CFDC_embedded

import can
import time
import logging
from can.interfaces import cfuc

from udsoncan.connections import PythonIsoTpConnection
from udsoncan.client import Client
import isotp
from udsoncan import services, Request, Response



# Refer to isotp documentation for full details about parameters
isotp_params = {
   'stmin' : 32,                          # Will request the sender to wait 32ms between consecutive frame. 0-127ms or 100-900ns with values from 0xF1-0xF9
   'blocksize' : 8,                       # Request the sender to send 8 consecutives frames before sending a new flow control message
   'wftmax' : 0,                          # Number of wait frame allowed before triggering an error
   'tx_data_length' : 8,                  # Link layer (CAN layer) works with 8 byte payload (CAN 2.0)
   'tx_data_min_length' : None,           # Minimum length of CAN messages. When different from None, messages are padded to meet this length. Works with CAN 2.0 and CAN FD.
   'tx_padding' : 0,                      # Will pad all transmitted CAN messages with byte 0x00.
   'rx_flowcontrol_timeout' : 1000,       # Triggers a timeout if a flow control is awaited for more than 1000 milliseconds
   'rx_consecutive_frame_timeout' : 1000, # Triggers a timeout if a consecutive frame is awaited for more than 1000 milliseconds
   'squash_stmin_requirement' : False,    # When sending, respect the stmin requirement of the receiver. If set to True, go as fast as possible.
   'max_frame_size' : 4095                # Limit the size of receive frame.
}

bus = can.Bus(
    bustype="cfuc",
    channel="COM4",
    CANBaudRate=100000,
    IsFD=True,
    FDDataBaudRate=1000000,
)

def my_error_handler(error):
   logging.warning('IsoTp error happened : %s - %s' % (error.__class__.__name__, str(error)))


addr = isotp.Address(isotp.AddressingMode.Normal_11bits, rxid=0x123, txid=0x456)

stack = isotp.CanStack(bus, address=addr, error_handler=my_error_handler)
stack.send(b'Hello, this is a long payload sent in small chunks')

while stack.transmitting():
   stack.process()
   time.sleep(stack.sleep_time())

print("Payload transmission done.")

bus.shutdown()