TestMasterSlave
Default can driver library is libcanfestival_can_virtual.so., which will simply pass CAN messages through Unix pipes between Master and Slave.
You may also want to specify different can interface and define some CAN ports. An other example using Peaks dual PCMCIA (configure and install with -can=peak) :
TestMasterSlave -l libcanfestival_can_peak.so -s 40 -m 41