pythonでDoIP　~⑤DoIP通信プロトコル実装~

2022年4月24日DoIP,python

ついに最終回としてDoIP通信プロトコルを実装していきます。

設計しているうちにいろいろ見直ししてきたので、以前検討した以下GUIから若干変わっています。

pythonでDoIP ~④DoIP通信用GUI作成~ - telecom-engineer.blog

今回はDoIPツールに合わせたGUIを、pythonのpysimpleguiで作成してみました。対象はGUIなので、まだDo ...

https://telecom-engineer.blog/python-doip-gui/

Contents

1. 通信プロトコル対応内容
2. ソース
- 2.1. DoIPクライアント
- 2.2. DoIPサーバ
3. 動作確認
4. 課題

通信プロトコル対応内容

以下のDoIP通信を実現できるような実装をしていきます。

コマンド	対応	プロトコル	実装	共通	type	len	peyload
Generic DoIP header negative acknowledge	非対応	UDP/ TCP	サーバ/ クライアント	02FD	0000	00000001	NACKコード (1)
Vehicle identification request message	対応	UDP	クライアント	02FD	0001	00000000	–
Vehicle identification request message with EID	対応	UDP	クライアント	02FD	0002	00000006	EID (6) *任意
Vehicle identification request message with VIN	対応	UDP	クライアント	02FD	0003	00000011	VIN (17) *任意
vehicle identification response message	対応	UDP	サーバ	02FD	0004	00000021	VIN (17) 任意論理アドレス (2) 任意 EID (6) 任意 GID (6) 任意アクションコード (1) 0x00 固定 VIN / GID同期状態 (1) 0x00 固定
Vehicle announcement message	非対応	UDP	サーバ	02FD	0004	00000021	VIN (17) 任意論理アドレス (2) 任意 EID (6) 任意 GID (6) 0x000000000001固定アクションコード (1) 0x00 固定 VIN / GID同期状態 (1) 0x00 固定
DoIP entity status request	対応	UDP	クライアント	02FD	4001	00000000	–
DoIP entity status response	対応	UDP	サーバ	02FD	4002	00000007	ノードタイプ (1) 0x01固定同時接続可能ソケット数 (1) 任意同時接続中のソケット数 (1) 任意扱える最大データ長 (4) 任意
Diagnostic power mode information request	対応	UDP	クライアント	02FD	4003	00000000	–
Diagnostic power mode information response	対応	UDP	サーバ	02FD	4004	00000001	診断状態 (1) *任意
Routing activation request	対応	TCP	クライアント	02FD	0005	00000007	SA (2) 任意タイプ (1) 0x00 固定リザーブ (4) *0x00000000 固定
Routing activation response	対応	TCP	サーバ	02FD	0006	00000009	SA (2) 任意 TA (2) 任意応答コード (1) 0x10固定リザーブ (4) 0x00000000 固定
Alive check request	対応	TCP	クライアント	02FD	0007	00000000	–
Alive check response	対応	TCP	サーバ	02FD	0008	00000002	SA (2) *任意
Diagnostic message	対応	TCP	サーバ/ クライアント	02FD	8001	任意	SA (2) 任意 TA (2) 任意ユーザデータ *任意
Diagnostic message positive acknowledgement	対応	TCP	サーバ/ クライアント	02FD	8002	00000005	SA (2) 任意 TA (2) 任意 ACKコード (1) *0x00固定
Diagnostic message negative acknowledgement	非対応	TCP	サーバ/ クライアント	02FD	8003	00000005	SA (2) 任意 TA (2) 任意 NACKコード (1) *0x00固定

peyload列の任意パラメータについては、GUIから任意の値を設定できるようにします。

また、異常系については今回の実装対象外とします。

各コマンドデータの詳細については以下過去記事を確認してください。

pythonでDoIP ~③DoIPプロトコル通信フォーマット概要~ - telecom-engineer.blog

今回はDoIP通信プロトコルについて解説したいと思います。 TCP/UDPでDoIP通信を実施するために必要最低 ...

https://telecom-engineer.blog/python-doip-3/

ソース

メイン処理からの要求を受けてDoIPメッセージの作成、受信データの解析を行うようなコードを作成しました。

やっつけなので見直すべき箇所が多々あり申し訳ない。

全コードについては以下参照願います。

GitHub - hiro-telecom-engineer/python-doip: pythonによつDoIPクライアントとDoIPサ

pythonによつDoIPクライアントとDoIPサーバ. Contribute to hiro-telecom-engineer/python-doip develo ...

https://github.com/hiro-telecom-engineer/python-doip/tree/ma...

DoIPクライアント

import pandas as pd

# 送信コマンドテーブル
doip_cmd_tbl_send = \
[   #"cmand"                                            ,"protocol","KEY"                   ,"CMN" ,"TYPE","LEN"     ,"VALUE1"         ,"VALUE2"   ,"VALUE3"
    ["Vehicle identification request message"           ,"UDP"     ,"-CMD_UDP_VI_REQ-"      ,"02FD","0001","00000000",None             ,None       ,None           ],
    ["Vehicle identification request message with EID"  ,"UDP"     ,"-CMD_UDP_VI_REQ_EID-"  ,"02FD","0002","00000006","-TXT_EID-"      ,None       ,None           ],
    ["Vehicle identification request message with VIN"  ,"UDP"     ,"-CMD_UDP_VI_REQ_VIN-"  ,"02FD","0003","00000011","-TXT_VIN-"      ,None       ,None           ],
    ["DoIP entity status request"                       ,"UDP"     ,"-CMD_UDP_DES_REQ-"     ,"02FD","4001","00000000",None             ,None       ,None           ],
    ["Diagnostic power mode information request"        ,"UDP"     ,"-CMD_UDP_DPMI_REQ-"    ,"02FD","4003","00000000",None             ,None       ,None           ],
    ["Routing activation request"                       ,"TCP"     ,"-CMD_TCP_RA_REQ-"      ,"02FD","0005","00000007","-TXT_SA1-"      ,None       ,None           ],
    ["Alive check request"                              ,"TCP"     ,"-CMD_TCP_AC_REQ-"      ,"02FD","0007","00000000",None             ,None       ,None           ],
    ["Diagnostic message"                               ,"TCP"     ,"-CMD_TCP_DM-"          ,"02FD","8001","00000000","-TXT_SA2-"      ,"-TXT_TA-" ,"-TXT_DIAG-"   ],
    #["FREE MESSAGE"                                     ,"UDP"     ,"-CMD_UDP_FREE-"        ,None  ,None  ,None      ,"-TXT_UDP_FREE-" ,None       ,None           ],
    #["FREE MESSAGE"                                     ,"TCP"     ,"-CMD_TCP_FREE-"        ,None  ,None  ,None      ,"-TXT_TCP_FREE-" ,None       ,None           ],
    #["Diagnostic message positive acknowledgement"      ,"-CMD_TCP_DMA-"         ,"02FD","8002","00000005","-TXT_SA2-"  ,"-TXT_TA-" ,None           ],
]

# 受信コマンドテーブル
doip_cmd_tbl_recv = \
[
    ["vehicle identification response message"          ,"UDP"     ,"-CMD_UDP_VI_RES-"      ,"02FD","0004","00000021"],
    ["DoIP entity status response"                      ,"UDP"     ,"-CMD_UDP_DES_RES-"     ,"02FD","4002","00000007"],
    ["Diagnostic power mode information response"       ,"UDP"     ,"-CMD_UDP_DPMI_RES-"    ,"02FD","4004","00000001"],
    ["Routing activation response"                      ,"TCP"     ,"-CMD_TCP_RA_RES-"      ,"02FD","0006","00000009"],
    ["Alive check response"                             ,"TCP"     ,"-CMD_TCP_AC_RES-"      ,"02FD","0008","00000002"],
    ["Diagnostic message"                               ,"TCP"     ,"-CMD_TCP_DM-"          ,"02FD","8001","00000000"],
    ["Diagnostic message positive acknowledgement"      ,"TCP"     ,"-CMD_TCP_DMA-"         ,"02FD","8002","00000005"],
]

doip_send_df = pd.DataFrame((doip_cmd_tbl_send), columns=["cmand","protocol", "KEY", "CMN", "TYPE","LEN","VALUE1","VALUE2","VALUE3"])
doip_recv_df = pd.DataFrame((doip_cmd_tbl_recv), columns=["cmand","protocol", "KEY", "CMN", "TYPE","LEN"])


# 送信データ作成関数
def doip_make_msg(values,protocol):
    send_msg = None
    send_data = None
    # 送信コマンドテーブル検索
    for index, row in doip_send_df.iterrows():
        # 送信データ種別を判定
        if values[row["KEY"]] == True and protocol == row["protocol"] :
            send_msg = row["cmand"]
            payload_data = ""
            payload_len =""
            # ペイロード部分作成
            if row["cmand"] == "Routing activation request":
                payload_data += values[row["VALUE1"]]
                payload_data += "0000000000"
            else:
                if row["VALUE1"] != None:
                    payload_data += values[row["VALUE1"]]
                if row["VALUE2"] != None:
                    payload_data += values[row["VALUE2"]]
                if row["VALUE3"] != None:
                    payload_data += values[row["VALUE3"]]
            payload_len = hex(int(len(payload_data)/2))[2:]
            payload_len = payload_len.zfill(8)
            if None != payload_data:
                send_data = row["CMN"] + row["TYPE"] + payload_len + payload_data
            break
    return send_msg ,send_data


# ACK送信データ作成関数
def doip_make_msg_ack(values):
    send_msg = "02FD800200000005" + values["-TXT_SA2-"] + "00"
    return send_msg


# 受信データ判定関数
def doip_recv_msg(data,protocol):
    recv_msg = ""
    type = data[4:8]
    for index, row in doip_recv_df.iterrows():
        # 受信データ種別を判定
        if type == row["TYPE"] and protocol == row["protocol"] :
            recv_msg = row["cmand"]
    return recv_msg

DoIPサーバ

import pandas as pd
import app

# 初期設定
g_values = ""
g_sa = ""

# 応答コマンドテーブル
doip_cmd_tbl_send = \
[   #"REQUEST"                                        ,"REQTYPE"    ,"RESPONCE"                                    ,"PROTCOL","CMN" ,"TYPE","LEN"     ,"VALUE1"     ,"VALUE2"      ,"VALUE3"        ,"VALUE4"
    ["Vehicle identification request message"         ,"0001"       ,"vehicle identification response message"    ,"UDP"     ,"02FD","0004","00000021","-VIN_GW-"   ,"-LOGI_ADDR-","-EID_GW-"       ,"-GID_GW-"  ],
    ["Vehicle identification request message with EID","0002"       ,"vehicle identification response message"    ,"UDP"     ,"02FD","0004","00000021","-VIN_GW-"   ,"-LOGI_ADDR-","-EID_GW-"       ,"-GID_GW-"  ],
    ["Vehicle identification request message with VIN","0003"       ,"vehicle identification response message"    ,"UDP"     ,"02FD","0004","00000021","-VIN_GW-"   ,"-LOGI_ADDR-","-EID_GW-"       ,"-GID_GW-"  ],
    ["DoIP entity status request"                     ,"4001"       ,"DoIP entity status response"                ,"UDP"     ,"02FD","4002","00000007","-NODE_TYPE-","-CONN_NUM-" ,"-CONN_NOW_NUM-" ,"-MAX_LEN-" ],
    ["Diagnostic power mode information request"      ,"4003"       ,"Diagnostic power mode information response" ,"UDP"     ,"02FD","4004","00000001","-DIAG_ST-"  ,None         ,None             ,None        ],
    ["Routing activation request"                     ,"0005"       ,"Routing activation response"                ,"TCP"     ,"02FD","0006","00000009","-LOGI_ADDR-","-LOGI_ADDR-",None             ,None        ],
    ["Alive check request"                            ,"0007"       ,"Alive check response"                       ,"TCP"     ,"02FD","0008","00000002","-LOGI_ADDR-","-LOGI_ADDR-",None             ,None        ],
    ["Diagnostic message"                             ,"8001"       ,"Diagnostic message positive acknowledgement","TCP"     ,"02FD","8002","00000005","-LOGI_ADDR-","-LOGI_ADDR-",None             ,None        ],
    ["Diagnostic message positive acknowledgement"    ,"8002"       ,None                                         ,"TCP"     ,None  ,None   ,None     ,None         ,None         ,None             ,None        ],]

doip_recv_df = pd.DataFrame((doip_cmd_tbl_send), columns=["REQ","REQTYPE","RES","PROTCOL","CMN","TYPE","LEN","VALUE1","VALUE2","VALUE3","VALUE4"])


# 初期化関数
def doip_init(values):
    global g_values
    g_values = values
    return


# 送信データ作成関数
def doip_make_msg(row,data):
    global g_sa
    send_data = None
    send_msg = row["RES"]
    payload_data = ""
    # ペイロード部分作成
    if row["PROTCOL"] == "UDP":
        if row["VALUE1"] != None:
            payload_data += g_values[row["VALUE1"]]
        if row["VALUE2"] != None:
            payload_data += g_values[row["VALUE2"]]
        if row["VALUE3"] != None:
            payload_data += g_values[row["VALUE3"]]
        if row["VALUE4"] != None:
            payload_data += g_values[row["VALUE4"]]
        if row["RES"] == "vehicle identification response message":
            payload_data += "0000"
    else:
        if row["RES"] == "Routing activation response":
            g_sa = data[16:20]
            payload_data += g_sa + g_values[row["VALUE2"]] + "1000000000"
        if row["RES"] == "Alive check response":
            payload_data += g_values[row["VALUE1"]]
        if row["RES"] == "Diagnostic message positive acknowledgement":
            if "" != g_sa:
                payload_data += g_values[row["VALUE1"]] + g_sa + "00"
    # ぺーロード長作成
    payload_len = hex(int(len(payload_data)/2))[2:]
    payload_len = payload_len.zfill(8)
    # 送信データ作成
    if None != payload_data:
        send_data = row["CMN"] + row["TYPE"] + payload_len + payload_data
    return send_msg ,send_data


# 受信データ判定関数
def doip_recv_msg(data,protocol):
    recv_msg = ""
    send_msg = ""
    send_data = None
    type = data[4:8]
    for index, row in doip_recv_df.iterrows():
        # 受信データ種別を判定
        if type == row["REQTYPE"] and protocol == row["PROTCOL"] :
            recv_msg = row["REQ"]
            if row["REQ"] != "Diagnostic message positive acknowledgement":
                send_msg , send_data = doip_make_msg(row,data)
    return protocol,recv_msg,data,send_msg,send_data


# ACK送信データ作成関数
def doip_make_msg_ack(values):
    send_msg = "02FD800200000005" + values["-TXT_SA2-"] + "00"
    return send_msg