def uds_request(self, ecu_id, service, payload, timeout=2):
msg = IsoTpMessage(ecu_id)
# first byte is service ID, rest of message is payload
msg.data = [service] + payload
# length is payload length plus 1 for service ID byte
msg.length = len(payload) + 1
# generate a request
request = self.generate_frames(msg)
# send the request
for f in request:
self.cq.send(f)
# get a response message with the request ID + 20
start_ts = time.time()
result = None
while result == None:
if time.time() - start_ts > timeout:
return None
response = self.cq.recv()
if response and response.id == ecu_id + 0x20:
result = self.parse_frame(response)
return result
def obd_request(self, ecu_id, mode, pid_code, timeout=2):
msg = IsoTpMessage(ecu_id)
# pack data according to OBD-II standard
msg.data = [mode, pid_code]
# standard OBD-II request messages have length of 2
msg.length = 2
# this will always generate a single frame
request = self.generate_frames(msg)[0]
# send the request
self.can_dev.send(request)
# get a response message with the same ID
response = self.can_dev.recv()
start_ts = time.time()
while response.id != ecu_id + 0x20:
response = self.can_dev.recv()
if time.time() - start_ts > timeout:
return None
return self.parse_frame(response)
from canard.proto.isotp import IsoTpProtocol, IsoTpMessage
from canard import can
p = IsoTpProtocol()
f = can.Frame(0x100)
f.data = [3,1,2,3]
f.dlc = 4
#print(p.parse_frame(f))
f.data = [0x10, 20, 1, 2, 3, 4, 5, 6]
f.dlc = 8
print(p.parse_frame(f))
f.data = [0x21, 7, 8, 9, 10, 11, 12, 13]
#print(p.parse_frame(f))
f.data = [0x22, 7, 8, 9, 10, 11, 12, 13]
#print(p.parse_frame(f))
m = IsoTpMessage(0x100)
m.data = range(1,0xFF)
m.length = 0x1FF
for fr in p.generate_frames(m):
print fr