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Revert "iso-tp: more checks (#1487)" #1616

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Aug 29, 2023
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12 changes: 5 additions & 7 deletions python/uds.py
Original file line number Diff line number Diff line change
Expand Up @@ -449,18 +449,18 @@ def recv(self, timeout=None) -> Tuple[Optional[bytes], bool]:
timeout = self.timeout

start_time = time.monotonic()
updated = False
rx_in_progress = False
try:
while True:
for msg in self._can_client.recv():
self._isotp_rx_next(msg)
frame_type = self._isotp_rx_next(msg)
start_time = time.monotonic()
updated = True
rx_in_progress = frame_type == ISOTP_FRAME_TYPE.CONSECUTIVE
if self.tx_done and self.rx_done:
return self.rx_dat, updated
return self.rx_dat, False
# no timeout indicates non-blocking
if timeout == 0:
return None, updated
return None, rx_in_progress
if time.monotonic() - start_time > timeout:
raise MessageTimeoutError("timeout waiting for response")
finally:
Expand All @@ -473,7 +473,6 @@ def _isotp_rx_next(self, rx_data: bytes) -> ISOTP_FRAME_TYPE:
# assert len(rx_data) == self.max_len, f"isotp - rx: invalid CAN frame length: {len(rx_data)}"

if rx_data[0] >> 4 == ISOTP_FRAME_TYPE.SINGLE:
assert not self.rx_done, "isotp - rx: unexpected single frame"
self.rx_len = rx_data[0] & 0x0F
assert self.rx_len < self.max_len, f"isotp - rx: invalid single frame length: {self.rx_len}"
self.rx_dat = rx_data[1:1 + self.rx_len]
Expand All @@ -484,7 +483,6 @@ def _isotp_rx_next(self, rx_data: bytes) -> ISOTP_FRAME_TYPE:
return ISOTP_FRAME_TYPE.SINGLE

elif rx_data[0] >> 4 == ISOTP_FRAME_TYPE.FIRST:
assert self.rx_dat == b"", "isotp - rx: first frame with data already received"
self.rx_len = ((rx_data[0] & 0x0F) << 8) + rx_data[1]
assert self.max_len <= self.rx_len, f"isotp - rx: invalid first frame length: {self.rx_len}"
self.rx_dat = rx_data[2:]
Expand Down