add CanIdRouter and examle

isotp_async/__init__.py

@@ -1,9 +1,10 @@
 from .carbus_iface import CarBusCanTransport
-from .transport import IsoTpChannel
+from .transport import IsoTpChannel, IsoTpConnection
 from .api import open_isotp
 
 __all__ = [
     "CarBusCanTransport",
     "IsoTpChannel",
+    "IsoTpConnection",
     "open_isotp",
 ]

isotp_async/api.py

@@ -3,7 +3,8 @@ from __future__ import annotations
 from dataclasses import dataclass
 from typing import Any
 
-from isotp_async import IsoTpChannel, CarBusCanTransport
+# from carbus_async import CanIdRouter, RoutedCarBusCanTransport
+from isotp_async import IsoTpChannel, CarBusCanTransport, IsoTpConnection
 
 
 @dataclass(frozen=True)
@@ -13,9 +14,16 @@ class IsoTpEndpoint:
     channel: int = 1
 
 
-async def open_isotp(dev: Any, *, endpoint: IsoTpEndpoint | None = None,
-                     channel: int = 1, tx_id: int | None = None, rx_id: int | None = None,
-                     **channel_kwargs) -> IsoTpChannel:
+async def open_isotp(
+    dev: Any,
+    *,
+    endpoint: IsoTpEndpoint | None = None,
+    channel: int = 1,
+    tx_id: int | None = None,
+    rx_id: int | None = None,
+    router: Any | None = None,
+    **channel_kwargs,
+) -> IsoTpChannel:
 
     if endpoint is not None:
         channel = endpoint.channel
@@ -25,5 +33,30 @@ async def open_isotp(dev: Any, *, endpoint: IsoTpEndpoint | None = None,
     if tx_id is None or rx_id is None:
         raise ValueError("tx_id and rx_id are required (or pass endpoint=...)")
 
-    can_tr = CarBusCanTransport(dev, channel=channel, rx_id=rx_id)
+    # ЛЕНИВЫЕ ИМПОРТЫ, чтобы не было circular import:
+    if router is None:
+        from isotp_async.carbus_iface import CarBusCanTransport  # <-- подстрой путь под твой проект
+        can_tr = CarBusCanTransport(dev, channel=channel, rx_id=rx_id)
+    else:
+        from carbus_async.can_router import RoutedCarBusCanTransport  # <-- подстрой путь
+        can_tr = RoutedCarBusCanTransport(dev, channel=channel, rx_id=rx_id, router=router)
+
     return IsoTpChannel(can_tr, tx_id=tx_id, rx_id=rx_id, **channel_kwargs)
+
+
+@dataclass(frozen=True)
+class IsoTpCanEndpoint:
+    rx_id: int   # что слушаем (request -> ECU)
+    tx_id: int   # куда отвечаем (ECU -> tester)
+
+
+class IsoTpNetwork:
+    def __init__(self, base_send, router: CanIdRouter):
+        self._send = base_send
+        self._router = router
+
+    def endpoint(self, ep: IsoTpCanEndpoint) -> IsoTpConnection:
+        transport = RoutedCarBusCanTransport(
+            dev=..., channel=..., rx_id=ep.rx_id, router=self._router
+        )
+        return IsoTpConnection(transport=transport, tx_id=ep.tx_id)

isotp_async/transport.py

@@ -24,7 +24,7 @@ class IsoTpChannel:
     tx_id: int
     rx_id: int
 
-    block_size: int = 8
+    block_size: int = 0
     st_min_ms: int = 0
     fc_timeout: float = 1.0
     cf_timeout: float = 1.0
@@ -214,10 +214,24 @@ class IsoTpChannel:
 
             payload.extend(cf.data[1:])
             expected_sn = (expected_sn + 1) & 0x0F
-            if expected_sn == 0:
-                expected_sn = 1
+            # надо подумать, гдето нужно так((((
+            # if expected_sn == 0:
+            #     expected_sn = 1
 
             if st_min > 0:
                 await asyncio.sleep(st_min)
 
         return bytes(payload[:total_length])
+
+
+class IsoTpConnection(IsoTpChannel):
+    async def send(self, payload: bytes) -> None:
+        await self.send_pdu(payload)
+
+    async def recv(self, timeout: float = 1.0) -> Optional[bytes]:
+        return await self.recv_pdu(timeout=timeout)
+
+    async def request(self, payload: bytes, timeout: float = 1.0) -> Optional[bytes]:
+
+        await self.send_pdu(payload)
+        return await self.recv_pdu(timeout=timeout)