Add support for Intrepid & Kvaser CAN hardware interfaces

uds/uds_communications/TransportProtocols/Can/CanConnection.py

@@ -20,7 +20,7 @@ def __init__(self, callback, filter, bus):
         self.__bus = bus
         listener = can.Listener()
         listener.on_message_received = callback
-        self.__notifier = can.Notifier(self.__bus, [listener], 0)
+        self.__notifier = can.Notifier(self.__bus, [listener])
         self.__listeners = [listener]
         self.addFilter(filter)
 

uds/uds_communications/TransportProtocols/Can/CanConnectionFactory.py

@@ -1,5 +1,5 @@
 import can
-from can.interfaces import pcan, vector
+from can.interfaces import pcan, vector, kvaser
 from uds.uds_configuration.Config import Config
 from os import path
 from platform import system
@@ -9,6 +9,8 @@
 # used to conditionally import socketcan for linux to avoid error messages
 if system() == "Linux":
     from can.interfaces import socketcan
+else:
+    from can.interfaces import ics_neovi
 
 class CanConnectionFactory(object):
 
@@ -76,6 +78,20 @@ def __call__(callback=None, filter=None, configPath=None, **kwargs):
             else:
                 raise Exception("SocketCAN on Pythoncan currently only supported in Linux")
 
+        elif connectionType == 'neovi':
+            channel = int(CanConnectionFactory.config['neovi']['channel'])
+            baudrate = int(CanConnectionFactory.config['can']['baudrate'])
+            CanConnectionFactory.connections[channel] = CanConnection(callback, filter,
+                                                                      ics_neovi.NeoViBus(channel,
+                                                                      bitrate=baudrate))
+            return CanConnectionFactory.connections[channel]
+        elif connectionType == 'kvaser':
+            channel = int(CanConnectionFactory.config['kvaser']['channel'])
+            baudrate = int(CanConnectionFactory.config['can']['baudrate'])
+            CanConnectionFactory.connections[channel] = CanConnection(callback, filter,
+                                                                      kvaser.canlib.KvaserBus(channel,
+                                                                      bitrate=baudrate))
+            return CanConnectionFactory.connections[channel]
     @staticmethod
     def loadConfiguration(configPath=None):
 
@@ -107,4 +123,6 @@ def checkKwargs(**kwargs):
 
         if 'channel' in kwargs:
             CanConnectionFactory.config['vector']['channel'] = kwargs['channel']
+            CanConnectionFactory.config['kvaser']['channel'] = kwargs['channel']
+            CanConnectionFactory.config['neovi']['channel'] = kwargs['channel']
 

uds/uds_communications/TransportProtocols/Can/CanTp.py

@@ -176,8 +176,7 @@ def __checkKwargs(self, **kwargs):
     ##
     # @brief send method
     # @param [in] payload the payload to be sent
-    def send(self, payload, functionalReq=False):
-
+    def send(self, payload, functionalReq=False,nodelay=False):
         payloadLength = len(payload)
         payloadPtr = 0
 
@@ -278,15 +277,15 @@ def send(self, payload, functionalReq=False):
             # timer / exit condition checks
             if(timeoutTimer.isExpired()):
                 raise Exception("Timeout waiting for message")
-
-            sleep(0.001)
+            if state != CanTpState.SEND_CONSECUTIVE_FRAME or nodelay==False:
+                sleep(.001)
 
     ##
     # @brief recv method
     # @param [in] timeout_ms The timeout to wait before exiting
     # @return a list
     def recv(self, timeout_s):
-
+        #print("timeout_s passed to recv is " + str(timeout_s))
         timeoutTimer = ResettableTimer(timeout_s)
 
         payload = []

uds/uds_communications/TransportProtocols/Can/config.ini

@@ -24,3 +24,9 @@ channel=0
 
 [socketcan]
 channel=can0
+
+[neovi]
+channel=1
+
+[kvaser]
+channel=0

uds/uds_communications/Uds/Uds.py

@@ -119,7 +119,7 @@ def transferFile(self,fileName=None,transmitChunkSize=None,compressionMethod=Non
 
     ##
     # @brief
-    def send(self, msg, responseRequired=True, functionalReq=False):
+    def send(self, msg, responseRequired=True, functionalReq=False,nodelay=False):
         # sets a current transmission in progress - tester present (if running) will not send if this flag is set to true
         self.__transmissionActive_flag = True
         #print(("__transmissionActive_flag set:",self.__transmissionActive_flag))
@@ -129,7 +129,7 @@ def send(self, msg, responseRequired=True, functionalReq=False):
         # We're moving to threaded operation, so putting a lock around the send operation. 
         self.sendLock.acquire()
         try:
-            a = self.tp.send(msg, functionalReq)
+            a = self.tp.send(msg, functionalReq,nodelay)
         finally:
             self.sendLock.release()
 

uds/uds_config_tool/IHexFunctions.py

@@ -168,7 +168,11 @@ def __init__(self, filename=None, padding=0xFF, continuousBlocking=True):
 
             if recordType == ihexRecordType.Data:   # ... We match data first as it's the most common record type, so more efficient
                 if nextAddress is None:
-                    currentBlock.startAddress = baseAddress + address
+                    if currentBlock is None:
+                        currentBlock = ihexData()  #... start a new block
+                        currentBlock.startAddress = address
+                    else:
+                        currentBlock.startAddress = baseAddress + address
 
                 # As each line of data is individually addressed, there may be disconuities present in the data. 
                 # If so (i.e. a gap in the addressing), and a continuous record is required, then pad the data.
@@ -210,8 +214,9 @@ def __init__(self, filename=None, padding=0xFF, continuousBlocking=True):
                 raise NotImplemented("Start segment address not implemented")
 
             elif recordType == ihexRecordType.StartLinearAddress:
-                hexFile.close()
-                raise NotImplemented("Start linear address not implemented")
+                print("Found a Start Linear Address - Ignoring")
+                #hexFile.close()
+                #raise NotImplemented("Start linear address not implemented")
         hexFile.close()
 
     @property

uds/uds_configuration/defaultConfig.ini

@@ -5,8 +5,8 @@ interface=virtual
 baudrate=500
 defaultReqId=0x600
 defaultResId=0x650
-P2_Client=1
-P2_Server=1
+P2_Client=3
+P2_Server=3
 P3_Client=1
 
 [virtual]