CAN Source

Node ID: can · Role: Source · Realtime config: no

Description

CAN bus vehicle data source. Subtypes: Vector CAN, PEAK CAN. Reads wheel speeds, steering angles, and other vehicle signals. Outputs VehicleSpeed and CANData.

Inputs / Outputs

Inputs: (none)
Outputs: Can

Config aliases

CanDataSource, canDataSource, can

Properties

No user-facing properties.

Subtypes

Value	Display name	Extra properties
`vector`	Vector CAN	3 field(s)
`peak_can`	PEAK CAN	3 field(s)

Subtype: `vector` — Vector CAN

Key	Label	Type	Default	Options	Description / Notes
`channel`	Channel Index	`number`	`0`	—	—
`baudrate`	Baudrate	`select`	`500000`	`125000`, `250000`, `500000`, `800000`, `1000000`	—
`senderId`	Sender ID	`string`	`can`	—	—

Subtype: `peak_can` — PEAK CAN

Key	Label	Type	Default	Options	Description / Notes
`channel`	PCAN Channel	`select`	`PCAN_USBBUS1`	`PCAN_USBBUS1`, `PCAN_USBBUS2`, `PCAN_USBBUS3`, `PCAN_USBBUS4`	—
`baudrate`	Baudrate	`select`	`500000`	`125000`, `250000`, `500000`, `800000`, `1000000`	—
`senderId`	Sender ID	`string`	`can`	—	—

Example node definition

A full node definition in config.json looks like the block below. Paste it under the sources key of your config, keyed by the node’s instance name (any identifier; it doesn’t have to match the node ID).

{
  "sources": {
    "can": {
      "outEndpoint": "inproc://can_data",
      "type": "vector",
      "settings": {
        "channel": 0,
        "baudrate": "500000",
        "senderId": "can"
      }
    }
  }
}

Field reference

Field	Purpose
`outEndpoint`	ZMQ / inproc endpoint this source binds to publish its output. The runtime auto-generates one if omitted.
`type`	Subtype / backend selector. See the Subtypes section above for valid values.
`settings`	All user-configurable fields — see the Properties table above.

Connections can also be declared at the top-level connections array when settings.explicitConnections is true, as an alternative to filling inputEndpoints on each node.

Loading documentation…