class UdsInterface(IsoTpProtocol):
def __init__(self, can_dev):
self.cq = CanQueue(can_dev)
self.cq.start()
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
class UdsInterface(IsoTpProtocol):
def __init__(self, can_dev):
self.cq = CanQueue(can_dev)
self.cq.start()
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
from canard import can
from canard.hw import cantact
from canard.utils.queue import CanQueue
import time
import sys
dev = cantact.CantactDev(sys.argv[1])
dev.set_bitrate(125000)
cq = CanQueue(dev)
cq.start()
print cq.recv()
req = can.Frame(0x6A5)
req.dlc = 8
req.data = [0x10,0xFF, 0xFF]
cq.send(req)
print cq.recv(filter=0x625, timeout=10)
cq.stop()
#dev.stop()
#dev.ser.write('S0\r')
#dev.start()
#while True:
# frame = can.Frame(0x10)
# frame.dlc=3
def get_door_status():
#CANable USB port. Find by calling ls /dev/tty* in the mac terminal
usb_port = "/dev/tty.usbmodem146201"
# init the Cantact with the usb port
dev = cantact.CantactDev(usb_port)
# set the bitrate to 500kbps
dev.set_bitrate(500000)
# wrap in a CanQueue
cq = CanQueue(dev)
# start scanning
cq.start()
# receive the packets, and filter for only the 947 (hex: 0x3B3) (door sensor) and print to console
frame = cq.recv(filter=0x3B3, timeout=1)
# stop searching
cq.stop()
# All of my analysis was done on the hexadecimal format, so we need to convert the ascii into hex for the algorithm
byte_1 = format(frame.data[0], '02x')
byte_8 = format(frame.data[7], '02x')
# print statements just to verify what the 1st and 8th bytes are (the only bytes that will ever change)
print("Byte 1:")
print(byte_1)
print("Byte 8:")
print(byte_8)
print("===============")
# set up the door statuses (default = False)
trunk_ajar = False
driver_ajar = False
passenger_ajar = False
hood_ajar = False
# Algorithm as described in my notebook under Methodology > Door Ajar Status Notes
# Check the second digit of the first byte
if byte_1[1] == "1":
trunk_ajar = True
# Check the first digit of the last byte
if byte_8[0] == "0":
driver_ajar = False
passenger_ajar = False
if byte_8[0] == "1":
passenger_ajar = True
if byte_8[0] == "2":
driver_ajar = True
if byte_8[0] == "3":
driver_ajar = True
passenger_ajar = True
# Check the second digit of the last byte
if byte_8[1] == "a":
hood_ajar = True
# print out the statuses to console (as testing)
print("Trunk Ajar? " + str(trunk_ajar))
print("Driver Door Ajar? " + str(driver_ajar))
print("Passenger Door Ajar? " + str(passenger_ajar))
print("Hood Ajar? " + str(hood_ajar))