add CanIdRouter and examle

carbus_async/__init__.py

@@ -1,6 +1,7 @@
 from .device import CarBusDevice
 from .messages import CanMessage, MessageDirection
 from .exceptions import CarBusError, CommandError, SyncError
+from .can_router import CanIdRouter, RoutedCarBusCanTransport
 
 __all__ = [
     "CarBusDevice",
@@ -9,4 +10,6 @@ __all__ = [
     "CarBusError",
     "CommandError",
     "SyncError",
+    "CanIdRouter",
+    "RoutedCarBusCanTransport",
 ]

carbus_async/can_router.py

@@ -0,0 +1,71 @@
+import asyncio
+import contextlib
+from typing import Dict, Optional, Tuple
+
+from carbus_async import CanMessage
+from isotp_async.iface import CanTransport
+
+
+class CanIdRouter:
+    def __init__(self, dev, channel: int, queue_size: int = 256):
+        self._dev = dev
+        self._channel = channel
+        self._queues: Dict[int, asyncio.Queue] = {}
+        self._queue_size = queue_size
+        self._task: Optional[asyncio.Task] = None
+        self._stop = asyncio.Event()
+
+    def get_queue(self, can_id: int) -> asyncio.Queue:
+        q = self._queues.get(can_id)
+        if q is None:
+            q = asyncio.Queue(maxsize=self._queue_size)
+            self._queues[can_id] = q
+        return q
+
+    async def start(self):
+        if self._task is None:
+            self._task = asyncio.create_task(self._run())
+
+    async def stop(self):
+        self._stop.set()
+        if self._task:
+            self._task.cancel()
+            with contextlib.suppress(asyncio.CancelledError):
+                await self._task
+            self._task = None
+
+    async def _run(self):
+        while not self._stop.is_set():
+            ch, msg = await self._dev.receive_can()
+            if ch != self._channel:
+                continue
+
+            q = self._queues.get(msg.can_id)
+            if q is None:
+                # никто не подписан на этот CAN-ID — просто игнор
+                continue
+
+            # если очередь забита — можно дропать самый старый или новый
+            if q.full():
+                _ = q.get_nowait()
+            q.put_nowait(msg)
+
+
+class RoutedCarBusCanTransport(CanTransport):
+    def __init__(self, dev, channel: int, rx_id: int, router: CanIdRouter) -> None:
+        self._dev = dev
+        self._channel = channel
+        self._rx_id = rx_id
+        self._router = router
+        self._queue = router.get_queue(rx_id)
+
+    async def send(self, msg: CanMessage) -> None:
+        await self._dev.send_can(msg, channel=self._channel, confirm=False, echo=False)
+
+    async def recv(self, timeout: Optional[float] = None) -> Optional[CanMessage]:
+        try:
+            if timeout is None:
+                return await self._queue.get()
+            return await asyncio.wait_for(self._queue.get(), timeout=timeout)
+        except asyncio.TimeoutError:
+            return None

example/car_ecus_emulated.py

@@ -0,0 +1,205 @@
+import asyncio
+import pickle
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any, Dict
+
+from carbus_async import CanIdRouter, RoutedCarBusCanTransport
+from carbus_async.device import CarBusDevice
+from isotp_async import open_isotp, IsoTpConnection
+from uds_async import UdsServer
+from uds_async.exceptions import UdsNegativeResponse, UdsError
+
+# import logging
+#
+# logging.basicConfig(
+#     level=logging.DEBUG,
+#     format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
+# )
+
+TESTER_ID = 0x740
+ECU_ID = 0x760
+
+DEFAULT_PORT = "COM6"
+DEFAULT_BAUD = 115200
+DEFAULT_CAN_CH = 1
+DEFAULT_CAN_BITRATE = 500_000
+
+CHANNEL = 1
+
+IN_FILE_ECU = Path("ecu_uds22_params.pkl")
+IN_FILE_ABS = Path("uds22_params.pkl")
+
+
+def save_dict_pickle(path: str | Path, data: dict[int, bytes]) -> None:
+    path = Path(path)
+    path.parent.mkdir(parents=True, exist_ok=True)
+    with path.open("wb") as f:
+        pickle.dump(data, f, protocol=pickle.HIGHEST_PROTOCOL)
+
+
+def load_dict_pickle(path: str | Path) -> dict[int, bytes]:
+    path = Path(path)
+    with path.open("rb") as f:
+        obj = pickle.load(f)
+    if not isinstance(obj, dict):
+        raise TypeError(f"Expected dict in pickle file, got {type(obj).__name__}")
+    return obj
+
+
+async def setup_device(
+    port: str = DEFAULT_PORT,
+    baudrate: int = DEFAULT_BAUD,
+    can_channel: int = DEFAULT_CAN_CH,
+    nominal_bitrate: int = DEFAULT_CAN_BITRATE,
+) -> CarBusDevice:
+    dev = await CarBusDevice.open(port, baudrate=baudrate)
+
+    await dev.open_can_channel(channel=can_channel, nominal_bitrate=nominal_bitrate)
+    await dev.set_terminator(channel=can_channel, enabled=True)
+
+    await dev.clear_all_filters(can_channel)
+    await dev.set_std_id_filter(channel=can_channel, index=0, can_id=0x700, mask=0x700)
+
+    return dev
+
+
+async def setup_uds(dev: CarBusDevice, can_channel: int = DEFAULT_CAN_CH) -> UdsServer:
+    ecu_isotp = await open_isotp(dev, channel=can_channel, tx_id=ECU_ID, rx_id=TESTER_ID)
+    ecu_uds = UdsServer(ecu_isotp)
+    return ecu_uds
+
+
+NRC_INCORRECT_LENGTH = 0x13
+NRC_REQUEST_OUT_OF_RANGE = 0x31
+
+
+@dataclass
+class UdsServiceState:
+    did_store: Dict[int, bytes]
+
+
+def _require_len(req: bytes, n: int, sid: int) -> None:
+    if len(req) < n:
+        raise UdsNegativeResponse(sid, NRC_INCORRECT_LENGTH)
+
+
+def _did_from_req(req: bytes, sid: int) -> int:
+    _require_len(req, 3, sid)
+    return (req[1] << 8) | req[2]
+
+
+def _rdbi_positive(req: bytes, payload: bytes) -> bytes:
+    return bytes((0x62, req[1], req[2])) + payload
+
+
+def _wdbi_positive(req: bytes) -> bytes:
+    return bytes((0x6E, req[1], req[2]))
+
+
+async def services_init(uds, *, in_file: str | Path) -> UdsServiceState:
+    did_store: Dict[int, bytes] = load_dict_pickle(path=in_file)
+    state = UdsServiceState(did_store=did_store)
+
+    @uds.service(0x10)
+    async def handle_session_control(req: bytes) -> bytes:
+        print(f"UDS OpenSession {hex(req[1])}")
+        _require_len(req, 2, 0x10)
+        session = req[1]
+        return bytes((0x50, session, 0x00, 0x32, 0x01, 0xF4))
+
+    @uds.service(0x11)
+    async def handle_session_control(req: bytes) -> bytes:
+        print(f"UDS ECU Reset {hex(req[1])}")
+        return bytes((0x51, req[1]))
+
+    @uds.service(0x14)
+    async def handle_session_control(req: bytes) -> bytes:
+        return bytes((0x54, 0xFF, 0xFF, 0xFF, 0xFF))
+
+    @uds.service(0x19)
+    async def handle_session_control(req: bytes) -> bytes:
+        return bytes((0x59, 0x00))
+
+    @uds.service(0x22)
+    async def handle_rdbi(req: bytes) -> bytes:
+        did = _did_from_req(req, 0x22)
+
+        payload = state.did_store.get(did)
+
+        if payload is None:
+            raise UdsNegativeResponse(0x22, NRC_REQUEST_OUT_OF_RANGE)
+
+        print(f"UDS Read Param {hex(did)}: {payload.hex()}")
+        return _rdbi_positive(req, payload)
+
+    @uds.service(0x27)
+    async def handle_security_access(req: bytes) -> bytes:
+        _require_len(req, 2, 0x27)
+        sub = req[1]
+
+        is_seed_request = bool(sub & 0x01)
+        if is_seed_request:
+            return bytes((0x67, sub, 0x11, 0x22, 0x33, 0x44))
+
+        _require_len(req, 6, 0x27)
+        return bytes((0x67, sub))
+
+    @uds.service(0x2E)
+    async def handle_wdbi(req: bytes) -> bytes:
+        _require_len(req, 4, 0x2E)
+        did = (req[1] << 8) | req[2]
+        state.did_store[did] = bytes(req[3:])
+
+        print(f"UDS Write Param {hex(did)}: {bytes(req[3:]).hex()}")
+
+        return _wdbi_positive(req)
+
+    @uds.service(0x31)
+    async def handle_routine_control(req: bytes) -> bytes:
+        _require_len(req, 4, 0x31)
+        print(f"UDS Routine Control {hex(req[1])} {hex(req[2])} {hex(req[3])}")
+        return bytes((0x71, req[1], req[2], req[3]))
+
+    @uds.service(0x3E)
+    async def handle_tester_present(req: bytes) -> bytes:
+        sub = req[1] if len(req) > 1 else 0x00
+        return bytes((0x7E, sub))
+
+    return state
+
+
+async def main() -> None:
+    dev: CarBusDevice | None = None
+    try:
+        dev = await setup_device()
+
+        router = CanIdRouter(dev, channel=CHANNEL)
+        await router.start()
+
+        # ECU #1
+        tr_engine = RoutedCarBusCanTransport(dev, CHANNEL, rx_id=0x7E0, router=router)
+        isotp_engine = IsoTpConnection(can=tr_engine, tx_id=0x7E8, rx_id=0x7E0)
+        uds_engine = UdsServer(isotp_engine)
+        await services_init(uds_engine, in_file=IN_FILE_ECU)
+
+        # ECU #2
+        tr_abs = RoutedCarBusCanTransport(dev, CHANNEL, rx_id=0x740, router=router)
+        isotp_abs = IsoTpConnection(can=tr_abs, tx_id=0x760, rx_id=0x740)
+        uds_abs = UdsServer(isotp_abs)
+        await services_init(uds_abs, in_file=IN_FILE_ABS)
+
+        print("UDS servers running")
+
+        await asyncio.gather(
+            uds_engine.serve_forever(),
+            uds_abs.serve_forever(),
+        )
+
+    finally:
+        if dev is not None:
+            await dev.close()
+
+
+if __name__ == "__main__":
+    asyncio.run(main())

example/uds_id_scaner.py

@@ -36,7 +36,6 @@ async def setup_device(cfg: CanScanConfig) -> CarBusDevice:
         mask=0x700,
     )
 
-    await dev.clear_receive_buffer()
     return dev
 
 

example/uds_service22_scaner.py

@@ -10,16 +10,16 @@ from uds_async import UdsClient
 from uds_async.exceptions import UdsNegativeResponse, UdsError
 
 
-TESTER_ID = 0x740
+TESTER_ID = 0x7E0
-ECU_ID = 0x760
+ECU_ID = 0x7E8
 
 DEFAULT_PORT = "COM6"
 DEFAULT_BAUD = 115200
 DEFAULT_CAN_CH = 1
 DEFAULT_CAN_BITRATE = 500_000
 
-DID_RANGE = range(0x10000)
+DID_RANGE = range(0x0000, 0x10000)
-OUT_FILE = Path("uds22_params.pkl")
+OUT_FILE = Path("ecu_uds22_params.pkl")
 
 
 def save_dict_pickle(path: str | Path, data: dict[int, bytes]) -> None:
@@ -47,11 +47,12 @@ async def setup_device(
     dev = await CarBusDevice.open(port, baudrate=baudrate)
 
     await dev.open_can_channel(channel=can_channel, nominal_bitrate=nominal_bitrate)
-    await dev.set_terminator(channel=can_channel, enabled=True)
 
-    await dev.clear_all_filters(can_channel)
+    # await dev.clear_all_filters(can_channel)
     await dev.set_std_id_filter(channel=can_channel, index=0, can_id=0x700, mask=0x700)
 
+    await dev.set_terminator(channel=can_channel, enabled=True)
+
     return dev
 
 

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,
+async def open_isotp(
-                     channel: int = 1, tx_id: int | None = None, rx_id: int | None = None,
+    dev: Any,
-                     **channel_kwargs) -> IsoTpChannel:
+    *,
+    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:
+            # надо подумать, гдето нужно так((((
-                expected_sn = 1
+            # 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)

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "carbus-lib"
-version = "0.1.2"
+version = "0.1.3"
 description = "Async CAN / ISO-TP / UDS library for Car Bus Analyzer"
 readme = "README.md"
 requires-python = ">=3.10"