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Merged
sebastianpfischer merged 3 commits into from
May 23, 2022
Merged

Feature/allow server side iso tp #1

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b8cdd45
add server-side ISO TP implementation
May 20, 2022
664748a
chore: rename CHANGES.md to CHANGELOG-md
May 20, 2022
f8389ae
chore: remove debug statements
May 20, 2022
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13 changes: 12 additions & 1 deletion CHANGES.md → CHANGELOG.md
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Original file line number Diff line number Diff line change
@@ -1,8 +1,19 @@
# Changelog
All notable changes to this project will be documented in this file.

## Current Version

### Features
- Add support for ISO TP for server simulation

## [1.2.0]

### Features
- Added overwrite_transmit_method in CanTp to use external transmission methods

## [1.1.0] - 2019-08-14
### Added

### Features
- Added socket can interface for linux support, tested with MCP2515 shield
- Added UDS retry on response pending negative response code

Expand Down
80 changes: 24 additions & 56 deletions uds/uds_communications/TransportProtocols/Can/CanTp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@
FIRST_FRAME_DATA_START_INDEX, SINGLE_FRAME_DATA_START_INDEX, CONSECUTIVE_FRAME_SEQUENCE_NUMBER_INDEX, \
CONSECUTIVE_FRAME_SEQUENCE_DATA_START_INDEX, FLOW_CONTROL_BS_INDEX, FLOW_CONTROL_STMIN_INDEX
from uds import CanConnectionFactory
#from uds import CanConnection
from uds import Config

from os import path
Expand Down Expand Up @@ -148,31 +147,6 @@ def __checkKwargs(self, **kwargs):
if 'discardNegResp' in kwargs:
self.__config['canTp']['discardNegResp'] = str(kwargs['discardNegResp'])

##
# @brief connection method
# def createBusConnection(self):
# # check config file and load
# connectionType = self.__config['DEFAULT']['interface']
#
# if connectionType == 'virtual':
# connectionName = self.__config['virtual']['interfaceName']
# bus = can.interface.Bus(connectionName,
# bustype='virtual')
# elif connectionType == 'peak':
# channel = self.__config['peak']['device']
# baudrate = self.__config['connection']['baudrate']
# bus = pcan.PcanBus(channel,
# bitrate=baudrate)
# elif connectionType == 'vector':
# channel = self.__config['vector']['channel']
# app_name = self.__config['vector']['app_name']
# baudrate = int(self.__config['connection']['baudrate']) * 1000
# bus = vector.VectorBus(channel,
# app_name=app_name,
# data_bitrate=baudrate)
#
# return bus

##
# @brief send method
# @param [in] payload the payload to be sent
Expand All @@ -182,6 +156,7 @@ def send(self, payload, functionalReq=False, tpWaitTime = 0.01):
result = self.encode_isotp(payload, functionalReq, tpWaitTime = tpWaitTime)
return result


##
# @brief encoding method
# @param payload the payload to be sent
Expand Down Expand Up @@ -219,7 +194,11 @@ def encode_isotp(self, payload, functionalReq: bool = False, use_external_snd_rc
data = None

while endOfMessage_flag is False:
rxPdu = self.getNextBufferedMessage()

rxPdu = None

if state == CanTpState.WAIT_FLOW_CONTROL:
rxPdu = self.getNextBufferedMessage()

if rxPdu is not None:
N_PCI = (rxPdu[0] & 0xF0) >> 4
Expand All @@ -231,18 +210,17 @@ def encode_isotp(self, payload, functionalReq: bool = False, use_external_snd_rc
raise Exception("Overflow received from ECU")
elif fs == CanTpFsTypes.CONTINUE_TO_SEND:
if state == CanTpState.WAIT_FLOW_CONTROL:
if fs == CanTpFsTypes.CONTINUE_TO_SEND:
bs = rxPdu[FC_BS_INDEX]
if(bs == 0):
bs = 585
blockList = self.create_blockList(payload[payloadPtr:],
bs)
stMin = self.decode_stMin(rxPdu[FC_STMIN_INDEX])
currBlock = blockList.pop(0)
state = CanTpState.SEND_CONSECUTIVE_FRAME
stMinTimer.timeoutTime = stMin
stMinTimer.start()
timeoutTimer.stop()
bs = rxPdu[FC_BS_INDEX]
if(bs == 0):
bs = 585
blockList = self.create_blockList(payload[payloadPtr:],
bs)
stMin = self.decode_stMin(rxPdu[FC_STMIN_INDEX])
currBlock = blockList.pop(0)
state = CanTpState.SEND_CONSECUTIVE_FRAME
stMinTimer.timeoutTime = stMin
stMinTimer.start()
timeoutTimer.stop()
else:
raise Exception("Unexpected Flow Control Continue to Send request")
else:
Expand Down Expand Up @@ -287,7 +265,6 @@ def encode_isotp(self, payload, functionalReq: bool = False, use_external_snd_rc
else:
timeoutTimer.start()
state = CanTpState.WAIT_FLOW_CONTROL
# print("waiting for flow control")
else:
sleep(tpWaitTime)
txPdu = [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
Expand All @@ -305,11 +282,11 @@ def recv(self, timeout_s=1):
return self.decode_isotp(timeout_s)

##
# @breif decoding method
# @brief decoding method
# @param timeout_ms the timeout to wait before exiting
# @param received_data the data that should be decoded in case of ITF Automation
# @param use_external_snd_rcv_functions boolean to state if external sending and receiving functions shall be used
# return a list
# @return a list
def decode_isotp(self, timeout_s=1, received_data=None, use_external_snd_rcv_functions: bool = False):
timeoutTimer = ResettableTimer(timeout_s)

Expand All @@ -328,9 +305,11 @@ def decode_isotp(self, timeout_s=1, received_data=None, use_external_snd_rcv_fun
timeoutTimer.start()
while endOfMessage_flag is False:

rxPdu = self.getNextBufferedMessage()
if use_external_snd_rcv_functions:
if use_external_snd_rcv_functions and state != CanTpState.RECEIVING_CONSECUTIVE_FRAME:
rxPdu = received_data
else:
rxPdu = self.getNextBufferedMessage()

if rxPdu is not None:
if rxPdu[N_PCI_INDEX] == 0x00:
rxPdu = rxPdu[1:]
Expand Down Expand Up @@ -474,14 +453,6 @@ def create_blockList(self, payload, blockSize):

##
# @brief transmits the data over can using can connection
# def transmit(self, data, functionalReq=False):
#
# # check functional request
# if functionalReq:
# raise Exception("Functional requests are currently not supported")
# else:
# self.__connection.transmit(data, self.__reqId, self.__addressingType)

def transmit(self, data, functionalReq=False, use_external_snd_rcv_functions: bool = False):
# check functional request
if functionalReq:
Expand All @@ -499,9 +470,7 @@ def transmit(self, data, functionalReq=False, use_external_snd_rcv_functions: bo
transmitData[1:] = data
else:
raise Exception("I do not know how to send this addressing type")
if use_external_snd_rcv_functions:
return transmitData
self.__connection.transmit(transmitData, self.__reqId, )
self.__connection.transmit(transmitData, self.__reqId)

@property
def reqIdAddress(self):
Expand All @@ -518,4 +487,3 @@ def resIdAddress(self):
@resIdAddress.setter
def resIdAddress(self, value):
self.__resId = value