv[1]))) {
            printUsageAndExit(argv[0]);
        }
    }

    /* Use sighand as our signal handler for SIGALRM */
    sigact.sa_flags = SA_SIGINFO | SA_RESTART;
    sigemptyset(&sigact.sa_mask);
    sigact.sa_sigaction = sighand;
    if (sigaction(SIGALRM, &sigact, NULL) != 0) {
        perror("sigaction SIGALRM failed");
        return -1;
    }
    /* Use sighand and allow SIGINT to interrupt syscalls */
    sigact.sa_flags = SA_SIGINFO;
    if (sigaction(SIGINT, &sigact, NULL) != 0) {
        perror("sigaction SIGINT failed");
        return -1;
    }

    printf("Counting CAN messages on channel %d\n", channel);

    canInitializeLibrary();

    /* Open channel, set parameters and go on bus */
    hnd = canOpenChannel(channel,
                         canOPEN_EXCLUSIVE | canOPEN_REQUIRE_EXTENDED | canOPEN_ACCEPT_VIRTUAL);
    if (hnd < 0) {
        printf("canOpenChannel %d", channel);
        check("", hnd);
        return -1;
    }
    stat = canSetBusParams(hnd, canBITRATE_1M, 0, 0, 0, 0, 0);
    check("canSetBusParams", stat);
    if (stat != canOK) {
        goto ErrorExit;
    }
    stat = canBusOn(hnd);
    check("canBusOn", stat);
    if (stat != canOK) {
        goto ErrorExit;
    }

    alarm(ALARM_INTERVAL_IN_S);

    do {
        long id;
        unsigned char msg[8];
        unsigned int dlc;
        unsigned int flag;
        unsigned long time;

        stat = canReadWait(hnd, &id, &msg, &dlc, &flag, &time, READ_WAIT_INFINITE);

        if (stat == canOK) {
            if (flag & canMSG_ERROR_FRAME) {
                err++;
            } else {
                if (flag & canMSG_STD)
                    std++;
                if (flag & canMSG_EXT)
                    ext++;
                if (flag & canMSG_RTR)
                    rtr++;
                if (flag & canMSGERR_OVERRUN)
                    over++;
            }
            msgCounter++;
        } else {
            if (errno == 0) {
                check("\ncanReadWait", stat);
            } else {
                perror("\ncanReadWait error");
            }
        }

    } while (stat == canOK);

    sighand(SIGALRM, NULL, NULL);

ErrorExit:

    alarm(0);
    stat = canBusOff(hnd);
    check("canBusOff", stat);
    stat = canClose(hnd);
    check("canClose", stat);
    stat = canUnloadLibrary();
    check("canUnloadLibrary", stat);

    return 0;
}