// A function that displays UDS messages
static void displayMessage(ref TPUDSMsg Message, bool isRx)
{
if (Message.MSGTYPE != TPUDSMessageType.PUDS_MESSAGE_TYPE_INDICATION)
{
string RxTx = isRx ? "Received" : "Transmitted";
string result = Message.RESULT != TPUDSResult.PUDS_RESULT_N_OK ? "ERROR !!!" : "OK !";
Console.Write($"\n{RxTx} UDS message from 0x{Message.NETADDRINFO.SA:x2} (to 0x{Message.NETADDRINFO.TA:x2}, with RA 0x{Message.NETADDRINFO.RA:x2}) - result: {Message.RESULT} - {result}\n");
// display data
Console.Write($"\t\\-> Length: {Message.LEN}, Data= ");
for (int i = 0; i < Message.LEN; i++)
{
Console.Write($"{Message.DATA[i]:x2} ");
}
Console.Write("\n");
}
else
{
Console.Write($"\nPENDING UDS message from 0x{Message.NETADDRINFO.SA:x2} (to 0x{Message.NETADDRINFO.TA:x2}, with RA 0x{Message.NETADDRINFO.RA:x2}) -> LEN={Message.LEN} ...\n");
}
}
// This function generates and transmits UDS responses
static void transmitResponse(TPUDSCANHandle Channel, byte serverAddr, ref TPUDSMsg UDSRequest)
{
TPUDSStatus Status;
TPUDSMsg Message = new TPUDSMsg();
byte SI = UDSRequest.ServiceID;
ushort lDataIdentifier;
ushort lCount;
ushort lMemorySizeLength;
ushort lMemoryAddressLength;
Random rnd = new Random();
// copy N_AI
Message.NETADDRINFO = UDSRequest.NETADDRINFO;
if (UDSRequest.NETADDRINFO.TA_TYPE == TPUDSAddressingType.PUDS_ADDRESSING_FUNCTIONAL)
{
// response to functional addressing is set to TEST_EQUIPMENT
Message.NETADDRINFO.TA = (byte)TPUDSAddress.PUDS_ISO_15765_4_ADDR_TEST_EQUIPMENT;
}
else
{
Message.NETADDRINFO.TA = UDSRequest.NETADDRINFO.SA;
}
Message.NETADDRINFO.SA = serverAddr;
Message.NETADDRINFO.TA_TYPE = TPUDSAddressingType.PUDS_ADDRESSING_PHYSICAL;
// all responses are positive
Message.DATA = new byte[UDSApi.PUDS_MAX_DATA];
Message.DATA[0] = (byte)(UDSRequest.ServiceID + UDSApi.PUDS_SI_POSITIVE_RESPONSE);
// customize message response based on the UDS Service ID (see ISO 14229-1)
switch ((TPUDSService)SI)
{
case TPUDSService.PUDS_SI_DiagnosticSessionControl:
Message.DATA[1] = UDSRequest.DATA[1];
Message.DATA[2] = 0x00; // P2Can_Server_Max = 0x0010
Message.DATA[3] = 0x10;
Message.DATA[4] = 0x03; // P2*Can_Server_Max = 0x03E8
Message.DATA[5] = 0xE8;
Message.LEN = 6;
break;
case TPUDSService.PUDS_SI_ECUReset:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
if (UDSRequest.DATA[1] == (byte)UDSApi.TPUDSSvcParamER.PUDS_SVC_PARAM_ER_ERPSD)
{
Message.DATA[2] = 0x66; // power down time
Message.LEN = 3;
}
break;
case TPUDSService.PUDS_SI_SecurityAccess:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
if (UDSRequest.DATA[1] >= UDSApi.PUDS_SVC_PARAM_SA_RSD_MIN &&
UDSRequest.DATA[1] <= UDSApi.PUDS_SVC_PARAM_SA_RSD_MAX &&
UDSRequest.DATA[1] % 2 == 1)
{ // Request security seed are Even values
// fill with dummy data
Message.LEN = (ushort)((1 + SI) > UDSApi.PUDS_MAX_DATA ? UDSApi.PUDS_MAX_DATA : (1 + SI));
for (int i = 1; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
}
break;
case TPUDSService.PUDS_SI_CommunicationControl:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
break;
case TPUDSService.PUDS_SI_TesterPresent:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
break;
case TPUDSService.PUDS_SI_SecuredDataTransmission:
// fill with dummy data (check Security-SubLayer record defined in ISO-15764)
Message.LEN = (ushort)(1 + rnd.Next(0, 32767) % 50);
for (int i = 0; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
case TPUDSService.PUDS_SI_ControlDTCSetting:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
break;
case TPUDSService.PUDS_SI_ResponseOnEvent:
Message.DATA[1] = UDSRequest.DATA[1];
if (UDSRequest.DATA[1] == (byte)UDSApi.TPUDSSvcParamROE.PUDS_SVC_PARAM_ROE_RAE)
{
Message.DATA[2] = 0; // # of activated events
Message.LEN = 3;
// EventType and ServiceToRespondTo Records not implemented
}
else
{
Message.DATA[2] = 0; // # of identified events
Message.DATA[3] = UDSRequest.DATA[2]; // # event window time
Message.LEN = 4;
// EventType and ServiceToRespondTo Records not implemented
}
break;
case TPUDSService.PUDS_SI_LinkControl:
Message.DATA[1] = UDSRequest.DATA[1];
Message.LEN = 2;
break;
case TPUDSService.PUDS_SI_ReadDataByIdentifier:
lCount = 0;
for (int i = 0; i < UDSRequest.LEN - 1; i += 2)
{
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[i + 1]);
// copy DataIdentifier
Message.DATA[lCount++ + 1] = UDSRequest.DATA[i + 1];
Message.DATA[lCount++ + 1] = UDSRequest.DATA[i + 2];
// DataRecord : fill with dummy data
for (int j = 0; j < 5; j++)
{
Message.DATA[lCount++ + 1] = (byte)(j + 'A');
}
}
Message.LEN = (ushort)(lCount + 1);
break;
case TPUDSService.PUDS_SI_ReadMemoryByAddress:
// read memorySize = bits [7..4]
Message.LEN = (ushort)(1 + ((UDSRequest.DATA[2] >> 4) & 0xF));
// fill with dummy data
for (int i = 0; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
case TPUDSService.PUDS_SI_ReadScalingDataByIdentifier:
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[1]);
// copy DataIdentifier
Message.DATA[1] = UDSRequest.DATA[1];
Message.DATA[2] = UDSRequest.DATA[2];
// create a formula Vehicule Speed = (0.75*x+30) km/h
Message.DATA[3] = (0x0 << 4) | (0x1); // unSignedNumeric of 1 Bytes)
Message.DATA[4] = 0x90; // formula, 0 data bytes
Message.DATA[5] = 0x00; // formulaIdentifier = C0 * x + C1
Message.DATA[6] = 0xE0; // C0 high byte
Message.DATA[7] = 0x4B; // C0 low byte
Message.DATA[8] = 0x00; // C1 high byte
Message.DATA[9] = 0x1E; // C1 low byte
Message.DATA[10] = 0xA0; // unit/format, 0 data bytes
Message.DATA[11] = 0x30; // unit ID, km/h
Message.LEN = 11;
break;
case TPUDSService.PUDS_SI_ReadDataByPeriodicIdentifier:
Message.LEN = 1;
break;
case TPUDSService.PUDS_SI_DynamicallyDefineDataIdentifier:
Message.LEN = 4;
Message.DATA[1] = UDSRequest.DATA[1];
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[1]);
// copy DataIdentifier
Message.DATA[2] = UDSRequest.DATA[2];
Message.DATA[3] = UDSRequest.DATA[3];
break;
case TPUDSService.PUDS_SI_WriteDataByIdentifier:
Message.LEN = 3;
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[1]);
// copy DataIdentifier
Message.DATA[1] = UDSRequest.DATA[1];
Message.DATA[2] = UDSRequest.DATA[2];
break;
case TPUDSService.PUDS_SI_WriteMemoryByAddress:
// read MemorySizeLength & MemoryAddressLength
lMemorySizeLength = (ushort)((UDSRequest.DATA[1] >> 4) & 0xF);
lMemoryAddressLength = (ushort)(UDSRequest.DATA[1] & 0xF);
Message.LEN = (ushort)(2 + lMemorySizeLength + lMemoryAddressLength);
// copy Address and Memory parameters
Message.DATA[1] = UDSRequest.DATA[1];
Array.Copy(UDSRequest.DATA, 2, Message.DATA, 2, lMemoryAddressLength);
Array.Copy(UDSRequest.DATA, 2 + lMemoryAddressLength, Message.DATA, 2 + lMemoryAddressLength, lMemorySizeLength);
break;
case TPUDSService.PUDS_SI_ClearDiagnosticInformation:
Message.LEN = 1;
break;
case TPUDSService.PUDS_SI_InputOutputControlByIdentifier:
Message.LEN = 3;
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[1]);
// copy DataIdentifier
Message.DATA[1] = UDSRequest.DATA[1];
Message.DATA[2] = UDSRequest.DATA[2];
// ControlStatus Record not implemented
break;
case TPUDSService.PUDS_SI_RoutineControl:
Message.LEN = 4;
Message.DATA[1] = UDSRequest.DATA[1];
// Use helper function to read network data (in big endian format) to WORD value (in windows i.e. little endian format)
lDataIdentifier = Reverse16(UDSRequest.DATA[1]);
// copy DataIdentifier
Message.DATA[2] = UDSRequest.DATA[2];
Message.DATA[3] = UDSRequest.DATA[3];
// RoutineStatus Record not implemented
break;
case TPUDSService.PUDS_SI_RequestDownload:
case TPUDSService.PUDS_SI_RequestUpload:
Message.LEN = (ushort)(2 + 1 + rnd.Next(0, 32767) % 50);
Message.DATA[1] = 0xF0; // max number of block length = 0xF
// fill with dummy data
for (int i = 1; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
case TPUDSService.PUDS_SI_TransferData:
Message.LEN = (ushort)((2 + UDSRequest.LEN) > UDSApi.PUDS_MAX_DATA ? UDSApi.PUDS_MAX_DATA : 2 + UDSRequest.LEN);
// custom response to PCUClient example:
// a. service is requested functionally,
// b. 1st response is NRC ResponsePending
// c. wait
// d. send correct response
if (UDSRequest.NETADDRINFO.TA_TYPE == TPUDSAddressingType.PUDS_ADDRESSING_FUNCTIONAL)
{
// Transmit a NRC ResponsePending response
Message.LEN = 3;
Message.DATA[0] = (byte)TPUDSService.PUDS_NR_SI;
Message.DATA[1] = SI;
Message.DATA[2] = UDSApi.PUDS_NRC_EXTENDED_TIMING;
Status = UDSApi.Write(Channel, ref Message);
Console.Write($"\n ...Transmitting a NRC Response Pending message: {Status}\n");
Console.Write($"\n ...simulating computation... (waiting ~{UDSApi.PUDS_P2CAN_ENHANCED_SERVER_MAX}ms)");
Thread.Sleep(UDSApi.PUDS_P2CAN_ENHANCED_SERVER_MAX - 100);
// initialize real service response
Message.LEN = UDSApi.PUDS_MAX_DATA;
Message.DATA[0] = (byte)(UDSRequest.DATA[0] + UDSApi.PUDS_SI_POSITIVE_RESPONSE);
}
Message.DATA[1] = UDSRequest.DATA[1];
// fill with dummy data
for (int i = 1; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
case TPUDSService.PUDS_SI_RequestTransferExit:
Message.LEN = (ushort)(1 + 1 + rnd.Next(0, 32767) % 50);
// fill with dummy data
for (int i = 0; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
default:
// fill with dummy data
Message.LEN = (ushort)((1 + SI) > UDSApi.PUDS_MAX_DATA ? UDSApi.PUDS_MAX_DATA : (1 + SI));
Message.DATA[1] = SI;
for (int i = 1; i < Message.LEN - 1; i++) // (LEN - 1) as POSITIVE.SI uses 1 byte
{
Message.DATA[i + 1] = (byte)(i + 1);
}
break;
}
// Transmit UDS response
Status = UDSApi.Write(Channel, ref Message);
Console.Write($"\n ...Transmitting response: {Status}\n");
UDSRequest = Message;
}
