V2.0 | 2018-12-05

Introduction to different Interfaces, Technologies and APIs

CANoe as Open Environment

2

1. Current Tool Landscape

2. What CANoe Can Do

3. Interfaces

4. Conclusion

Agenda

3

Motivation

Current Tool Landscape

SUT

Tool 1HIL/RBS

Tool 5Autom.

Test

Tool 2Env Mdl

Tool 3Dynamic

Mdl

AIO/DIO

CAN, LIN, FlexRay, Most, Ethernet, …

n

???

Tool 4ADAS, virt

driving

?

4

Motivation

Current Tool Landscape

Many different specialized tools involved – one for each domain

Tools have to interact with each other

Often done with homegrown solutions> Drawback

> Large effort to maintain compatibility over several versions

> Project specific – low reuse

Thus using already available interfaces is obvious

5

1. Current Tool Landscape

2. What CANoe Can Do

3. Interfaces

4. Conclusion

Agenda

6

Application/Simulation Related

What CANoe Can Do

SUT

Tool 1HIL/RBS

Tool 2Env Mdl

Tool 3Dynamic

Mdl

AIO/DIO

CAN, LIN, FlexRay, Most, Ethernet, …

n

Most Common modeling tool is Matlab/Simulink

CANoe provides a Matlab/Simulink Interface

More generic approach: FMI (Functional-Mockup-Interface)

CANoe can load and integrate FMUs

Vector specific: FDX

UDP based and thus commonly available

Tool 4ADAS, virt

driving

7

Automated Testing

What CANoe Can Do

SUT

Tool 1HIL/RBS

Tool 5Autom.

Test

CAN, LIN, FlexRay, Most, Ethernet, …

n

ASAM XiL API

Standardized interface

COM

Standardized interface from Microsoft

Only suitable to setup/control test

Vector specific: FDX

UDP based and thus commonly available

Also for high performance date exchange

National Instruments

LabVIEW - Shared Network Variables

8

1. Current Tool Landscape

2. What CANoe Can Do

3. Interfaces

4. Conclusion

Agenda

9

Matlab/Simulink Interface

Interfaces

Application Model in MATLAB

physical bus simulated bus

Application Model in CAPL

real

node

ApplicationMATLAB/Simulink/Stateflow

IL NM

TPCANoe

Application CAPL

IL NM

TPCANoe

CANoe

IL NM

TP CANoe

CANoe

Application CAPL

IL: Interaction Layer

NM: Network Management

TP: Transport Protocol

on timer tMoveDownTimer

{

if(gPosWN < 15 && gMoveDown == gTrue)

{

gPosWN++;

$DOOR_l::WN_Position = gPosWN;

}

}

10

Matlab/Simulink Interface

Interfaces

Provide the environment for a SUT in a compiled MATLAB model

Stimulation of sensors/actuators from model outputs/inputs

Utilizing e.g. CANoe RT for deterministic timing behavior

CANoe

SUT(System Under Test)

Signal Output

(Bus Access)

Actuator Output

(I/O)

Signal Input

(Bus Access)

Sensor Input

(I/O)

Remaining Bus

and Application or

Environment/Vehicle

Model

SW Stimulation(System Variables)

SW Reaction(System Variables)

11

Idea: Define an interface for integrating models of different types (mechanical, electrical, …) and vendors and make them available to different simulation platforms without disclosing IP

FMI for model exchange

FMI for co-simulation

FMI (Functional Mockup Interface)

Interfaces

Tool

FMU

Solver

Model

Solver

FMU

Model

Tool

Functional Mockup Interface for model exchange and tool coupling

Tool

Solver

Tool

12

FMU Import

Interfaces

13

FMU Export

Interfaces

14

UDP based link – therefore generally available

FDX (Fast Data eXchange) is a protocol for simple, fast, real-time exchange of data between CANoe and other systems via an Ethernet connection. The protocol enables other systems read and write access to CANoe system variables, environment variables and contents of bus messages

FDX

Interfaces

PC HiL System1

Windows UDP/IP stackCANoe FDX client2UDP/IP

stack

XML

Data Description

UDP

Ethernet

1Running on any OS

2Written in any programming language

FDX protocol is easy to use

UDP is available on almost every system

Customer can implement specific solutions on his own

15

FDX

Interfaces

The type of data can be any typical integer or floating point type, scalar or array and even string

Data elements are sent and received in groups

16

FDX

Interfaces

17

FDX Editor

Interfaces

Layout view

Configured Symbols in a data group

Data groups

HIL Symbols(optional)

Symbol Selection

18

FDX – Configuration in CANoe with XML

Interfaces

19

FDX – Implementation on Client Side with any Programming Language

Interfaces

20

ASAM XiL API

Interfaces

Test Automation Tool

Test Case

XIL Ports

Model Access Port

Test Bench

XIL Framework(optional) Mapping

NetworkPort

DiagPort

EESPort

ECUMPort

ECUCPort

HIL Hardware / Offline Simulation

XIL API

21

ASAM XiL API – Usage scenarios

Interfaces

Scenario 1:

CANoe as Server

Scenario 2:

CANoe as Client

vTESTstudio

3rd Party Test Bench

CANoe

CANoe

3rd Party Test Automation Tool

Test Cases

XIL APIXIL API

Test CasesTest Cases

Test CasesTest CasesTest Cases

22

ASAM XiL API – CANoe as Server

Interfaces

Scenario 1:

CANoe as Server

vTESTstudio

3rd Party Test Bench

CANoe

CANoe

3rd Party Test Automation Tool

Test Cases

XIL APIXIL API

Test CasesTest Cases

Test Cases

23

XIL API – CANoe as Server

Interfaces

24

ASAM XiL API – Usage scenarios

Interfaces

Scenario 2:

CANoe as Client

vTESTstudio

3rd Party Test Bench

CANoe

CANoe

3rd Party Test Automation Tool

XIL APIXIL API

Test CasesTest CasesTest CasesTest Cases

25

XIL API – CANoe as Client

Interfaces

26

ASAM XiL API – Supported ports

Interfaces

Model AccessPort

Largely supported Partly supported Not supported

Generators

Capturing

Variable Access Diag Port

EESPort

ECUM Port

ECUC Port

Network Port

Short Circuit Errors

Static Timing

Interruption Errors

Dynamic Timing

Pin to Pin Errors

Resistor Errors

Loose Contact Timing

Generators

Variable Access

27

LabVIEW Shared Network Variables

Interfaces

NI Real Time Rack

GUI PC

RT PC

LabWindows

CVI Runtime

LabVIEW VI

LabWindows

CVI Runtime

configuration

data exchange

CANoe GUI

CANoe RT

Interface to LabVIEW

Realization: Usage of the Shared Network variable API of LabVIEW

Measurement signal configuration in CANoe via GUI

Fully automated generation of required system variables

28

LabVIEW Shared Variables

Interfaces

29

COM

Interfaces

CANoe provides a COM server with numerous object to

Remote control CANoe, e.g. start and stop the measurement

Build up/modify configuration dynamically

COM server is not suitable for exchanging simulation data in an online setup

30

Microsoft COM

Interfaces

31

1. Current Tool Landscape

2. What CANoe Can Do

3. Interfaces

4. Conclusion

Agenda

32

Conclusion

The “oe” in CANoe means “Open Environment”

Many available interfaces are already supported

33

Available Interfaces

Conclusion

SUT

CANoeHIL/RBS

Tool 5Autom.

Test

Tool 2Env. Mdl.

Tool 3Dynamic

Mdl.

AIO/DIO

CAN, LIN, FlexRay, Most, Ethernet, …

n

Tool 4ADAS, virt.

driving

ASAM XIL API, FDX, COM

Matlab Interface, FMI FMI, FDX

34

Design (models, test scripts, …)

HW

Open Environment by APIs

Conclusion

Vector Tools

Test Design

vTESTstudio

Simulation Model

CANoe

Additional Models

Test Management

Requirements Test Cases Test Planning Test Result Analysis

FDX

Other 3rd party tools

Traceability Matrix XML Report

VT System

Direct Integration

Vector Network

Interfaces

.NET DLL

…

SUT

FMI/FMU IPG

CarMakerFM

I

DLL

TESIS

DYNA4

DLL

Other 3rd-party HIL System

ASAM XIL API

XIL API

Matlab/Simulink Integration

Matlab

Shared Network Variables

NI

LabVIEW

Trace Items

…

FDX

…

.NET DLL

ReqIF

ReqIF Exp.

35 © 2015. Vector Informatik GmbH. All rights reserved. Any distribution or copying is subject to prior written approval by Vector. V2.0 | 2018-12-05

Author:Neuffer, JochenVector Germany

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