Add callback when receive nrc78

doc/source/udsoncan/client.rst

@@ -248,6 +248,17 @@ See :ref:`an example <example_security_algo>`
 
    Default value is True
 
+
+.. _config_nrc78_callback:
+
+.. attribute:: nrc78_callback
+   :annotation: (callable)
+
+   A callback to be called each time a server returns a negative response with code NRC 0x78 (:attr:`RequestCorrectlyReceived_ResponsePending<udsoncan.ResponseCode.ResponseCode.RequestCorrectlyReceived_ResponsePending>`).
+   When the response is received, the client will call the callback, then go back into a wait state for the next response.
+
+   Can be useful to send a :ref:`TesterPresent<TesterPresent>` request/response before blocking again. 
+
 -------------
 
 Suppress positive response

doc/source/udsoncan/request_response.rst

@@ -52,7 +52,7 @@ Response
 Response Codes
 ##############
 
-.. autoclass:: udsoncan::Response.Code
+.. autoclass:: udsoncan.ResponseCode.ResponseCode
     :members: 
     :undoc-members:
     :member-order: bysource

test/client/test_client.py

@@ -293,3 +293,21 @@ def _test_suppress_positive_response_wait_nrc_case5(self):
         with self.udsclient.suppress_positive_response(wait_nrc=True):
             resp = self.udsclient.tester_present()
             self.assertIsNotNone(resp)
+
+    def test_nrc78_callback(self):
+        request = self.conn.touserqueue.get(timeout=0.2)
+        self.conn.fromuserqueue.put(b"\x7F\x3E\x78")
+        self.conn.fromuserqueue.put(b"\x7E\x00")
+
+    def _test_nrc78_callback(self):
+        class Container:
+            def __init__(self):
+                self.called = False
+        container = Container()
+        def callback():
+            container.called = True
+        self.udsclient.config['nrc78_callback'] = callback
+        req = Request(service=services.TesterPresent, subfunction=0)
+        response = self.udsclient.send_request(req)
+        self.assertTrue(response.positive)
+

udsoncan/client.py

@@ -2246,6 +2246,9 @@ def send_request(self, request: Request, timeout: int = -1) -> Optional[Response
                         response.code_name, response.code))
 
                 if response.code == Response.Code.RequestCorrectlyReceived_ResponsePending:
+                    if self.config['nrc78_callback'] is not None:
+                        self.config['nrc78_callback']()
+
                     done_receiving = False
                     if not using_p2_star:
                         # Received a 0x78 NRC: timeout is now set to P2*

udsoncan/configs.py

@@ -20,5 +20,6 @@
     'p2_star_timeout': 5,
     'standard_version': latest_standard,  # 2006, 2013, 2020
     'use_server_timing': True,
-    'extended_data_size': None
+    'extended_data_size': None,
+    'nrc78_callback':None
 })

udsoncan/typing.py

@@ -10,6 +10,7 @@ def __init_subclass__(cls, *args, **kwargs):
     from typing import TypedDict
 
 SecurityAlgoType = Callable[[int, bytes, Any], bytes]
+Nrc78CallbackType = Callable[[], None]
 
 
 CodecDefinition = Union[str, DidCodec, Type[DidCodec]]
@@ -45,3 +46,4 @@ class ClientConfig(TypedDict, total=False):
     use_server_timing: bool
     logger_name: str
     extended_data_size: Optional[Union[int, Dict[int, int]]]
+    nrc78_callback:Optional[Nrc78CallbackType]