新增bootloader界面以及函数

tao_z

2022-05-29 ada7b40da88974c6f4596c7c9d1317eb19095a0e

 widgets/ShifterTool.py

@@ -1,6 +1,9 @@

from ast import Pass
from ast import Not, Pass
from concurrent.futures import thread
from logging import exception
import threading
from typing import List
from can import BusABC, Message
from udsoncan.client import Client
from udsoncan.exceptions import TimeoutException
@@ -11,13 +14,14 @@
from isotp import CanMessage
import queue
from USBCAN import *
from Shifter import ShifterClass
from Shifter import AsciiCodec, ShifterClass
from mainwindows import Ui_MainWindow
from PySide2 import QtWidgets, QtCore, QtGui
import struct
import time
import datetime
from multiprocessing import Array, Pool, Process, Queue, Value
from ShifterDefine import *
from multiprocessing import Array, Pool, Process, Queue, Value, Pipe

MAX_RCV_NUM = 20

@@ -46,6 +50,8 @@


g_signal = UISignals()
uds_conn, isotp_conn = Pipe()
user_conn, drive_conn = Pipe()


class HardwreDevice():
@@ -104,7 +110,6 @@
            BaseConnection.__init__(self, name)
            self.UDStoIsoTPQueue = queue.Queue()  # USD --> isotp
            self.IsoTPtoUDSQueue = queue.Queue()  # ISOTP --> UDS
            self.CANtoIsoTPQueue = queue.Queue()  # CAN --> isotp
            # self.IsoTPtoCANQueue = queue.Queue()  # ISOTP--> CAN
            self._read_thread = None
            self.exit_requested = False
@@ -149,7 +154,8 @@
                    payload = payload[0:self.mtu]

            # isotp.protocol.TransportLayer uses byte array. udsoncan is strict on bytes format
            self.UDStoIsoTPQueue.put(bytearray(payload))
            self.isotp_layer.send(bytearray(payload))
            # self.UDStoIsoTPQueue.put(bytearray(payload))

        def specific_wait_frame(self, timeout=2):
            if not self.opened:
@@ -157,11 +163,12 @@

            timedout = False
            frame = None
            # frame = uds_conn.recv()
            try:
                frame = self.IsoTPtoUDSQueue.get(block=True, timeout=timeout)
                # frame = self.CANtoIsoTPQueue.get(block=True, timeout=timeout)
                frame = self.IsoTPtoUDSQueue.get(block=True, timeout=5)
            except queue.Empty:
                timedout = True
                # frame = self.CANtoIsoTPQueue.get(block=True, timeout=timeout)

            if timedout:
                raise TimeoutException(
@@ -187,17 +194,18 @@
        def rxthread_task(self):
            while not self.exit_requested:
                try:
                    # self.logger.debug("UDStoIsoTPQueue queue size is now %d" % (
                    #     self.UDStoIsoTPQueue.qsize()))
                    while not self.UDStoIsoTPQueue.empty():
                        self.isotp_layer.send(self.UDStoIsoTPQueue.get())
                    # # self.logger.debug("UDStoIsoTPQueue queue size is now %d" % (
                    # #     self.UDStoIsoTPQueue.qsize()))
                    # while not self.UDStoIsoTPQueue.empty():
                    #     self.isotp_layer.send(self.UDStoIsoTPQueue.get())

                    self.isotp_layer.process()

                    while self.isotp_layer.available():
                        # isotp_conn.send(self.isotp_layer.recv())
                        self.IsoTPtoUDSQueue.put(self.isotp_layer.recv())
                    # self.logger.debug("IsoTPtoUDSQueue queue size is now %d" % (
                    #     self.IsoTPtoUDSQueue.qsize()))
                        self.logger.debug("IsoTPtoUDSQueue queue size is now %d" % (
                            self.IsoTPtoUDSQueue.qsize()))

                    # time.sleep(self.isotp_layer.sleep_time())
                    time.sleep(0.001)
@@ -216,7 +224,7 @@
        # self.protocol("WM_DELETE_WINDOW", self.Form_OnClosing)
        self.msgQueue = Queue()  # can layer receive queue
        self.sendQueue = Queue()  # can layer send queue

        self.CANtoIsoTPQueue = Queue()  # CAN --> isotp
        self.shifter = ShifterClass()
        self.devicedescription = HardwreDevice()
        self.windows = QtWidgets.QMainWindow()
@@ -229,6 +237,9 @@
        self.DeviceInit()
        self.WidgetsInit()
        self.ChnInfoUpdate(self._isOpen)
        self.drv_data: bytes = [0x1c, 0x01, 0x06, 0x80,
                                0x1f, 0x01, 0x06, 0x80, 0xfb, 0x0a]
        self.app_data: bytes = None

    def DeviceInit(self):
        self._usbcan = None
@@ -277,7 +288,7 @@
        self.udsclient = Client(self.conn, request_timeout=2)
        self.udsclient.config['security_algo'] = self.SecAlgo
        self.udsclient.config['security_algo_params'] = [
            0x4FE87269, 0x6BC361D8, 0x9B127D51, 0x5BA41903]
            0x11223344, 0x20AA097B, 0x11223344, 0x70237577]
        self.udsclient.config['data_identifiers'] = self.shifter.did_config

        self.udsclient.config['server_address_format'] = 32
@@ -303,24 +314,26 @@
        temp_key = (seed[0] << 24) | (
            seed[1] << 16) | (seed[2] << 8) | (seed[3])
        if level == 0x01:
            output_key_temp = ((((temp_key >> 4) ^ temp_key)
                                << 3) ^ temp_key) & 0xFFFFFFFF
        elif level == 0x11:
            _temp_y = ((temp_key << 24) & 0xFF000000) + ((temp_key << 8) &
                                                         0xFF0000) + ((temp_key >> 8) & 0xFF00) + ((temp_key >> 24) & 0xFF)
            _temp_z = 0
            _temp_sum = 0
            for i in range(64):
                _temp_y += ((((_temp_z << 4) ^ (_temp_z >> 5)) + _temp_z)
                            ^ (_temp_sum + params[_temp_sum & 0x3])) & 0xFFFFFFFF
                _temp_y = _temp_y & 0xFFFFFFFF
                _temp_sum += 0x8F750A1D
                _temp_sum = _temp_sum & 0xFFFFFFFF
                _temp_z += ((((_temp_y << 4) ^ (_temp_y >> 5)) + _temp_y) ^
                            (_temp_sum + params[(_temp_sum >> 11) & 0x3])) & 0xFFFFFFFF
                _temp_z = _temp_z & 0xFFFFFFFF
            output_key_temp = (((_temp_z << 24) & 0xFF000000) | ((_temp_z << 8) & 0xFF0000) | (
                (_temp_z >> 8) & 0xFF00) | ((_temp_z >> 24) & 0xFF))
            output_key_temp = 0x20AA097B
            # output_key_temp = ((((temp_key >> 4) ^ temp_key)
            #                     << 3) ^ temp_key) & 0xFFFFFFFF
        elif level == 0x09:
            output_key_temp = 0x70237577
            # _temp_y = ((temp_key << 24) & 0xFF000000) + ((temp_key << 8) &
            #                                              0xFF0000) + ((temp_key >> 8) & 0xFF00) + ((temp_key >> 24) & 0xFF)
            # _temp_z = 0
            # _temp_sum = 0
            # for i in range(64):
            #     _temp_y += ((((_temp_z << 4) ^ (_temp_z >> 5)) + _temp_z)
            #                 ^ (_temp_sum + params[_temp_sum & 0x3])) & 0xFFFFFFFF
            #     _temp_y = _temp_y & 0xFFFFFFFF
            #     _temp_sum += 0x8F750A1D
            #     _temp_sum = _temp_sum & 0xFFFFFFFF
            #     _temp_z += ((((_temp_y << 4) ^ (_temp_y >> 5)) + _temp_y) ^
            #                 (_temp_sum + params[(_temp_sum >> 11) & 0x3])) & 0xFFFFFFFF
            #     _temp_z = _temp_z & 0xFFFFFFFF
            # output_key_temp = (((_temp_z << 24) & 0xFF000000) | ((_temp_z << 8) & 0xFF0000) | (
            #     (_temp_z >> 8) & 0xFF00) | ((_temp_z >> 24) & 0xFF))
        else:
            output_key_temp = temp_key

@@ -347,16 +360,8 @@
        '''receive msg from can layer
        use queue read from can layer listen'''
        can_msgs = None
        if not self.conn.CANtoIsoTPQueue.empty():
            can_msgs = self.conn.CANtoIsoTPQueue.get()
        # can_num = self.conn.CANtoIsoTPQueue.size()
        # # can_num = self._usbcan.GetReceiveNum(self.devicedescription.channel)
        # if can_num and not self._terminated:
        #     read_cnt = MAX_RCV_NUM if can_num >= MAX_RCV_NUM else can_num
        #     for i in range(read_cnt):
        #         can_msgs[i] = self.conn.CANtoIsoTPQueue.get()
        # else:
        #     can_msgs = None
        if not self.CANtoIsoTPQueue.empty():
            can_msgs = self.CANtoIsoTPQueue.get()
        return can_msgs

    def isotp_send(self, isotp_msg):
@@ -368,9 +373,7 @@
        msg.channel = 0
        msg.data = isotp_msg.data  # bytearray
        msg.is_extended_id = False
        # for i in range(isotp_msg.dlc):
        #     msg.data[i] = isotp_msg.data[i]
        self.sendQueue.put(msg)
        self._usbcan.send(msg)

    def WidgetsInit(self):
        # self.UI.setupUi(self)
@@ -402,8 +405,32 @@

        self.UI.comboBox_9.addItems(['0x00使能收发', '0x01能收禁发', '0x03禁止收发'])
        self.UI.comboBox_9.activated.connect(self.communicationControl_req)
        self.UI.comboBox_6.addItems(list(DID_dic.keys()))
        self.DID_display()
        self.UI.comboBox_6.activated.connect(self.DID_display)

        self.UI.pushButton_31.clicked.connect(self.SecurityUnlockLevel_1)
        self.UI.pushButton_32.clicked.connect(self.SecurityUnlockLevel_3)

        self.UI.pushButton_12.clicked.connect(self.ReadSupplyID)
        self.UI.pushButton_4.clicked.connect(self.ReadVIN)
        self.UI.pushButton_6.clicked.connect(self.ReadMfgDate)
        self.UI.pushButton_14.clicked.connect(self.ReadDataByID)
        self.UI.pushButton_9.clicked.connect(self.StartCalibraiton)
        self.UI.pushButton_11.clicked.connect(self.Calibraiton_Z)
        self.UI.pushButton_13.clicked.connect(self.Calibraiton_M)
        self.UI.pushButton_18.clicked.connect(self.Calibraiton_MP)
        self.UI.pushButton_22.clicked.connect(self.Calibraiton_MN)
        self.UI.pushButton_24.clicked.connect(self.Calibraiton_X2)
        self.UI.pushButton_26.clicked.connect(self.Calibraiton_X1)
        self.UI.pushButton_27.clicked.connect(self.Calibraiton_Y1)
        self.UI.pushButton_28.clicked.connect(self.Calibraiton_Y2)
        self.UI.pushButton_29.clicked.connect(self.Calibraiton_GAP)

        self.UI.radioButton.toggled.connect(self.TestPresentEvent)

        self.UI.pushButton_48.clicked.connect(self.start_programming)
        seff.UI.pushButton_46.clicked.connect(self.loadAppfile)

    def _formatMsgData(self, index, item, received):
        '''msg data to list
@@ -447,6 +474,8 @@
        self.can_thread.start()

    def can_thread(self):
        while True:
            time.sleep(0.01)
        while self._isOpen.value == 1:
            time.sleep(0.01)
            if self.needdisconnect.value == 1:
@@ -455,25 +484,38 @@
                    self.needdisconnect.value = 0
                    self._isOpen.value = 0
            else:
                msg, num = self._usbcan.Receive(len=10)
                    msg, num = self._usbcan.Receive(len=1)
                if not num == 0:
                    for i in range(num):
                        if msg[i].arbitration_id == self.shifter.canid.phy_txId:
                            self.conn.CANtoIsoTPQueue.put(
                                # conn.send(msg[i])  # pipe connection send
                                self.CANtoIsoTPQueue.put(
                                msg[i])  # send msg to isotp
                        self.msgQueue.put(msg[i])
                        # send signal to update screen
                    # logger.info('Rx: ID=0x{:0<3x} '.format(msg[i].arbitration_id) + ' '.join(['0x' +
                    #                                                                           '{:0<2x}'.format(a).upper() for a in list(msg[i].data)]))
                    g_signal.sig_MsgReceived.emit(num)
                msgToSendCnt = self.sendQueue.qsize()
                if msgToSendCnt > 0:
                    msg = Message()
                    for i in range(msgToSendCnt):
                                print('收到77A')

                        msg = self.sendQueue.get()
                        # logger.info('Tx: ID=0x{:0<3x} '.format(
                        #     msg.arbitration_id)+'DLC={} '.format(msg.dlc)+'externd flag ={} '.format(msg.is_extended_id)+'remote frame:{} '.format(msg.is_remote_frame))
                            self.msgQueue.put(msg[i])
                            # logger.info('time:'.format(msg[i].timestamp)+'Rx: ID=0x{:0<3x} '.format(msg[i].arbitration_id) + ' '.join(['0x' +
                            #    '{:0<2x}'.format(a).upper() for a in list(msg[i].data)]))

                            # send signal to update screen

                        g_signal.sig_MsgReceived.emit(num)
                # msgToSendCnt = self.sendQueue.qsize()
                # if msgToSendCnt > 0:
                #     msg = Message()
                #     for i in range(msgToSendCnt):

                #         msg = self.sendQueue.get()
                #         # logger.info('Tx: ID=0x{:0<3x} '.format(
                #         #     msg.arbitration_id)+'DLC={} '.format(msg.dlc)+'externd flag ={} '.format(msg.is_extended_id)+'remote frame:{} '.format(msg.is_remote_frame))
                #         self._usbcan.send(msg)
    def send_dump(self):
        msg = Message()
        msg.arbitration_id = self.shifter.canid.phy_rxId
        msg.dlc = 8
        msg.channel = 0
        msg.data = [0x02, 0x3e, 0x80, 0, 0, 0, 0, 0]
        msg.is_extended_id = False
                        self._usbcan.send(msg)

    def open_close(self):
@@ -494,6 +536,8 @@
                self._deviceOpenUpdate()
                self.can_thread_start()
                self.conn.open()  # start iso tp thread
                self.send_dump()
                self.send_dump()

            else:
                self._usbcan.InitAndStart()
@@ -502,6 +546,7 @@
        else:
            self.needdisconnect.value = 1
            self._deviceOpenUpdate()
            self.TestPresentTimer.stop()

    def update_HardwareDevice(self):

@@ -529,8 +574,16 @@
            self._updateRootList()
            time.sleep(0.1)

    def disp_string(self, out):
        self.UI.statusbar.showMessage(str(out))
    def disp_string(self, out_s):
        dt = datetime.now()
        nowtime_str = dt.strftime('%I:%M:%S')  # time
        self.textEdit_2.insertPlainText(nowtime_str + ': ')
        cursor = self.textEdit_2.textCursor()
        cursor.movePosition(QtGui.QTextCursor.End)
        self.textEdit_2.setTextCursor(cursor)
        self.textEdit_2.insertPlainText(str(out_s+"\t\n"))

        # self.statusbar.showMessage(str(out))

    def _updateRootList(self):
        _dataSize = self.msgQueue.qsize()
@@ -566,26 +619,82 @@

    def TestPresentEvent(self):
        if self.UI.radioButton.isChecked():
            self.TestPresentTimer.start(4000)
            self.TestPresentTimer.start(3000)
        else:
            self.TestPresentTimer.stop()

    def creat_testpresentReq(self):
        self.udsclient.tester_present()
        self.send_dump()

    def sessioncontrol_req(self):
        sesson = self.UI.comboBox.currentIndex() + 1
        self.udsclient.change_session(sesson)
        t = threading.Thread(
            target=self.udsclient.change_session, args=(sesson,))
        t.start()
        t.join()
        # self.udsclient.change_session(sesson)

    # self.UI.comboBox_8.addItems(['0x01硬件复位', '0x03软件复位'])
    def MCUReset_req(self):
        req = 0x03 if self.UI.comboBox_8.currentData() == '0x01硬件复位' else 0x01
        self.udsclient.ecu_reset(req)

        # self.UI.comboBox_9.addItems(['0x00使能收发', '0x01能收禁发', '0x03禁止收发'])
    def Security_req(self):
        self.udsclient.unlock_security_access(1)
        # Security_dic[self.UI.comboBox_8.currentData()]

    def SecurityUnlockLevel_1(self):
        data = self.udsclient.unlock_security_access(1)
        if data.positive:
            self.UI.pushButton_31.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def SecurityUnlockLevel_3(self):
        data = self.udsclient.unlock_security_access(9)
        if data.positive:
            self.UI.pushButton_32.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def ReadSupplyID(self):
        data = self.ReadByDID(0xF18A)
        if data is not None:
            self.UI.lineEdit_8.setText(str(data[0xF18A]))

    def ReadVIN(self):
        data = self.ReadByDID(0xF190)
        if data is not None:
            self.UI.lineEdit_3.setText(str(data[0xF190]))

    def ReadMfgDate(self):
        data = self.ReadByDID(0x210B)
        if data is not None:
            self.UI.lineEdit_5.setText(str(data[0x210B]))

    def ReadByDID(self, didlist: List):
        values = {}
        try:
            response = self.udsclient.read_data_by_identifier(didlist)
            if response.positive:
                values = response.service_data.values
            return values
        except Exception as e:
            g_signal.sig_Disp_str.emit(e)

    def DID_display(self):
        # print(self.UI.comboBox_6.currentText())
        self.UI.lineEdit.setText("0x{:0<4x}".
                                 format((DID_dic[self.UI.comboBox_6.currentText()])))

    def ReadDataByID(self):
        tempdid = DID_dic[self.UI.comboBox_6.currentText()]
        self.UI.lineEdit_2.clear()
        data = self.ReadByDID(tempdid)
        if data is not None and len(str(data[tempdid])):
            self.UI.lineEdit_2.setText(str(data[tempdid])+' ')

    def communicationControl_req(self):
        req = 0x00
        select = self.UI.comboBox_9.currentData()
        select = self.UI.comboBox_9.currentText()
        if select == '0x00使能收发':
            req = 0
        elif select == '0x01能收禁发':
@@ -594,3 +703,257 @@
            req = 3
        self.udsclient.communication_control(
            control_type=0, communication_type=req)

    def StartCalibraiton(self):
        startcmd = bytearray([0x0, 0x0, 0x0, 0x0])
        if self.RequestRoutControl(0xFFAA, bytes(startcmd)):
            self.UI.pushButton_9.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def Calibraiton_Z(self):
        calcmd = bytearray([0x1, 0x0, 0x0, 0x0])
        if self.RequestRoutControl(0xFFAA, bytes(calcmd)):
            self.UI.pushButton_11.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def Calibraiton_M(self):
        calcmd = bytearray([0x2, 0x0, 0x0, 0x0])
        if self.RequestRoutControl(0xFFAA, bytes(calcmd)):
            self.UI.pushButton_13.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def Calibraiton_MP(self):
        calcmd = bytearray([0x3, 0x0, 0x0, 0x0])
        if self.RequestRoutControl(0xFFAA, bytes(calcmd)):
            self.UI.pushButton_18.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def Calibraiton_MN(self):
        calcmd = bytearray([0x4, 0x0, 0x0, 0x0])
        if self.RequestRoutControl(0xFFAA, bytes(calcmd)):
            self.UI.pushButton_22.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def Calibraiton_X2(self):
        calcmd = bytearray([0x5, 0x0, 0x0, 0x0])
        if self.RequestRoutControl(0xFFAA, bytes(calcmd)):
            self.UI.pushButton_24.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def Calibraiton_X1(self):
        calcmd = bytearray([0x6, 0x0, 0x0, 0x0])
        if self.RequestRoutControl(0xFFAA, bytes(calcmd)):
            self.UI.pushButton_26.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def Calibraiton_Y1(self):
        calcmd = bytearray([0x7, 0x0, 0x0, 0x0])
        if self.RequestRoutControl(0xFFAA, bytes(calcmd)):
            self.UI.pushButton_27.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def Calibraiton_Y2(self):
        calcmd = bytearray([0x8, 0x0, 0x0, 0x0])
        if self.RequestRoutControl(0xFFAA, bytes(calcmd)):
            self.UI.pushButton_28.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def Calibraiton_GAP(self):
        calcmd = bytearray([0x9, 0x0, 0x0, 0x0])
        if self.RequestRoutControl(0xFFAA, bytes(calcmd)):
            self.UI.pushButton_29.setStyleSheet(
                "background-color:rgb(255, 85, 127)")

    def RequestRoutControl(self, routine_id, data):
        resp_1 = self.udsclient.start_routine(routine_id=routine_id, data=data)
        return resp_1.positive

    def pre_programming(self):

        self.disp_string('# 预编程步骤')

        # 进入extended session
        self.disp_string('>>> 进入扩展模式')
        response = self.udsclient.change_session(3)
        if response.positive:
            # 检查编程条件
            self.disp_string('>>> 检查编程条件')
            response = self.udsclient.start_routine(0xff02)
        if response.positive:
            # 关闭DTC的存储
            self.disp_string('>>> 关闭DTC的存储')
            response = self.udsclient.control_dtc_setting(2)
        # print(response)
        if response.positive:
            # 关闭与诊断无关的报文
            self.disp_string('>>> 关闭与诊断无关的报文')
            response = self.udsclient.communication_control(0x03, 0x01)
        else:
            self.disp_string('>>> 预编程失败')

        return response.positive
        # print(response)

    def main_programming(self):

        self.disp_string('# 主编程步骤')

        # 进入programming session
        self.disp_string('>>> 进入编程模式')
        response = self.udsclient.change_session(2)
        # print(response)
        if response.positive:
            # 安全访问
            self.disp_string('>>> 安全访问')
            response = self.udsclient.unlock_security_access(9)
        # print(response)

        # print(response)
        if response.positive:
            # 发送driver文件
            self.disp_string('>>> 发送driver文件')
            drv_file = self.drv_data
            address = drv_file[16] << 24 | drv_file[17] << 16 | drv_file[
                18] << 8 | drv_file[19] << 0
            memorysize = drv_file[20] << 24 | drv_file[21] << 16 | drv_file[
                22] << 8 | drv_file[23] << 0
            memory_location = MemoryLocation(address, memorysize, 32, 32)
            response = self.udsclient.request_download(memory_location)
        # print(response)

            max_length = response.service_data.max_length

        # 有效数据长度, 去除sid和sequence两个字节
            payload_length = max_length - 2

            count = (len(drv_file) + payload_length - 1) // payload_length

            base = self.get_progressbar_pos()
            for i in range(count):
                start = i * payload_length
                end = start + payload_length
                response = self.udsclient.transfer_data((i + 1) % 256,
                                                        drv_file[start:end])
                self.set_progressbar_pos(base + end)
            # print(response)
        if response.positive:
            response = self.udsclient.request_transfer_exit()
        # print(response)
        if response.positive:
            # driver文件完整性检验
            self.disp_string('>>> driver文件完整性检验')
            response = self.udsclient.start_routine(0xf001, drv_file[0:4])
        # print(response)
        if response.positive:
            app_file = self.app_data
            address = app_file[16] << 24 | app_file[17] << 16 | app_file[
                18] << 8 | app_file[19] << 0
            memorysize = app_file[20] << 24 | app_file[21] << 16 | app_file[
                22] << 8 | app_file[23] << 0
            memory_location = MemoryLocation(address, memorysize, 32, 32)

            # 删除app存储空间
            self.disp_string('>>> 删除app存储空间')
            data = b''
            data += memory_location.alfid.get_byte()
            data += memory_location.get_address_bytes()
            data += memory_location.get_memorysize_bytes()
            response = self.udsclient.start_routine(0xff00, data)
        # print(response)
        if response.positive:
            # 发送app文件
            self.disp_string('>>> 发送app文件')
            response = self.udsclient.request_download(memory_location)
        # print(response)

            max_length = response.service_data.max_length

        # 有效数据长度, 去除sid和sequence两个字节
            payload_length = max_length - 2

            count = (len(app_file) + payload_length - 1) // payload_length

            base = self.get_progressbar_pos()
            for i in range(count):
                start = i * payload_length
                end = start + payload_length
                response = self.udsclient.transfer_data((i + 1) % 256,
                                                        app_file[start:end])
                self.set_progressbar_pos(base + end)
                # print(response)
        if response.positive:
            response = self.udsclient.request_transfer_exit()
            # print(response)
        if response.positive:
            # app文件完整性检验
            self.disp_string('>>> app文件完整性检验')
            response = self.udsclient.start_routine(0xf001, app_file[0:4])
            # print(response)
        return response.positive

    def post_programming(self):

        self.disp_string('# 后编程步骤')

        # 回到default session
        self.disp_string('>>> 回到默认模式')

        self.udsclient.suppress_positive_response.enabled = True
        response = self.udsclient.change_session(1)
        return response.positive

    def start_programming(self):

        self.set_progressbar_pos(0)

        t1 = time.time()

        try:

            self.pre_programming()
            self.main_programming()
            self.post_programming()
        except Exception as e:

            self.disp_string('%s' % e, '#ff0000')

        t2 = time.time()

        self.disp_string('finished in %.2f sec' % (t2 - t1))
        self.in_programming = False
        self.UI.pushButton_48.setDisabled(True)

    def set_progressbar_pos(self, pos):

        drv_data_len = len(self.drv_data) if self.drv_data is not None else 0
        app_data_len = len(self.app_data) if self.app_data is not None else 0
        total_len = drv_data_len + app_data_len
        if pos > total_len:
            pos = total_len
        elif pos < 0:
            pos = 0

        self.UI.progressBar.setValue(pos)

    def get_progressbar_pos(self):
        return self.UI.progressBar.value()

    def loadAppfile(self):
        if self.in_programming:
            self.disp_string('## 正在编程中')
            return

        fileName, _ = QtWidgets.QFileDialog.getOpenFileName(
            self, 'comboBox_4', '.', 'All Files (*);;Bin Files (*.bin);;Hex Files (*.hex)')

        if fileName != '':
            self.UI.comboBox_4.addItem(fileName)
            self.UI.comboBox_4.setCurrentText(fileName)
            with open(fileName, 'rb') as fd:
                self.app_data = fd.read()
                drv_data_len = len(
                    self.drv_data) if self.drv_data is not None else 0
                app_data_len = len(
                    self.app_data) if self.app_data is not None else 0
                total_len = drv_data_len + app_data_len
                self.UI.progressBar.setRange(0, total_len)