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Linux Automation IOBus Server

Project description documentation status


This packages provides a daemon which interfaces IOBus-devices from Linux Automation GmbH with test-automation tools like labgrid. IOBus is a CANopen-inspired communications protocol on top of CAN.

This packages provides the following features:

  • lxa-iobus-server: This is the central daemon that manages the nodes on the bus. It provides a (human-readable) web interface and a REST API for remote control of the nodes. It also updates the firmware running on the devices on the bus.

  • The most recent firmware for all available IOBus devices.

If you want to get in touch with us feel free to do so:

System requirements

The lxa-iobus-server has been developed to work on a modern Linux-based distribution. Additional to this the following requirements need to be meet to run the lxa-iobus-server:

  • Python 3.7 or later

  • on Debian: python3-virtualenv

  • SocketCAN

  • Compatible CAN device

  • git

  • optional: systemd to setup a service for lxa-iobus-server

  • optional: systemd >= 239 to bring up your CAN-device on boot

  • optional: make for easy setup of the lxa-iobus-server


We assume that the linux network interface connected to your CAN bus is can0. If your CAN bus has a different name please take a look into our documentation.

Make sure you have at least one other CAN device on your bus (e.g. an IOBus-Device) and that your bus has sufficient termination resistors. If you connect an IOBus-Device to a currently unmanaged bus (a CAN bus without a running lxa-iobus-server) the network LED on the IOBus-Device will blink until the node has been initialized.

With this instructions you will first set up your SocketCAN device to work with the lxa-iobus-server. Afterwards you will clone this repository. The last step is to call make server which will create a python venv inside the directory and start a server that binds to http://localhost:8080/.

$ sudo ip l set can0 down && sudo ip link set can0 type can bitrate 100000 && sudo ip l set can0 up
$ git clone
Cloning into 'lxa-iobus'...
remote: Enumerating objects: 476, done.
remote: Counting objects: 100% (476/476), done.
remote: Compressing objects: 100% (227/227), done.
remote: Total 476 (delta 257), reused 448 (delta 229), pack-reused 0
Receiving objects: 100% (476/476), 1.04 MiB | 2.48 MiB/s, done.
Resolving deltas: 100% (257/257), done.
$ cd lxa-iobus/
$ make server
rm -rf env && \
python3.7 -m venv env && \
. env/bin/activate && \
pip install -e .[full] && \
date > env/.created
Obtaining file:///home/chris/tmp/lxa-iobus
Successfully installed aenum-2.2.4 aiohttp-3.5.4 aiohttp-json-rpc-0.12.1 async-timeout-3.0.1 attrs-20.2.0 backcall-0.2.0 canopen-1.1.0 chardet-3.0.4 decorator-4.4.2 idna-2.10 ipython-6.5.0 ipython-genutils-0.2.0 jedi-0.17.2 lxa-iobus multidict-4.7.6 parso-0.7.1 pexpect-4.8.0 pickleshare-0.7.5 prompt-toolkit-1.0.18 ptyprocess-0.6.0 pygments-2.7.2 python-can-3.3.4 simplegeneric-0.8.1 six-1.15.0 traitlets-5.0.5 typing-extensions- wcwidth-0.2.5 wrapt-1.12.1 yarl-1.6.2
. env/bin/activate && \
lxa-iobus-server can0
starting server on http://localhost:8080/

After this step the lxa-iobus-server will start to scan the bus for connected IOBus-compatible nodes. Depending on the number of nodes this can take up to 30 seconds. Observe the status of the network LED on your IOBus compatible node. Once the node has been initialized by the server the LED stops blinking.

Now navigate your web browser to http://localhost:8080/. Your node should be listed under nodes. Your lxa-iobus-server is now ready for use.


For a permanent installation of the LXA IOBus server take a look into the Getting Started section in our documentation.


The REST API can be used to build your own lab automation on top of the lxa-iobus. Take a look at the following examples for all the available endpoints.


# get nodes
>>> curl http://localhost:8080/nodes/
<<< {"code": 0, "error_message": "", "result": ["IOMux-5a6ecbea", "00000000.0c0ce935.534d0000.5c12ca96"]}

# get pins
>>> curl http://localhost:8080/nodes/IOMux-5a6ecbea/pins/
<<< {"code": 0, "error_message": "", "result": ["led"]}

# get pin
>>> curl http://localhost:8080/nodes/IOMux-5a6ecbea/pins/led/
<<< {"code": 0, "error_message": "", "result": 0}

# set pin
>>> curl -d "value=0" -X POST http://localhost:8080/nodes/IOMux-5a6ecbea/pins/led/
<<< {"code": 0, "error_message": "", "result": null}


Thank you for considering a contribution to this project! Changes should be submitted via a Github pull request.

This project uses the Developer’s Certificate of Origin 1.1 with the same process as used for the Linux kernel:

Developer’s Certificate of Origin 1.1

By making a contribution to this project, I certify that:

  1. The contribution was created in whole or in part by me and I have the right to submit it under the open source license indicated in the file; or

  2. The contribution is based upon previous work that, to the best of my knowledge, is covered under an appropriate open source license and I have the right under that license to submit that work with modifications, whether created in whole or in part by me, under the same open source license (unless I am permitted to submit under a different license), as indicated in the file; or

  3. The contribution was provided directly to me by some other person who certified (a), (b) or (c) and I have not modified it.

  4. I understand and agree that this project and the contribution are public and that a record of the contribution (including all personal information I submit with it, including my sign-off) is maintained indefinitely and may be redistributed consistent with this project or the open source license(s) involved.

Then you just add a line (using git commit -s) saying:

Signed-off-by: Random J Developer <>

using a known identity (sorry, no anonymous contributions).


You may see the lxa-iobus-server fail with messages like:

Server dies with can.CanError: Failed to transmit: [Errno 105] No buffer space available

Have a look at our troubleshooting guide for common solutions for CAN related issues.

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