TTCN
TTCN support for CAN, CAN_FD and ISOTP:
https://projects.eclipse.org/projects/tools.titan/developer
Forum: https://www.eclipse.org/forums/index.php/t/1074584/
TTCN is well suited for testing complex CAN applications.
Resources: http://www.ttcn-3.org/ https://projects.eclipse.org/projects/tools.titan