UdsProtocolToolkit 3.0.0.13-beta

UdsCore 3

[TOC]

使用案例

使用 DoCAN 协议构造 UDS 传输器

设置字段

#region 模拟 Tester
/// <summary>
/// Tester CAN 网络
/// </summary>
private static readonly BaseConnector testerNetwork = new IsoCanFdConnector("VectorApiTest", 0) { Name = "Tester CAN" };

/// <summary>
/// Tester 传输层参数
/// </summary>
private static readonly TransportLayerParameters testerTransportLayerParameters = new()
{
    RequestId = 0x77A,
    RequestIdExtend = false,
    ResponseId = 0x7BA,
    ResponseIdExtend = false,
    BlockSize = 3,
    STmin = 20,
    UseFd = false,
    MaxDlc = 15,
    MinDlc = 8,
    //TimeoutAs = 10,
    //TimeoutAr = 10,
    //TimeoutBs = 100,
    //TimeoutCr = 10,
    //TimeBr = 10,
    //TimeCs = 10,
};

/// <summary>
/// Tester UDS 应用层参数
/// </summary>
private static readonly ApplicationLayerParameters testerApplicationLayerParameters = new()
{
    P2Client = 150,
    P2_Client = 5500,
    suppressResponseWait = false,
    checkResponseServerId = true,
};

/// <summary>
/// Tester 接收消息的通道（已经通过过滤）
/// </summary>
private static readonly Channel<byte[]> testerReceiveCanDataChannel = System.Threading.Channels.Channel.CreateBounded<byte[]>(
    new BoundedChannelOptions(1000) 
    { 
        FullMode = BoundedChannelFullMode.Wait 
    });

/// <summary>
/// Tester 计划发送的通道（将转发给发送程序）
/// </summary>
private static readonly Channel<byte[]> testerSendCanDataChannel = System.Threading.Channels.Channel.CreateBounded<byte[]>(
    new BoundedChannelOptions(1000)
    {
        FullMode = BoundedChannelFullMode.Wait
    });

/// <summary>
/// Tester 发送的热可观察流（由发送程序订阅并完成发送）
/// </summary>
private static readonly IObservable<byte[]> testerSendObservable = testerSendCanDataChannel.MakeObservable();

/// <summary>
/// Tester 接收的热可观察流（持续从接收程序中提取，过滤后添加到 Tester 接收消息的通道）
/// </summary>
private static readonly IObservable<CanFrameEvent> testerReceiveObservable = testerNetwork.ReceivedChannel.MakeObservable();

/// <summary>
/// Tester DoCAN 传输器
/// </summary>
private static DoCanTransmitter? testerDoCanTransmitter;

/// <summary>
/// Tester UDS 传输器
/// </summary>
private static UdsTransmitter? testerUdsTransmitter;
#endregion 模拟 Tester

启动准备

#region 实现 Tester 连接
#region 连接 Tester 发送和接收的通道（使用可观察流连接通道）
// 从 CAN 驱动收到全部的 CAN 帧，过滤后写入 Tester 接收 Can Data 的通道。
testerReceiveObservable.Where(onNext =>
{
    return onNext.canFrame!.CanId == testerTransportLayerParameters.TesterId && onNext.canFrame!.CanIdExtendFlag == testerTransportLayerParameters.TesterIdExtend;
}).Subscribe(async (onNext) =>
{
    testerTransportLayerParameters.SuppressFd = !onNext.canFrame!.CanFdFlag;
    await testerReceiveCanDataChannel.Writer.WriteAsync(onNext.canFrame.Data);
});

// 从 Tester 发送通道中提取 Can Data，调用 CAN 驱动发送。
testerSendObservable.Subscribe(async (onNext) =>
{
    var canFrame = new CanFrame()
    {
        CanId = testerTransportLayerParameters.RequestId!.Value,
        DataLength = (byte)onNext.Length,
        Data = onNext
    };
    if (testerTransportLayerParameters.RequestIdExtend) canFrame.FrameType |= CanFrame.FrameTypes.Ex;
    if (testerTransportLayerParameters.UseFd) canFrame.FrameType |= CanFrame.FrameTypes.Fd;
    var r = await testerNetwork.SendAsync(new CanFrameEvent(canFrame));
});
#endregion 连接 Tester 发送和接收的通道

#region 构造 Tester DoCanTransmitter 对象（从通道构造发送和接收方法）
testerDoCanTransmitter = new(testerSendCanDataChannel,
    testerReceiveCanDataChannel,
    testerTransportLayerParameters)
{
    LogName = "Tester DoCAN"
};
#endregion 构造 Tester DoCanTransmitter 对象

#region 构造 Tester UdsTransmitter 对象
void clearSendQueue()
{
    while (testerSendCanDataChannel.Reader.TryRead(out _)) { }
}

void clearReceiveQueue()
{
    while (testerReceiveCanDataChannel.Reader.TryRead(out _)) { }
}

void restoreFdFlagMethod()
{
    testerTransportLayerParameters.SuppressFd = false;
};

testerUdsTransmitter = new(testerDoCanTransmitter.SendAsync,
    testerDoCanTransmitter.ReceiveAsync,
    clearSendQueue,
    clearReceiveQueue,
    testerApplicationLayerParameters)
{
    LogName = "Tester UDS",
    RestoreFdFlagMethod = restoreFdFlagMethod,
};
#endregion  构造 Tester UdsTransmitter 对象
#endregion 实现 Tester 连接

开始

(var b, var message) = await testerNetwork.OpenAsync();

结束

(var b, var message) = await testerNetwork.CloseAsync();

使用 DoCAN 协议构造 UDS 传输器

设置字段

#region Tester 字段
/// <summary>
/// Tester 网络层连接器
/// </summary>
private static readonly TcpConnector testerNetwork = new()
{
    Mode = TcpConnector.Modes.Client,
    IPAddressLocal = IPAddress.Parse("127.0.0.1"),
    PortLocal = 0,
    IPAddressRemote = IPAddress.Parse("127.0.0.1"),
    PortRemote = 13400,
};

/// <summary>
/// Tester DoIP 协议传输层参数
/// </summary>
private static readonly TransportLayerParameters testerTransportLayerParameters = new()
{
    RequestLogicalAddress = 0x1015,
    ResponseLogicalAddress = 0x0E80,
};

/// <summary>
/// Tester DoIP 协议传输器
/// </summary>
private static readonly DoIpTransmitter testerDoIpTransmitter = new(testerNetwork.SendAsync, testerNetwork.ReceiveAsync, testerTransportLayerParameters);

/// <summary>
/// Tester UDS 应用层参数
/// </summary>
private static readonly ApplicationLayerParameters testerApplicationLayerParameters = new()
{
    suppressResponseWait = false,
    checkResponseServerId = true,
};

/// <summary>
/// Tester UDS 协议传输器
/// </summary>
private static readonly UdsTransmitter testerUdsTransmitter = new(testerDoIpTransmitter.SendAsync, testerDoIpTransmitter.ReceiveAsync, applicationLayerParameters: testerApplicationLayerParameters);
#endregion Tester 字段

开始

var r = await testerNetwork.OpenAsync();

结束

var r = await testerNetwork.closeAsync();

使用 UDS 传输器

var data = new byte[3] { 0x22, 0xF1, 0x8C };
var r = await testerUdsTransmitter.SendRequestAndReceiveResponseAsync(data);
// var r = await ecuUdsTransmitter.ReceiveRequestAndSendResponseAsync();