CAN Transport Interfaces

The implementation for Transport Interfaces that can be used with CAN bus is located in uds.transport_interface.can_transport_interface module.

Common

Common implementation for all all CAN Transport Interfaces is included in AbstractCanTransportInterface.

Warning

A user shall not use AbstractCanTransportInterface directly, but one is able (and encouraged) to use AbstractCanTransportInterface implementation on any of its children classes.

Configuration

CAN bus specific configuration is set upon calling uds.transport_interface.can_transport_interface.common.AbstractCanTransportInterface.__init__() method. The following configuration parameters are set then:

Addressing Information of this CAN node - attribute addressing_information
driver for a CAN bus interface - attribute bus_manager
timing parameters (N_Br, N_Cs) - attributes n_br and n_cs
communication timeout parameters (N_As, N_Ar, N_Bs, N_Cr) - attributes n_as_timeout, n_ar_timeout, n_bs_timeout and n_cr_timeout
UDS message segmentation parameters (base DLC of a CAN frame, flag whether to use data optimization for CAN frame, and the value to use for CAN frame data padding) - attributes dlc, use_data_optimization, filler_byte,
Flow Control generator - attribute flow_control_parameters_generator

Most of these attributes (all except addressing_information) can be changed after object is created.

Python-CAN

Class PyCanTransportInterface contains the implementation of CAN Transport Interface that uses python-can package for receiving and transmitting CAN frames.

Note

Right now only half-duplex communication is implemented.

The matter is further explained in handling unexpected CAN packets arrivals chapter.

Configuration

Configuration is set upon calling uds.transport_interface.can_transport_interface.python_can.PyCanTransportInterface.__init__() method and from the user perspective it does not provide any additional features to common implementation provided by uds.transport_interface.can_transport_interface.common.AbstractCanTransportInterface.__init__().

Example code:

import uds
from can import Bus

# define example python-can bus interface (https://python-can.readthedocs.io/en/stable/bus.html#bus-api)
python_can_interface = Bus(interface="kvaser", channel=0, fd=True, receive_own_messages=True)

# define Addressing Information for a CAN Node
can_node_addressing_information = uds.can.CanAddressingInformation(
    addressing_format=uds.can.CanAddressingFormat.NORMAL_11BIT_ADDRESSING,
    tx_physical={"can_id": 0x611},
    rx_physical={"can_id": 0x612},
    tx_functional={"can_id": 0x6FF},
    rx_functional={"can_id": 0x6FE})

# configure CAN Transport Interface for this CAN Node
can_transport_interface = uds.transport_interface.PyCanTransportInterface(
    can_bus_manager=python_can_interface,
    addressing_information=can_node_addressing_information,
    n_as_timeout=50,
    n_ar_timeout=900,
    n_bs_timeout=50,
    n_br=10,
    n_cs=0,
    n_cr_timeout = 900,
    dlc=0xF,
    use_data_optimization=True,
    filler_byte=0x55,
    flow_control_parameters_generator=uds.can.DefaultFlowControlParametersGenerator(st_min=0,
                                                                                    block_size=5,
                                                                                    wait_count=0,
                                                                                    repeat_wait=False))

# change CAN Transport Interface configuration
can_transport_interface.n_as_timeout = uds.transport_interface.PyCanTransportInterface.N_AS_TIMEOUT
can_transport_interface.n_ar_timeout = uds.transport_interface.PyCanTransportInterface.N_AR_TIMEOUT
can_transport_interface.n_bs_timeout = uds.transport_interface.PyCanTransportInterface.N_BS_TIMEOUT
can_transport_interface.n_br = uds.transport_interface.PyCanTransportInterface.DEFAULT_N_BR
can_transport_interface.n_cs = uds.transport_interface.PyCanTransportInterface.DEFAULT_N_CS
can_transport_interface.n_cr_timeout = uds.transport_interface.PyCanTransportInterface.N_CR_TIMEOUT
can_transport_interface.dlc = 8
can_transport_interface.use_data_optimization = False
can_transport_interface.filler_byte = 0xAA
can_transport_interface.flow_control_parameters_generator = uds.can.DefaultFlowControlParametersGenerator(
    st_min=100,
    block_size=15,
    wait_count=1,
    repeat_wait=True)

Synchronous communication

Warning

Synchronous and asynchronous implementation shall not be mixed, therefore for transmitting and receiving UDS Messages and CAN Packets use either:

or

Send Message

Once an object of PyCanTransportInterface class is created, use send_message() method to receive UDS messages over CAN.

Example code:

# let's assume that we have `can_transport_interface` already configured as presented in configuration example above

# define some UDS message to send
message = uds.message.UdsMessage(addressing_type=uds.transmission_attributes.AddressingType.PHYSICAL,
                                 payload=[0x10, 0x03])

# send UDS Message and receive UDS message record with historic information about the transmission
message_record = can_transport_interface.send_message(message)

Receive Message

Once an object of PyCanTransportInterface class is created, use receive_message() method to receive UDS messages over CAN.

Example code:

# let's assume that we have `can_transport_interface` already configured as presented in configuration example above

# receive an UDS message with timeout set to 1000 ms
message_record = can_transport_interface.receive_message(timeout=1000)

Send Packet

Once an object of PyCanTransportInterface class is created, use send_packet() method to send CAN packets.

Example code:

# let's assume that we have `can_transport_interface` already configured as presented in configuration example above

# define some UDS message to send
message = uds.message.UdsMessage(addressing_type=uds.transmission_attributes.AddressingType.PHYSICAL,
                                 payload=[0x10, 0x03])

# segment the message to create a CAN packet
can_packet = can_transport_interface.segmenter.segmentation(message)[0]

# send CAN packet and receive CAN packet record with historic information about the transmission and the transmitted CAN packet
can_packet_record = can_transport_interface.send_packet(can_packet)

Receive Packet

Once an object of PyCanTransportInterface class is created, use receive_packet() method to receive CAN packets.

Example code:

# let's assume that we have `can_transport_interface` already configured as presented in configuration example above

# receive a CAN packet with timeout set to 1000 ms
can_packet_record = can_transport_interface.receive_packet(timeout=1000)

Asynchronous communication

Warning

Synchronous and asynchronous implementation shall not be mixed, therefore for transmitting and receiving UDS Messages and CAN Packets use either:

or

Send Message

Once an object of PyCanTransportInterface class is created, use async_send_message() method to receive UDS messages over CAN.

Example code:

# let's assume that we have `can_transport_interface` already configured as presented in configuration example above

# define some UDS message to send
message = uds.message.UdsMessage(addressing_type=uds.transmission_attributes.AddressingType.PHYSICAL,
                                 payload=[0x10, 0x03])

# send UDS Message and receive UDS message record with historic information about the transmission
message_record = await can_transport_interface.async_send_message(message)

Receive Message

Once an object of PyCanTransportInterface class is created, use async_receive_message() method to receive UDS messages over CAN.

Example code:

# let's assume that we have `can_transport_interface` already configured as presented in configuration example above

# receive an UDS message with timeout set to 1000 ms
message_record = await can_transport_interface.async_receive_message(timeout=1000)

Send Packet

Once an object of PyCanTransportInterface class is created, use async_send_packet() method to send CAN packets.

Example code:

# let's assume that we have `can_transport_interface` already configured as presented in configuration example above

# define some UDS message to send
message = uds.message.UdsMessage(addressing_type=uds.transmission_attributes.AddressingType.PHYSICAL,
                                 payload=[0x10, 0x03])

# segment the message to create a CAN packet
can_packet = can_transport_interface.segmenter.segmentation(message)[0]

# send CAN packet and receive CAN packet record with historic information about the transmission and the transmitted CAN packet
can_packet_record = await can_transport_interface.async_send_packet(can_packet)

Receive Packet

Once an object of PyCanTransportInterface class is created, use async_receive_packet() method to receive CAN packets.

Example code:

# let's assume that we have `can_transport_interface` already configured as presented in configuration example above

# receive a CAN packet with timeout set to 1000 ms
can_packet_record = await can_transport_interface.async_receive_packet(timeout=1000)