ecu.py

import math, string
import options
import elm
import report

from xml.dom.minidom import parse
import xml.dom.minidom


# Returns signed value from 16 bits (2 bytes)
def hex16_tosigned(value):
    return -(value & 0x8000) | (value & 0x7fff)


# Returns signed value from 8 bits (1 byte)
def hex8_tosigned(value):
    return -(value & 0x80) | (value & 0x7f)


class Data_item:
    def __init__(self, item, req_endian):
        self.firstbyte = 0
        self.bitoffset = 0
        self.ref = False
        self.req_endian = req_endian
        self.endian = ''
        self.name = item.getAttribute("Name")

        fb = item.getAttribute("FirstByte")
        if fb:
            self.firstbyte = int(fb)

        bo = item.getAttribute("BitOffset")
        if bo:
            self.bitoffset = int(bo)

        endian = item.getAttribute("Endian")
        if endian:
            self.endian = endian.encode('ascii')

        ref = item.getAttribute("Ref")
        if ref and ref == '1': self.ref = True


class Ecu_device:
     def __init__(self, dev):
        self.xmldoc = xml
        self.dtc = 0
        self.dtctype = 0
        self.devicedata = {}
        self.name = dev.getAttribute("Name")

        dtc = dev.getAttribute("DTC")
        if dtc: self.dtc = int(dtc)
        dtctype = dev.getAttribute("Type")
        if dtctype: self.dtctype = int(dtctype)

        devicedata = dev.getElementsByTagName("DeviceData")
        if devicedata:
            for data in devicedata:
                name = data.getAttribute("Name")
                failureflag = data.getAttribute("FailureFlag")
                self.devicedata[name] = failureflag


class Ecu_request:
    def __init__(self, xml, endian):
        self.xmldoc = xml
        self.minbytes = 0
        self.shiftbytescount = 0
        self.replybytes = ''
        self.manualsend = False
        self.sentbytes = ''
        self.dataitems = {}
        self.sendbyte_dataitems = {}
        self.name = 'uninit'
        self.endian = endian
        self.name = self.xmldoc.getAttribute("Name")

        manualsenddata = self.xmldoc.getElementsByTagName("ManuelSend").item(0)
        if manualsenddata:
            self.manualsend = True

        shiftbytescount = self.xmldoc.getElementsByTagName("ShiftBytesCount")
        if shiftbytescount:
            self.shiftbytescount = int(shiftbytescount.item(0).firstChild.nodeValue)

        replybytes = self.xmldoc.getElementsByTagName("ReplyBytes")
        if replybytes:
            self.replybytes = replybytes.item(0).firstChild.nodeValue

        receiveddata = self.xmldoc.getElementsByTagName("Received").item(0)
        if receiveddata:
            minbytes = receiveddata.getAttribute("MinBytes")
            if minbytes:
                self.minbytes = int(minbytes)

            dataitems = receiveddata.getElementsByTagName("DataItem")
            if dataitems:
                for dataitem in dataitems:
                    di = Data_item(dataitem, self.endian)
                    self.dataitems[di.name] = di

        sentdata = self.xmldoc.getElementsByTagName("Sent")
        if sentdata:
            sent = sentdata.item(0)
            sentbytesdata = sent.getElementsByTagName("SentBytes")
            if sentbytesdata:
                self.sentbytes = sentbytesdata.item(0).firstChild.nodeValue

            dataitems = sent.getElementsByTagName("DataItem")
            if dataitems:
                for dataitem in dataitems:
                    di = Data_item(dataitem, self.endian)
                    self.sendbyte_dataitems[di.name] = di

class Ecu_data:
    def __init__(self, xml):
        self.xmldoc = xml
        self.name = ''
        self.bitscount = 8
        self.scaled = False
        self.signed = False
        self.byte = False
        self.binary = False
        self.bytescount = 1
        self.bytesascii = False
        self.step = 1.0
        self.offset = 0.0
        self.divideby = 1.0
        self.format = ""
        self.items = {}
        self.lists = {}
        self.description = ''
        self.unit = ""
        self.comment = ''

        self.name = self.xmldoc.getAttribute("Name")
        description = self.xmldoc.getElementsByTagName("Description")
        if description:
            self.description = description.item(0).firstChild.nodeValue.replace('<![CDATA[', '').replace(']]>', '')

        comment = self.xmldoc.getElementsByTagName("Comment")
        if comment:
            self.comment = comment.item(0).firstChild.nodeValue.replace('<![CDATA[', '').replace(']]>', '')

        lst = self.xmldoc.getElementsByTagName("List")
        if lst:
            for l in lst:
                items = l.getElementsByTagName("Item")
                for item in items:
                    key = int(item.getAttribute('Value'))
                    self.lists[key] = item.getAttribute('Text')

        bytes = self.xmldoc.getElementsByTagName("Bytes")
        if bytes:
            self.byte = True
            bytescount = bytes.item(0).getAttribute("count")
            if bytescount:
                self.bytescount = int(bytescount)
                self.bitscount  = self.bytescount * 8

            bytesascii = bytes.item(0).getAttribute("ascii")
            if bytesascii and bytesascii == '1': self.bytesascii = True

        bits = self.xmldoc.getElementsByTagName("Bits")
        if bits:
            bitscount = bits.item(0).getAttribute("count")
            if bitscount:
                self.bitscount  = int(bitscount)
                self.bytescount = int(math.ceil(float(bitscount) / 8.0))

            signed = bits.item(0).getAttribute("signed")
            if signed:
                self.signed = True

            binary = bits.item(0).getElementsByTagName("Binary")
            if binary:
                self.binary = True

            self.items = {}
            items = bits.item(0).getElementsByTagName("Item")
            if items:
                for item in items:
                    value = int(item.getAttribute("Value"))
                    text  = item.getAttribute("Text")
                    self.items[text] = value

            scaled_value = bits.item(0).getElementsByTagName("Scaled")
            if scaled_value:
                self.scaled = True
                sc = scaled_value.item(0)

                step = sc.getAttribute("Step")
                if step:
                    self.step = float(step)

                offset = sc.getAttribute("Offset")
                if offset:
                    self.offset = float(offset)

                divideby = sc.getAttribute("DivideBy")
                if divideby:
                    self.divideby = float(divideby)

                format = sc.getAttribute("Format")
                if format:
                    self.format = format

                unit = sc.getAttribute("Unit")
                if unit:
                    self.unit = unit

    def setValue(self, value, bytes_list, dataitem, request_endian):
        start_byte = dataitem.firstbyte - 1
        start_bit = dataitem.bitoffset
        little_endian = False

        if request_endian == "Little":
            little_endian = True

        # It seems that DataItem can override Request endianness
        if dataitem.endian == "Little":
            little_endian = True

        if self.bytesascii:
            if self.bytescount != len(value):
                return None

            for i in range(self.bytescount):
                bytes_list[self.bytescount - i - 1] = ord(value[i])

            return bytes_list

        if self.scaled:
            if not str(value).isdigit():
                return None

            value = float(value)
            # Input value must be base 10
            value = int((value * float(self.divideby) - float(self.offset)) / float(self.step))
        else:
            # Check input length and validity
            if not all(c in string.hexdigits for c in value):
                return None
            # Value is base 16
            value = int('0x' + str(value), 16)

        # We're working at bit level, we may need to OR these values
        bit_operation = self.bitscount < 8

        if bit_operation and start_bit > 7:
            print "bit operation on multiple bytes not implemented"
            return None

        if bit_operation:
            if little_endian:
                offset = start_bit
            else:
                offset = 8 - start_bit - self.bitscount
            value_mask = 2 ** self.bitscount - 1
            value = int(value)
            value &= value_mask
            value = (value << offset)

        hex_value = "{0:#0{1}x}".format(value, self.bytescount * 2 + 2)[2:].upper()
        hex_bytes = [hex_value[i:i + 2] for i in range(0, len(hex_value), 2)]

        n = 0
        if len(hex_bytes) > self.bytescount:
            return None

        for h in hex_bytes:
            original_byte  = int('0x' + bytes_list[n + start_byte], 16)
            original_value = int('0x' + h, 16)

            if bit_operation:
                new = original_value | original_byte
            else:
                new = original_value

            value_formatted = "{0:#0{1}x}".format(new, 4)[2:].upper()

            bytes_list[start_byte + n] = value_formatted

            n += 1

        return bytes_list

    def getDisplayValue(self, elm_data, dataitem, req_endian):
        value = self.getHexValue(elm_data, dataitem, req_endian)
        if value is None:
            return None

        if self.bytesascii:
            return value.decode('hex')

        # I think we want Hex format for non scaled values
        if not self.scaled:
            val = int('0x' + value, 16)

            # Manage mapped values
            if val in self.lists:
                return self.lists[val]

            return value

        value = int('0x' + value, 16)

        # Manage signed values
        if self.signed:
            if self.bytescount == 1:
                value = hex8_tosigned(value)
            elif self.bytescount == 2:
                value = hex16_tosigned(value)

        if self.divideby == 0:
            print "Division by zero : ", dataitem.name
            return None

        res = (value * float(self.step) + float(self.offset)) / float(self.divideby)
        if len(self.format) and '.' in self.format:
            acc = len(self.format.split('.')[1])
            fmt = '%.' + str(acc) + 'f'
            res = fmt % res
        else:
            res = int(res)

        return str(res)

    def getHexValue(self, resp, dataitem, req_endian):
        little_endian = False

        if req_endian == "Little":
            little_endian = True

        if dataitem.endian == "Little":
            little_endian = True

        if dataitem.endian == "Big":
            little_endian = False

        resp = resp.strip().replace(' ','')
        if not all(c in string.hexdigits for c in resp): resp = ''
        resp.replace(' ', '')
        
        bits = self.bitscount
        bytes = bits / 8

        if bits % 8:
            bytes += 1

        startByte = dataitem.firstbyte
        startBit = dataitem.bitoffset

        if startBit + bits > (bytes * 8):
            bytes += 1

        sb = startByte - 1
        if (sb * 2 + bytes * 2) > (len(resp)):
            return None

        hexval = resp[sb * 2:(sb + bytes) * 2]
        if len(hexval) == 0:
            return None

        # if little_endian:
        #     a = hexval
        #     b = ''
        #     if not len(a) % 2:
        #         for i in range(0, len(a), 2):
        #             b = a[i:i + 2] + b
        #         hexval = b
        #     else:
        #         print "Warning, cannot convert little endian value, report error please"
        #         return None

        if bits % 8:
            if little_endian:
                offset = startBit
            else:
                offset = (bytes * 8) - startBit - bits

            if (offset < 0):
                print "negative offset : ", dataitem.name, bits, offset, little_endian, hexval
                return None

            val = int(hexval, 16)
            val = (val >> int(offset)) & (2**bits - 1)
            hexval = hex(val)[2:]
            # Remove trailing L if exists
            if hexval[-1:].upper() == 'L':
                hexval = hexval[:-1]
            # Resize to original length
            hexval = hexval.zfill(bytes * 2)

        return hexval

class Ecu_file:
    def __init__(self, xmldoc, isfile=False):
        self.requests = {}
        self.data = {}
        if isfile:
            xdom = xml.dom.minidom.parse(xmldoc)
            self.xmldoc = xdom.documentElement
        else:
            self.xmldoc = xmldoc

        if not self.xmldoc:
            print("XML not found")
            return

        devices = self.xmldoc.getElementsByTagName("Device")
        for d in devices:
            ecu_dev = Ecu_device(d)
            self.requests[ecu_dev.name] = ecu_dev

        requests_tag = self.xmldoc.getElementsByTagName("Requests")

        if requests_tag:
            for request_tag in requests_tag:
                endian = ''
                endian_attr = request_tag.getAttribute("Endian")
                if endian_attr:
                    endian = endian_attr.encode('ascii')

                requests = request_tag.getElementsByTagName("Request")
                for f in requests:
                    ecu_req = Ecu_request(f, endian)
                    self.requests[ecu_req.name] = ecu_req

                data = self.xmldoc.getElementsByTagName("Data")
                for f in data:
                    ecu_data = Ecu_data(f)
                    self.data[ecu_data.name] = ecu_data

# Protocols:

# KWP2000 FastInit MonoPoint            ?ATSP 5?
# KWP2000 FastInit MultiPoint           ?ATSP 5?
# KWP2000 Init 5 Baud Type I and II     ?ATSP 4?
# DiagOnCAN                             ATSP 6
# CAN Messaging (125 kbps CAN)          ?ATSP B?
# ISO8                                  ?ATSP 3?

class Ecu_ident:
    def __init__(self, diagversion, supplier, soft, version, name, group, href, protocol, projects):
        self.protocols = [u"KWP2000 Init 5 Baud Type I and II", u"ISO8",
                          u"CAN Messaging (125 kbps CAN)", u"KWP2000 FastInit MultiPoint",
                          u"KWP2000 FastInit MonoPoint", u"DiagOnCAN"]
        self.diagversion = diagversion
        self.supplier = supplier
        self.soft = soft
        self.version = version
        self.name = name
        self.group = group
        self.projects = projects
        self.href = href
        self.addr = None
        self.protocol = protocol
        self.hash = diagversion + supplier + soft + version

    def checkWith(self, diagversion, supplier, soft, version, addr):
        if self.hash != diagversion + supplier + soft + version: return False
        self.addr = addr
        return True

    def checkApproximate(self, diagversion, supplier, soft, version, addr):
        if self.diagversion != diagversion:
            return False
        if self.supplier != supplier:
            return False
        if self.soft != soft:
            return False

        self.addr = addr
        return True

    def checkProtocol(self):
        if not self.protocol in self.protocols:
            print "Unknown protocol '", self.protocol, "' "

class Ecu_database:
    def __init__(self):
        xmlfile = options.ecus_dir + "/eculist.xml"
        xdom = xml.dom.minidom.parse(xmlfile)
        self.xmldoc = xdom.documentElement
        self.targets = []
        self.numecu = 0

        if not self.xmldoc:
            print "Unable to find eculist"
            return

        targets = self.xmldoc.getElementsByTagName("Target")

        for target in targets:
            href = target.getAttribute("href")
            name = target.getAttribute("Name")
            group = target.getAttribute("group")
            protnode = target.getElementsByTagName("Protocol")
            if protnode:
                protocol = protnode[0].firstChild.nodeValue
            autoidents = target.getElementsByTagName("AutoIdents")
            projectselems = target.getElementsByTagName("Projects")
            projects = []
            if projectselems:
                for c in projectselems[0].childNodes:
                    projects.append(c.nodeName)
            for autoident in autoidents:
                self.numecu += 1
                for ai in autoident.getElementsByTagName("AutoIdent"):
                    diagversion = ai.getAttribute("DiagVersion")
                    supplier = ai.getAttribute("Supplier")
                    soft = ai.getAttribute("Soft")
                    version = ai.getAttribute("Version")
                    ecu_ident = Ecu_ident(diagversion, supplier, soft, version, name, group, href, protocol, projects)
                    self.targets.append(ecu_ident)

    def getTarget(self, name):
        for t in self.targets:
            if t.name == name:
                return t
        return None

class Ecu_scanner:
    def __init__(self):
        self.totalecu = 0
        self.ecus = {}
        self.ecu_database = Ecu_database()
        self.num_ecu_found = 0
        self.report_data = []
        self.qapp = None

    def getNumEcuDb(self):
        return self.ecu_database.numecu

    def getNumAddr(self):
        return len(elm.dnat)
        
    def addTarget(self, target):
        self.ecus[target.name] = target

    def clear(self):
        self.totalecu = 0
        self.ecus = {}
        self.approximate_ecus = {}
        self.num_ecu_found = 0
        self.report_data = []

    def send_report(self):
        if options.report_data:
            # order : diagversion, supplier, soft, addr, can_response, version, href
            for reportdata in self.report_data:
                report.report_ecu(reportdata[1], reportdata[2], reportdata[5], reportdata[0], reportdata[3], reportdata[4], reportdata[6])

    def scan(self, progress=None, label=None):
        if options.simulation_mode:
            self.ecus["Tdb_BCEKL84_serie_4emeRev."] = Ecu_ident("000", "000", "000", "00",
                                                                "TdB", "GRP", "Tdb_BCEKL84_serie_4emeRev.xml", "DiagOnCan", [])
            self.ecus["ACU4_X84_MK2"] = Ecu_ident("000", "000", "000", "00", "ACU", "GRP", "ACU4_X84_MK2.xml", "DiagOnCan", [])
            self.ecus["Abs_X84_Bosch8.1"] = Ecu_ident("000", "000", "000", "00", "ACU", "GRP", "Abs_X84_Bosch8.1_V1.3.xml", "DiagOnCan", [])

        i = 0
        options.elm.init_can()
        for addr in elm.snat.keys():
            progress.setValue(i)
            self.qapp.processEvents()
            i += 1
            txa, rxa = options.elm.set_can_addr(addr, {'idTx': '', 'idRx': '', 'ecuname': 'SCAN'})
            options.elm.start_session_can('10C0')

            if options.simulation_mode:
                if txa == "742":
                    can_response = "61 80 82 00 30 64 35 48 30 30 31 00 00 32 03 00 03 22 03 60 00 00 2D 32 14 00 60"
                elif txa == "74B":
                    #can_response = "61 80 82 00 14 97 39 04 33 33 30 40 50 54 87 04 00 05 00 06 00 00 00 00 00 00 01"
                    can_response = "61 80 82 00 14 97 39 04 33 33 30 40 50 54 87 04 00 05 00 01 00 00 00 00 00 00 01"
                elif txa == "7E0":
                    # Test approximate case
                    #can_response = "61 80 82 00 44 66 27 44 32 31 33 82 00 38 71 38 00 A7 74 00 56 05 02 01 00 00"
                    can_response = "61 80 82 00 44 66 27 44 32 31 33 82 00 38 71 38 00 A7 75 00 56 05 02 01 00 00"
                else:
                    can_response = "7F 80 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00"
            else:
                can_response = options.elm.request(req='2180', positive='61', cache=False)

            self.check_ecu(can_response, label, addr)
        options.elm.close_protocol()

    def scan_kwp(self, progress=None, label=None):
        if options.simulation_mode:
            self.ecus["S2000_Atmo__SoftA3"] = Ecu_ident("004", "213", "00A5", "8300", "UCH", "GRP", "S2000_Atmo___SoftA3.xml",
                                                        "KWP2000 FastInit MonoPoint", [])

        i = 0
        options.elm.init_iso()
        for addr in elm.snat.keys():
            progress.setValue(i)
            self.qapp.processEvents()
            i += 1
            options.elm.set_iso_addr(addr, {'idTx': '', 'idRx': '', 'ecuname': 'SCAN', 'protocol': "KWP2000"})
            options.elm.start_session_iso('10C0')

            if not options.simulation_mode:
                can_response = options.elm.request(req='2180', positive='61', cache=False)
            else:
                continue

            self.check_ecu(can_response, label, addr)

        options.elm.close_protocol()

    def check_ecu(self, can_response, label, addr):
        if len(can_response) > 59:
            diagversion = str(int(can_response[21:23], 16))
            supplier = can_response[24:32].replace(' ', '').decode('hex')
            soft = can_response[48:53].replace(' ', '')
            version = can_response[54:59].replace(' ', '')
            approximate_ecu = []
            found_exact = False
            found_approximate = False
            href = ""

            for target in self.ecu_database.targets:
                if target.checkWith(diagversion, supplier, soft, version, addr):
                    self.ecus[target.name] = target
                    self.num_ecu_found += 1
                    label.setText("Found %i ecu" % self.num_ecu_found)
                    found_exact = True
                    href = target.href

                    break
                elif target.checkApproximate(diagversion, supplier, soft, version, addr):
                    approximate_ecu.append(target)
                    found_approximate = True

            # Try to find the closest possible version of an ECU
            if not found_exact and found_approximate:
                min_delta_version = 0xFFFFFF
                kept_ecu = None
                for tgt in approximate_ecu:
                    delta = abs(int('0x' + tgt.version, 16) - int('0x' + version, 16))
                    if delta < min_delta_version:
                        min_delta_version = delta
                        kept_ecu = tgt

                if kept_ecu:
                    self.approximate_ecus[kept_ecu.name] = kept_ecu
                    self.num_ecu_found += 1
                    href = "-->" + kept_ecu.href + "<--"
                    label.setText("Found %i ecu" % self.num_ecu_found)

            if can_response.startswith('61'):
                self.report_data.append((diagversion, supplier, soft, addr, can_response, version, href))

if __name__ == '__main__':
    ecur = Ecu_file("ecus/UCH_84_J84_04_00.xml", True)