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dragonpilot 2022-10-07T10:01:36 for EON/C2

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version: dragonpilot v0.8.17 beta for EON/C2
date: 2022-10-07T10:01:36
dp-dev(priv2) master commit: 3aecc0939a714f5f572b3cbe85669ed389161870
This commit is contained in:
Dragonpilot Team
2022-10-07 09:58:46 +00:00
committed by Comma Device
parent fe6459224b
commit 4c3c884245
170 changed files with 7102 additions and 5526 deletions
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panda/python/uds.py
+16 -13
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@@ -382,7 +382,7 @@ class IsoTpMessage():
self.debug = debug
self.max_len = max_len
def send(self, dat: bytes) -> None:
def send(self, dat: bytes, setup_only: bool = False) -> None:
# throw away any stale data
self._can_client.recv(drain=True)
@@ -396,39 +396,42 @@ class IsoTpMessage():
self.rx_idx = 0
self.rx_done = False
if self.debug:
if self.debug and not setup_only:
print(f"ISO-TP: REQUEST - {hex(self._can_client.tx_addr)} 0x{bytes.hex(self.tx_dat)}")
self._tx_first_frame()
self._tx_first_frame(setup_only=setup_only)
def _tx_first_frame(self) -> None:
def _tx_first_frame(self, setup_only: bool = False) -> None:
if self.tx_len < self.max_len:
# single frame (send all bytes)
if self.debug:
if self.debug and not setup_only:
print(f"ISO-TP: TX - single frame - {hex(self._can_client.tx_addr)}")
msg = (bytes([self.tx_len]) + self.tx_dat).ljust(self.max_len, b"\x00")
self.tx_done = True
else:
# first frame (send first 6 bytes)
if self.debug:
if self.debug and not setup_only:
print(f"ISO-TP: TX - first frame - {hex(self._can_client.tx_addr)}")
msg = (struct.pack("!H", 0x1000 | self.tx_len) + self.tx_dat[:self.max_len - 2]).ljust(self.max_len - 2, b"\x00")
self._can_client.send([msg])
if not setup_only:
self._can_client.send([msg])
def recv(self, timeout=None) -> Optional[bytes]:
def recv(self, timeout=None) -> Tuple[Optional[bytes], bool]:
if timeout is None:
timeout = self.timeout
start_time = time.monotonic()
updated = False
try:
while True:
for msg in self._can_client.recv():
self._isotp_rx_next(msg)
start_time = time.monotonic()
updated = True
if self.tx_done and self.rx_done:
return self.rx_dat
return self.rx_dat, updated
# no timeout indicates non-blocking
if timeout == 0:
return None
return None, updated
if time.monotonic() - start_time > timeout:
raise MessageTimeoutError("timeout waiting for response")
finally:
@@ -456,8 +459,8 @@ class IsoTpMessage():
print(f"ISO-TP: RX - first frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}")
if self.debug:
print(f"ISO-TP: TX - flow control continue - {hex(self._can_client.tx_addr)}")
# send flow control message (send all bytes)
msg = b"\x30\x00\x00".ljust(self.max_len, b"\x00")
# send flow control message (send all bytes) with a separation time of 10 ms
msg = b"\x30\x00\x0a".ljust(self.max_len, b"\x00")
self._can_client.send([msg])
return
@@ -553,7 +556,7 @@ class UdsClient():
response_pending = False
while True:
timeout = self.response_pending_timeout if response_pending else self.timeout
resp = isotp_msg.recv(timeout)
resp, _ = isotp_msg.recv(timeout)
if resp is None:
continue