uds-tool/src/main/java/com/rusefi/io/can/IsoTpConnector.java

package com.rusefi.io.can;

import org.jetbrains.annotations.NotNull;

/**
 * @see IsoTpCanDecoder
 */
public abstract class IsoTpConnector {

    public static void sendStrategy(byte[] bytes, IsoTpConnector connector) {
//        log.info("-------sendBytesToCan " + bytes.length + " byte(s):");

 //       log.info(HexBinary.printHexBinary(bytes));


        // 1 frame
        if (bytes.length <= 7) {
            connector.sendCanFrame((IsoTpConstants.ISO_TP_FRAME_SINGLE << 4) | bytes.length, bytes, 0, bytes.length);
            return;
        }

        // multiple frames
        // send the first header frame
        connector.sendCanFrame((IsoTpConstants.ISO_TP_FRAME_FIRST << 4) | ((bytes.length >> 8) & 0x0f), bytes.length & 0xff, bytes, 0, 6);
        // get a flow control frame
        connector.receiveData();

        // send the rest of the data
        int idx = 1, offset = 6;
        int remaining = bytes.length - 6;
        while (remaining > 0) {
            int len = Math.min(remaining, 7);
            // send the consecutive frames
            connector.sendCanFrame((IsoTpConstants.ISO_TP_FRAME_CONSECUTIVE << 4) | ((idx++) & 0x0f), bytes, offset, len);
            offset += len;
            remaining -= len;
        }
    }

    @NotNull
    public static byte[] combineArrays(byte[] hdr, byte[] data, int dataOffset, int dataLength) {
        byte[] total = new byte[hdr.length + dataLength];
        System.arraycopy(hdr, 0, total, 0, hdr.length);
        System.arraycopy(data, dataOffset, total, hdr.length, dataLength);
        return total;
    }

    public void sendCanFrame(int hdr0, byte[] data, int offset, int dataLength) {
        sendCanData(new byte[]{(byte) hdr0}, data, offset, dataLength);
    }

    public void sendCanFrame(int hdr0, int hdr1, byte[] data, int dataOffset, int dataLength) {
        sendCanData(new byte[]{(byte) hdr0, (byte) hdr1}, data, dataOffset, dataLength);
    }

    public abstract void sendCanData(byte[] hdr, byte[] data, int dataOffset, int dataLength);

    public abstract void receiveData();
}