RealCAN: bringing real-time capabilities to canplayer

In this paper we present RealCAN, a real-time capable extension of the canplayer tool available in can-utils, a collection of utilities for interacting with Controller Area Network bus systems on Linux-based operating systems. In particular, RealCAN addresses the main limitation of working with fixed time intervals while replaying previously collected CAN traces with the canplayer tool, allowing developers, engineers and researchers to replay CAN traffic data by maintaining the original time difference between consecutive messages. Performance benchmarks of RealCAN demonstrate its effectiveness in meeting strict timing requirements for critical applications in both simulated environment and real CAN test setups.