143 lines
3.4 KiB
Python
143 lines
3.4 KiB
Python
import binascii
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import time
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DEBUG = False
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def msg(x):
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if DEBUG:
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print("S:", binascii.hexlify(x))
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if len(x) <= 7:
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ret = bytes([len(x)]) + x
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else:
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assert False
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return ret.ljust(8, b"\x00")
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kmsgs = []
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def recv(panda, cnt, addr, nbus):
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global kmsgs
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ret = []
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while len(ret) < cnt:
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kmsgs += panda.can_recv()
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nmsgs = []
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for ids, ts, dat, bus in kmsgs:
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if ids == addr and bus == nbus and len(ret) < cnt:
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ret.append(dat)
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else:
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# leave around
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nmsgs.append((ids, ts, dat, bus))
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kmsgs = nmsgs[-256:]
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return ret
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def isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr):
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msg = recv(panda, 1, addr, bus)[0]
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# TODO: handle other subaddr also communicating
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assert msg[0] == subaddr
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if msg[1] & 0xf0 == 0x10:
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# first
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tlen = ((msg[1] & 0xf) << 8) | msg[2]
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dat = msg[3:]
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# 0 block size?
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CONTINUE = bytes([subaddr]) + b"\x30" + b"\x00" * 6
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panda.can_send(sendaddr, CONTINUE, bus)
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idx = 1
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for mm in recv(panda, (tlen - len(dat) + 5) // 6, addr, bus):
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assert mm[0] == subaddr
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assert mm[1] == (0x20 | (idx & 0xF))
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dat += mm[2:]
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idx += 1
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elif msg[1] & 0xf0 == 0x00:
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# single
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tlen = msg[1] & 0xf
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dat = msg[2:]
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else:
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print(binascii.hexlify(msg))
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assert False
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return dat[0:tlen]
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# **** import below this line ****
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def isotp_send(panda, x, addr, bus=0, recvaddr=None, subaddr=None, rate=None):
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if recvaddr is None:
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recvaddr = addr + 8
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if len(x) <= 7 and subaddr is None:
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panda.can_send(addr, msg(x), bus)
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elif len(x) <= 6 and subaddr is not None:
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panda.can_send(addr, bytes([subaddr]) + msg(x)[0:7], bus)
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else:
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if subaddr:
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ss = bytes([subaddr, 0x10 + (len(x) >> 8), len(x) & 0xFF]) + x[0:5]
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x = x[5:]
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else:
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ss = bytes([0x10 + (len(x) >> 8), len(x) & 0xFF]) + x[0:6]
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x = x[6:]
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idx = 1
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sends = []
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while len(x) > 0:
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if subaddr:
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sends.append(((bytes([subaddr, 0x20 + (idx & 0xF)]) + x[0:6]).ljust(8, b"\x00")))
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x = x[6:]
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else:
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sends.append(((bytes([0x20 + (idx & 0xF)]) + x[0:7]).ljust(8, b"\x00")))
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x = x[7:]
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idx += 1
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# actually send
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panda.can_send(addr, ss, bus)
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rr = recv(panda, 1, recvaddr, bus)[0]
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if rr.find(b"\x30\x01") != -1:
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for s in sends[:-1]:
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panda.can_send(addr, s, 0)
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rr = recv(panda, 1, recvaddr, bus)[0]
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panda.can_send(addr, sends[-1], 0)
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else:
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if rate is None:
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panda.can_send_many([(addr, None, s, bus) for s in sends])
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else:
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for dat in sends:
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panda.can_send(addr, dat, bus)
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time.sleep(rate)
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def isotp_recv(panda, addr, bus=0, sendaddr=None, subaddr=None):
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if sendaddr is None:
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sendaddr = addr - 8
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if subaddr is not None:
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dat = isotp_recv_subaddr(panda, addr, bus, sendaddr, subaddr)
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else:
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msg = recv(panda, 1, addr, bus)[0]
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if msg[0] & 0xf0 == 0x10:
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# first
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tlen = ((msg[0] & 0xf) << 8) | msg[1]
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dat = msg[2:]
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# 0 block size?
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CONTINUE = b"\x30" + b"\x00" * 7
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panda.can_send(sendaddr, CONTINUE, bus)
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idx = 1
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for mm in recv(panda, (tlen - len(dat) + 6) // 7, addr, bus):
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assert mm[0] == (0x20 | (idx & 0xF))
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dat += mm[1:]
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idx += 1
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elif msg[0] & 0xf0 == 0x00:
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# single
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tlen = msg[0] & 0xf
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dat = msg[1:]
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else:
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assert False
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dat = dat[0:tlen]
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if DEBUG:
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print("R:", binascii.hexlify(dat))
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return dat
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