bugfix

python/uds.py

@@ -340,12 +340,12 @@ class CanClient():
           print("CAN-RX: drain - {}".format(len(msgs)))
         self.rx_buff.clear()
       else:
-        print('canclient, got msgs', msgs)
+        # print('canclient, got msgs', msgs)
         for rx_addr, _, rx_data, rx_bus in msgs or []:
-          print('rx_addr', rx_addr, self._recv_filter(rx_bus, rx_addr), len(rx_data))
+          # print('rx_addr', rx_addr, self._recv_filter(rx_bus, rx_addr), len(rx_data))
           if self._recv_filter(rx_bus, rx_addr) and len(rx_data) > 0:
             rx_data = bytes(rx_data)  # convert bytearray to bytes
-            print('worked!', rx_data)
+            # print('worked!', rx_data)
 
             if self.debug:
               print(f"CAN-RX: {hex(rx_addr)} - 0x{bytes.hex(rx_data)}")
@@ -359,13 +359,13 @@ class CanClient():
             self.rx_buff.append(rx_data)
       # break when non-full buffer is processed
       if len(msgs) < 254:
-        print('break')
+        # print('break')
         return
 
   def recv(self, drain: bool = False) -> Generator[bytes, None, None]:
     # buffer rx messages in case two response messages are received at once
     # (e.g. response pending and success/failure response)
-    print('here')
+    # print('here')
     self._recv_buffer(drain)
     try:
       while True:

tests/python/test_uds.py

@@ -69,7 +69,7 @@ class UdsServer(UdsClient):
     while not self.kill_event.is_set():
       resp, _ = isotp_msg.recv(0)  # resp is request from client
       print('UDS Server - got resp', resp)
-      # time.sleep(0.01)
+      time.sleep(0.01)
 
       # message from client not fully built
       if resp is None:
@@ -111,11 +111,12 @@ class UdsServer(UdsClient):
             data = resp[(1 if resp_sfn is None else 2):]
             if data in self.services[resp_sid][resp_sfn]:
               # valid data
-              send_dat = [resp_sid + 0x40, int.from_bytes(resp_sfn)]
+              send_dat = bytes([resp_sid + 0x40, int.from_bytes(resp_sfn)])
               if len(self.services[resp_sid][resp_sfn][data]):
-                send_dat.append(self.services[resp_sid][resp_sfn][data])  # add data if exists
+                # send_dat.append(self.services[resp_sid][resp_sfn][data])  # add data if exists
+                send_dat += (self.services[resp_sid][resp_sfn][data])  # add data if exists
               print('send_dat', send_dat, resp_sid)
-              send_dat = bytes(send_dat)
+              # send_dat = bytes(send_dat)
               isotp_msg.send(send_dat)
 
             else:
@@ -139,6 +140,10 @@ class UdsServer(UdsClient):
     self.kill_event.set()
     self.uds_thread.join()
 
+def pop_all(l):
+  r, l[:] = l[:], []
+  return r
+
 
 class MockCanBuffer:
   def __init__(self):
@@ -151,14 +156,18 @@ class MockCanBuffer:
     with self.lock:
       print(f'added to can_send {server=}', (addr, 0, dat, bus))
       buf = self.rx_msgs_server if server else self.rx_msgs_client
-      buf.append([(addr, 0, dat, bus)])
+      buf.append((addr, 0, dat, bus))
 
   def can_recv(self, server=False):
     with self.lock:
       buf = self.rx_msgs_client if server else self.rx_msgs_server
       if len(buf):
         print(f'returned {server=}', buf[0])
-        return buf.pop(0)
+
+        ret = pop_all(buf)
+
+        return ret
+        # return buf.pop(0)
       else:
         return []