Halo MCU-ECU CAN Bus Simulator

Three-node virtual-CAN communication simulator for Halo's MCU/ECU CAN architecture.

NO REAL PROPULSION CONTROL: all pressure, temperature, and actuator data are synthetic; the percent-to-actuator assignment is a placeholder for testing CAN messaging only. No hardware outputs, calibrated conversion, or valve logic.

Setup

Install the dependencies:

sudo apt install can-utils iproute2 python3-pip
python3 -m pip install python-can

Create the virtual CAN network:

sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 up

Check the interface:

ip link show vcan0

Monitor CAN traffic:

candump vcan0

Send CAN Frame:

cansend vcan0 <id>#<message>

Usage

on Linux after creating vcan0:

python3 sim.py all
python3 sim.py all --fault-after 10

Or run each node separately:

python3 sim.py mcu
python3 sim.py epr
python3 sim.py etc

At the final thrust-profile timestamp, the MCU sends zero thrust followed by the shutdown CAN frame (0x102, standard ID, empty payload). EPR reports SAFE with a vent request, and ETC reports INHIBITED with zero actuator output, then all nodes close their CAN buses and exit. In all mode, the launcher waits up to five seconds for remaining nodes to exit before terminating stuck tasks. You can also send the shutdown frame to EPR and ETC with cansend vcan0 102#.

Thrust plotter

Install Matplotlib

python -m pip install matplotlib

Run plotter (optionally with specific file):

python visualize_thrust_profile.py [file]