Support isotp v2 (#196)

- Added support for isotp v2.x
- Also added some missing static typing

Author: pylessard

doc/source/udsoncan/examples.rst

@@ -71,10 +71,12 @@ In this example, we show how to use :class:`PythonIsoTpConnection<udsoncan.conne
 Note that, in order to run this code, both ``python-can`` and ``can-isotp`` must be installed.
 
 .. code-block:: python
-
-   from can.interfaces.vector import VectorBus
+   
+   import can
+   import can.interfaces.vector import VectorBus
    from udsoncan.connections import PythonIsoTpConnection
    from udsoncan.client import Client
+   import udsoncan.configs
    import isotp
 
    # Refer to isotp documentation for full details about parameters
@@ -95,15 +97,18 @@ Note that, in order to run this code, both ``python-can`` and ``can-isotp`` must
     'rate_limit_enable': False,             # Disable the rate limiter
     'rate_limit_max_bitrate': 1000000,      # Ignored when rate_limit_enable=False. Sets the max bitrate when rate_limit_enable=True
     'rate_limit_window_size': 0.2,          # Ignored when rate_limit_enable=False. Sets the averaging window size for bitrate calculation when rate_limit_enable=True
-    'listen_mode': False                    # Does not use the listen_mode which prevent transmission.
+    'listen_mode': False,                   # Does not use the listen_mode which prevent transmission.
    }
 
+   uds_config = udsoncan.configs.default_client_config.copy()
+
    bus = VectorBus(channel=0, bitrate=500000)                                          # Link Layer (CAN protocol)
+   notifier = can.Notifier(bus, [can.Printer()])                                       # Add a debug listener that print all messages
    tp_addr = isotp.Address(isotp.AddressingMode.Normal_11bits, txid=0x123, rxid=0x456) # Network layer addressing scheme
-   stack = isotp.CanStack(bus=bus, address=tp_addr, params=isotp_params)               # Network/Transport layer (IsoTP protocol)
-   stack.set_sleep_timing(0, 0)                                                        # Speed First (do not sleep)
+   #stack = isotp.CanStack(bus=bus, address=tp_addr, params=isotp_params)              # isotp v1.x has no notifier support
+   stack = isotp.NotifierBasedCanStack(bus=bus, notifier=notifier, address=tp_addr, params=isotp_params)  # Network/Transport layer (IsoTP protocol). Register a new listenenr 
    conn = PythonIsoTpConnection(stack)                                                 # interface between Application and Transport layer
-   with Client(conn, request_timeout=1) as client:                                     # Application layer (UDS protocol)
+   with Client(conn, config=uds_config) as client:                                     # Application layer (UDS protocol)
       client.change_session(1)   
       # ...
 

udsoncan/client.py

@@ -2165,7 +2165,7 @@ def send_request(self, request: Request, timeout: int = -1) -> Optional[Response
                     timeout_type_used = 'overall'
                     timeout_value = max(overall_timeout_time - time.time(), 0)
 
-                payload = self.conn.wait_frame(timeout=timeout_value, exception=True)
+                recv_payload = self.conn.wait_frame(timeout=timeout_value, exception=True)
             except TimeoutException:
                 if timeout_type_used == 'single_request':
                     timeout_name_to_report = 'P2* timeout' if using_p2_star else 'P2 timeout'
@@ -2178,13 +2178,13 @@ def send_request(self, request: Request, timeout: int = -1) -> Optional[Response
             except Exception as e:
                 raise e
 
-            if timed_out:
+            if timed_out or recv_payload is None:
                 if spr_used:
                     return None
                 raise TimeoutException('Did not receive response in time. %s time has expired (timeout=%.3f sec)' %
                                        (timeout_name_to_report, timeout_value))
-
-            response = Response.from_payload(payload)
+    
+            response = Response.from_payload(recv_payload)
             self.last_response = response
             self.logger.debug("Received response from server")