h5fdZddlZddlZddlZddlmZddlmZmZddl m Z ddl m Z m Z mZmZmZmZmZmZmZddlmZmZddlmZmZdd lmZdd lmZdd lm Z dd l!m"Z"dd l#m$Z$ddl%m&Z&m'Z'm(Z(m)Z)m*Z*m+Z+m,Z,m-Z-m.Z.gdZ/dZ0dZ1dZ2dZ3dZ4dZ5dddej6d<GddeZ7ej89e e7eee7dGdde7Z:eee:dGd d!eZ;Gd"d#e;Z<Gd$d%e;Z=Gd&d'e;Z>Gd(d)e;Z?Gd*d+e;Z@Gd,d-e;ZAGd.d/eZBGd0d1e7ZCd6d3ZDGd4d5ZEdS)7zyA minimal implementation of the CANopen protocol, based on Wireshark dissectors. See https://wiki.wireshark.org/CANopen N)conf)chb hex_bytes)DLT_CAN_SOCKETCAN) FieldLenField FlagsField StrLenFieldThreeBytesField XBitField ScalingFieldConditionalFieldLenField ShortField) RandFloat RandBinFloat)Packet bind_layers) CookedLinux)Scapy_Exception) PacketList) SuperSocket) _ByteStream) TupleOptionalTypeListUnionCallableIOAnycast)CAN SignalPacket SignalFieldLESignedSignalFieldLEUnsignedSignalFieldLEFloatSignalFieldBEFloatSignalFieldBESignedSignalFieldBEUnsignedSignalField rdcandump CandumpReader SignalHeaderCAN_MTUCAN_MAX_IDENTIFIER CAN_MAX_DLENCAN_INV_FILTERCANFD CAN_FD_MTUCAN_FD_MAX_DLENii H@FT) swap-bytesremove-paddingr"c eZdZdZedddgdedddedd d d ed ded ddgZ e ddZ e dZ dZdZdZdZd S)r"auA implementation of CAN messages. Dissection of CAN messages from Wireshark captures and Linux PF_CAN sockets are supported from protocol specification. See https://wiki.wireshark.org/CANopen for further information on the Wireshark dissector. Linux PF_CAN and Wireshark use different endianness for the first 32 bit of a CAN message. This dissector can be configured for both use cases. Configuration ``swap-bytes``: Wireshark dissection: >>> conf.contribs['CAN']['swap-bytes'] = False PF_CAN Socket dissection: >>> conf.contribs['CAN']['swap-bytes'] = True Configuration ``remove-padding``: Linux PF_CAN Sockets always return 16 bytes per CAN frame receive. This implicates that CAN frames get padded from the Linux PF_CAN socket with zeros up to 8 bytes of data. The real length from the CAN frame on the wire is given by the length field. To obtain only the CAN frame from the wire, this additional padding has to be removed. Nevertheless, for corner cases, it might be useful to also get the padding. This can be configured through the **remove-padding** configuration. Truncate CAN frame based on length field: >>> conf.contribs['CAN']['remove-padding'] = True Show entire CAN frame received from socket: >>> conf.contribs['CAN']['remove-padding'] = False flagsrerrorremote_transmission_requestextended identifierlengthNdataB length_offmtreservedc*t|jSNintrDpkts T/mounts/lovelace/software/anaconda3/lib/python3.11/site-packages/scapy/layers/can.pyz CAN.hSZrK length_fromc|rYt|dko|ddzo |ddz }|rtSt|dkr|ddkrtStS)Nr6)lenr2r")cls_pktargskargsfdf_sets rR dispatch_hookzCAN.dispatch_hookksr  $ii!m#Q$#GdN"   TQ47Q;;  rKct|dz }tjd|gtjd||RS)a6Invert the order of the first four bytes of a CAN packet This method is meant to be used specifically to convert a CAN packet between the pcap format and the SocketCAN format :param pkt: bytes str of the CAN packet :return: bytes str with the first four bytes swapped rYzI{}s)r[structpackformatunpack)rQ len_partials rRinv_endiannesszCAN.inv_endiannesszs_#hhl {7>>+66M"M'..*E*EsKKMMM MrKcntjddrt|}|S|S)z8Implements the swap-bytes functionality when dissecting r"r9rcontribsr"rh)selfsrEs rR pre_dissectzCAN.pre_dissects5 =  - %%a((DKrKcd|_|SrM)raw_packet_cacherlrms rR post_dissectzCAN.post_dissects $rKcztjddrt|}||zS||zS)zImplements the swap-bytes functionality for Packet build. This is based on a copy of the Packet.self_build default method. The goal is to affect only the CAN layer data and keep under layers (e.g CookedLinux) unchanged r"r9rj)rlrQpayrEs rR post_buildzCAN.post_builds? =  - %%c**D#: SyrKc>tjddrdSd|fS)Nr"r:)rKNrK)rrk)rlps rRextract_paddingzCAN.extract_paddings% =  0 1 96MrKrM)__name__ __module__ __qualname____doc__rr rr r fields_desc classmethodra staticmethodrhrnrrrurxrKrRr"r"@sB  7Aq#/#/#/ 0 0  ,2&& hC@@@ A&& FC-H-HIIIK   [  M M\ M   rK )protoc eZdZdZedddgdedddedd d d ed ddgdedded ddgZ fdZ xZ S)r2z? This class is used for distinction of CAN FD packets. r<rr=r>rBrCrDNrErFrGfd_flagsrYr6bit_rate_switcherror_state_indicatorfd_framerJrKc*t|jSrMrNrPs rRrSzCANFD.rTrKrUcLtt|||}|d}d|cxkrdkr nn || dzz}n)d|cxkrdkr nn || dzz}n|dkrt|}d||z z}|ddt |z|ddz|zS)NrYr6r8rrX)superr2ruNotImplementedErrorr)rlrQrtrErD wire_lengthpad __class__s rRruzCANFD.post_buildsUD!!,,S#66a v          VGq=0KK &    B      VGq=0KK b[[% % Kv-.AaCy3{+++d122h6<>di2oo!"LMM M >oorK)@rXrYr=rrrr r6r5rCr'&%$#"!r/.-,+*)(76543210?>=<;:98c| tj|S#t$rt dwxYw)N/Only 64 bits for all SignalFields are supported)r$ _lookup_tableindex ValueErrorr)rs rR _msb_lookupzSignalField._msb_lookupsP 3,22599 9 3 3 3!#233 3 3s!;c tjt||zdz S#t$rt dwxYw)Nrr)r$rr IndexErrorr)rrs rR _lsb_lookupzSignalField._lsb_lookupsi 3,[-D-DU-K-K-1.245.67 7 3 3 3!#233 3 3s /2A c0|d|dz zzr d|z}||zS|S)Nrrrnumber bit_lengthmasks rR_convert_to_unsignedz SignalField._convert_to_unsigned s2 Q:>* + !OD&=  rKc>d|zdz }|d|dz zzr||zS||zS)Nrrrrs rR_convert_to_signedzSignalField._convert_to_signeds>Z1$ Q:>* + "TE> !}rKc$|jddkS)Nr<rIrls rR_is_little_endianzSignalField._is_little_endiansx{c!!rKc@|jdS)Nr)rIislowerrs rR_is_signed_numberzSignalField._is_signed_number sx|##%%%rKc$|jddkS)Nrrrrs rR_is_float_numberzSignalField._is_float_number$sx|s""rKct|tstd|||}|r|j|jzdz }|j}|}d}nI|j}||j|j}d||z |jz }d}t||dzdz}t||kr|d|t|z zz }| rBtj |jdd ztj|j|d} nR|r)|t%||j} nt't$|} tj ||d zddd} | | |zz} tj|| } | dt|S) N'Only use SignalFields in a SignalPacketrQr6rrI) isinstancer#ri2mrrrrrmaxr[rrcrfrIrdrrrOr!) rlrQrmvalmsb_poslsb_posshiftrI field_lenint_valpkt_valtmp_ss rRaddfieldzSignalField.addfield(s#|,, M!"KLL LhhsC    ! ! # # j49,q0GjGECCjG&&tz49==G$**7333di?EC))Q.2 q66I   IA./ /A  " " %mDHQK#$5$*K#$>$>@@@ACGG  # # % % %//C$)DDGG3nnG-a+orr%:;;A>7e## C))Wc!ffW~rKct|tstdt|tr|\}}|r#|j|jzdz }|j}|j}d}nN|j}||j|j}d||jz |jz }d}t||dzdz}|j ||_ t|j ||_ tj ||dzddd|z } | d|jzdz z} | rBtj |jtj|jdd z| d} n/|r|| |j} |||| fS) Nrrrr8rr6rrr)rr#rtuplerrrrrrwirelenrcrfrrIrdrrm2i) rlrQrm_rrrrIrfld_vals rRgetfieldzSignalField.getfieldKs#|,, M!"KLL L a   DAq  ! ! # # j49,q0GjGJECCjG&&tz49==G$**4:666BEC))Q.2 ; #CK#+y11 -a+orr%:;;A>%GQ$)^q()  " " BmDH$*K c0A7$K$KMMMNPGG  # # % % B--gtyAAG$((3((((rKc|rtddS|rd|jdz z }d|jdz zdz }nd}d|jzdz }t ||jz|jz|j}t ||jz|jz|j}tt||t||S)Nrrr) rrrrroundrrrrminr)rlmin_valmax_vals rRrandvalzSignalField.randvalps  " " &1%% %  ! ! # # )49q=))G$)a-(1,GGG49nq(G$,.Brrs rRrzBEUnsignedSignalField.__init__rrKNrrrrKrRr*r*rrKr*ceZdZ ddZdS)r)rrrr=c Lt|||||||||d dS)Nz>brrs rRrzBESignedSignalField.__init__rrKNrrrrKrRr)r)rrKr)ceZdZ ddZdS)r'rrrr=c Lt||||d||||d dS)Nrzfrr(s rRrzBEFloatSignalField.__init__r)rKNrrrrKrRr(r(r*rKr(ceZdZdZdZdZdS)r#aSpecial implementation of Packet. This class enforces the correct wirelen of a CAN message for signal transmitting in automotive applications. Furthermore, the dissection order of SignalFields in fields_desc is deduced by the start index of a field. c`td|jDstd|S)Nc3K|]H}t|tp.t|tot|jtVIdSrM)rr$r fld).0rs rR z+SignalPacket.pre_dissect..si..a--4q"2333quk22......rKz'Use only SignalFields in a SignalPacket)allr}rrqs rRrnzSignalPacket.pre_dissectsL..!,..... M""KLL LrKcp|j|jdkrtdd|_||jdS)aSignalFields can be dissected on packets with unordered fields. The order of SignalFields is defined from the start parameter. After a build, the consumed bytes of the length of all SignalFields have to be removed from the SignalPacket. Nr6r)rrrprqs rRrrzSignalPacket.post_dissectsH < # q(8(8!#233 3 $rKN)ryrzr{r|rnrrrrKrRr#r#s<      rKr#c eZdZdZedddgdedddedd d ed dd gdeddgZe ddZ dZ d S)r-a"Special implementation of a CAN Packet to allow dynamic binding. This class can be provided to CANSockets as basecls. Example: >>> class floatSignals(SignalPacket): >>> fields_desc = [ >>> LEFloatSignalField("floatSignal2", default=0, start=32), >>> BEFloatSignalField("floatSignal1", default=0, start=7)] >>> >>> bind_layers(SignalHeader, floatSignals, identifier=0x321) >>> >>> dbc_sock = CANSocket("can0", basecls=SignalHeader) All CAN messages received from this dbc_sock CANSocket will be interpreted as SignalHeader. Through Scapys ``bind_layers`` mechanism, all CAN messages with CAN identifier 0x321 will interpret the payload bytes of these CAN messages as floatSignals packet. r<rr=r>rBrCrDNrFrrr6rrJctSrM)r-)r\r]r^r_s rRrazSignalHeader.dispatch_hooks rKc |dfSrMrrqs rRrxzSignalHeader.extract_paddings $wrKrM) ryrzr{r|rr rrr}r~rarxrrKrRr-r-s(  7Aq#/#/#/ 0 0  ,2&&4S))) :q!&2&2&2 3 3  :q!! K[rKr-rct||5}||cdddS#1swxYwYdS)ap Read a candump log file and return a packet list. :param filename: Filename of the file to read from. Also gzip files are accepted. :param count: Read only packets. Specify -1 to read all packets. :param interface: Return only packets from a specified interface :return: A PacketList object containing the read files )countN)r,read_all)filenamer9 interfacefdescs rRr+r+s x + ++u~~E~**++++++++++++++++++s 488ceZdZdZdZddZdZedZdZ e Z e fdZ d Z dd Ze fd Zd ZedZdZdZdZeddZdS)r,aA stateful candump reader. Each packet is returned as a CAN packet. Creates a CandumpReader object :param filename: filename of a candump logfile, compressed or uncompressed, or a already opened file object. :param interface: Name of a interface, if candump contains messages of multiple interfaces and only one messages from a specific interface are wanted. TNc||\|_|_d|_|(t |t r |g|_dS||_dSdSrM)openr;rifilterrstr)rlr;r<s rRrzCandumpReader.__init__ s[ $ ( 3 3 tv  )S)) ) ){ ( ! rKc|SrMrrs rR__iter__zCandumpReader.__iter__* rKc" t|tre tj|d}|d|dn #t $rt|d}YnwxYw||fSt|dd}||fS)aOpen function to handle three types of input data. If filename of a regular candump log file is provided, this function opens the file and returns the file object. If filename of a gzip compressed candump log file is provided, the required gzip open function is used to obtain the necessary file object, which gets returned. If a fileobject or ByteIO is provided, the filename is gathered for internal use. No further steps are performed on this object. :param filename: Can be a string, specifying a candump log file or a gzip compressed candump log file. Also already opened file objects are allowed. :return: A opened file object for further use. rbrrrzNo name)rrBgzipr@readseekIOErrorgetattr)r;r=rs rRr@zCandumpReader.open.s$ , h $ $ " - (D11 1  1  - - -Xt,, -U? "8VY77D> !s?AA54A5ch d}||}|n#t$rtwxYw|S)zImplements the iterator protocol on a set of packets :return: Next readable CAN Packet from the specified file N) read_packetEOFError StopIteration)rlrQs rRnextzCandumpReader.nextNsR  C+&&((+      s/cV|j}|}t|dkrt|dt dk}d}|ry|\}}}d|vr+|d\}} | d}| dd} n|d\}} d} t|dd} n2|d \} } | \}}} d} |j| d |jvrdS| d d } | } t| d kr/|-tt|dt| } n-tt|d|t| } | t| dd| _nt| j| _t|dkrd| _| | | _| S)aFRead a packet from the specified file. This function will raise EOFError when no more packets are available. :param size: Not used. Just here to follow the function signature for SuperSocket emulation. :return: A single packet read from the file or None if filters apply r5r(Ns##r#r]ASCII rKr6)rBrE)rBrrEr=rY)rreadlinelstripr[rOordsplitrrAdecodereplacestripr"rOrr2rDrEr<time)rlrlineis_log_file_formatrt_bintfridnrElethrQs rRrNzCandumpReader.read_packet^sv  {{}} t99r>>N!!WD 1  ::<>h.S"IdOODDDCC3sB<<(&t__...C >RVCJJSXCJ s88a<<CI =CH rKc&|D] }||dS)zCall the specified callback routine for each packet read This is just a convenience function for the main loop that allows for easy launching of packet processing in a thread. Nr)rlcallbackrws rRdispatchzCandumpReader.dispatchs,  A HQKKKK  rKrc g}|dkrI |}|n#t$rYn$wxYw|dz}|||dkIt|tj|jS)aRead a specific number or all packets from a candump file. :param count: Specify a specific number of packets to be read. All packets can be read by count=-1. :return: A PacketList object containing read CAN messages rNr)r)rNrOappendrospathbasenamer;)rlr9resrws rRr:zCandumpReader.read_allsqjj $$&&9     QJE JJqMMMqjj#BG$4$4T]$C$CDDDDs " //cR ||S#t$rYdSwxYw)Emulation of SuperSocket)rN)rNrO)rlrs rRrecvzCandumpReader.recvs@ ###.. .   44 s  &&c4|jSrr)rfilenors rRrvzCandumpReader.filenosv}}rKc|jjSrM)rclosedrs rRrxzCandumpReader.closedsv}rKc4|jSru)rclosers rRrzzCandumpReader.closesv||~~rKc|SrMrrs rR __enter__zCandumpReader.__enter__rErKc.|dSrM)rz)rlexc_type exc_valuetracbacks rR__exit__zCandumpReader.__exit__s rKcd|DS)rrcJg|] }t|t|j|!Sr)rr,rx)r1rms rR z(CandumpReader.select..s?ajM&B&BHrKr)socketsremains rRselectzCandumpReader.selects"7 rKrM)r)ryrzr{r|nonblocking_socketrrDrr@rQ__next__r.rNrjr:rsrvpropertyrxrzr|rrrrKrRr,r,sI  ))))""\">   H&8888t   EEEE(  X \rKr,)rN)Fr|rmrHrc scapy.configr scapy.compatrr scapy.datar scapy.fieldsrrr r r r r rrscapy.volatilerr scapy.packetrrscapy.layers.l2r scapy.errorr scapy.plistrscapy.supersocketr scapy.utilsrtypingrrrrrrrr r!__all__r/r.r0r1r3r4rkr"l2typesregisterr2r$r&r%r*r)r'r(r#r-r+r,rrKrRrs  ''''''''((((((UUUUUUUUUUUUUUUUUUUUUU22222222,,,,,,,,''''''''''''""""""))))))######                         #     ',*.00 ehhhhh&hhhV '--- KB''''#=#=#=#=#=C#=#=#=L Kb))))k)k)k)k)k),k)k)k)\CCCCCKCCCCCCCC+CCCCCCCCKCCCCCCCC+CCCCCCCCCCCCCCCCCCC     6   B*****3***Z + + + +IIIIIIIIIIrK