pyxcp 0.22.23__cp311-cp311-manylinux_2_28_x86_64.manylinux_2_27_x86_64.whl

pyxcp/master/master.py

@@ -0,0 +1,2030 @@
+#!/usr/bin/env python
+"""Lowlevel API reflecting available XCP services.
+
+.. note:: For technical reasons the API is split into two parts;
+          common methods (this file) and a Python version specific part.
+
+.. [1] XCP Specification, Part 2 - Protocol Layer Specification
+"""
+import functools
+import logging
+import struct
+import traceback
+import warnings
+from typing import Any, Callable, Collection, Dict, List, Optional, Tuple
+
+from pyxcp import checksum, types
+from pyxcp.constants import (
+    makeBytePacker,
+    makeByteUnpacker,
+    makeDLongPacker,
+    makeDLongUnpacker,
+    makeDWordPacker,
+    makeDWordUnpacker,
+    makeWordPacker,
+    makeWordUnpacker,
+)
+from pyxcp.daq_stim.stim import DaqEventInfo, Stim
+from pyxcp.master.errorhandler import SystemExit, disable_error_handling, wrapped
+from pyxcp.transport.base import create_transport
+from pyxcp.utils import decode_bytes, delay, short_sleep
+
+
+def broadcasted(func: Callable):
+    """"""
+    return func
+
+
+class SlaveProperties(dict):
+    """Container class for fixed parameters, like byte-order, maxCTO, ..."""
+
+    def __init__(self, *args, **kws):
+        super().__init__(*args, **kws)
+
+    def __getattr__(self, name):
+        return self[name]
+
+    def __setattr__(self, name, value):
+        self[name] = value
+
+    def __getstate__(self):
+        return self
+
+    def __setstate__(self, state):
+        self = state  # noqa: F841
+
+
+class Master:
+    """Common part of lowlevel XCP API.
+
+    Parameters
+    ----------
+    transport_name : str
+        XCP transport layer name ['can', 'eth', 'sxi']
+    config: dict
+    """
+
+    def __init__(self, transport_name: Optional[str], config, policy=None, transport_layer_interface=None):
+        if transport_name is None:
+            raise ValueError("No transport-layer selected")  # Never reached -- to keep type-checkers happy.
+        self.ctr = 0
+        self.succeeded = True
+        self.config = config.general
+        self.logger = logging.getLogger("PyXCP")
+        disable_error_handling(self.config.disable_error_handling)
+        self.transport_name = transport_name.lower()
+        transport_config = config.transport
+        self.transport = create_transport(transport_name, transport_config, policy, transport_layer_interface)
+        self.stim = Stim(self.config.stim_support)
+        self.stim.clear()
+        self.stim.set_policy_feeder(self.transport.policy.feed)
+        self.stim.set_frame_sender(self.transport.block_request)
+
+        # In some cases the transport-layer needs to communicate with us.
+        self.transport.parent = self
+        self.service = None
+
+        # Policies may issue XCP commands on there own.
+        self.transport.policy.xcp_master = self
+
+        # (D)Word (un-)packers are byte-order dependent
+        # -- byte-order is returned by CONNECT_Resp (COMM_MODE_BASIC)
+        self.BYTE_pack = None
+        self.BYTE_unpack = None
+        self.WORD_pack = None
+        self.WORD_unpack = None
+        self.DWORD_pack = None
+        self.DWORD_unpack = None
+        self.DLONG_pack = None
+        self.DLONG_unpack = None
+        self.AG_pack = None
+        self.AG_unpack = None
+        # self.connected = False
+        self.mta = types.MtaType(None, None)
+        self.currentDaqPtr = None
+        self.currentProtectionStatus = None
+        self.seed_n_key_dll = self.config.seed_n_key_dll
+        self.seed_n_key_function = self.config.seed_n_key_function
+        self.seed_n_key_dll_same_bit_width = self.config.seed_n_key_dll_same_bit_width
+        self.disconnect_response_optional = self.config.disconnect_response_optional
+        self.slaveProperties = SlaveProperties()
+        self.slaveProperties.pgmProcessor = SlaveProperties()
+        self.slaveProperties.transport_layer = self.transport_name.upper()
+
+    def __enter__(self):
+        """Context manager entry part."""
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        """Context manager exit part."""
+        # if self.connected:
+        #    self.disconnect()
+        self.close()
+        if exc_type is None:
+            return
+        else:
+            self.succeeded = False
+            # print("=" * 79)
+            # print("Exception while in Context-Manager:\n")
+            self.logger.error("".join(traceback.format_exception(exc_type, exc_val, exc_tb)))
+            # print("=" * 79)
+            # return True
+
+    def _setService(self, service):
+        """Records the currently processed service.
+
+        Parameters
+        ----------
+        service: `pydbc.types.Command`
+
+        Note
+        ----
+        Internal Function, only to be used by transport-layer.
+        """
+        self.service = service
+
+    def close(self):
+        """Closes transport layer connection."""
+        self.transport.policy.finalize()
+        self.transport.close()
+
+    # Mandatory Commands.
+    @wrapped
+    def connect(self, mode=0x00):
+        """Build up connection to an XCP slave.
+
+        Before the actual XCP traffic starts a connection is required.
+
+        Parameters
+        ----------
+        mode : int
+            connection mode; default is 0x00 (normal mode)
+
+        Returns
+        -------
+        :py:obj:`pyxcp.types.ConnectResponse`
+            Describes fundamental client properties.
+
+        Note
+        ----
+        Every XCP slave supports at most one connection,
+        more attempts to connect are silently ignored.
+
+        """
+        self.transport.connect()
+
+        response = self.transport.request(types.Command.CONNECT, mode & 0xFF)
+
+        # First get byte-order
+        resultPartial = types.ConnectResponsePartial.parse(response)
+        byteOrder = resultPartial.commModeBasic.byteOrder
+
+        result = types.ConnectResponse.parse(response, byteOrder=byteOrder)
+        byteOrderPrefix = "<" if byteOrder == types.ByteOrder.INTEL else ">"
+        self.slaveProperties.byteOrder = byteOrder
+        self.slaveProperties.maxCto = result.maxCto
+        self.slaveProperties.maxDto = result.maxDto
+        self.slaveProperties.supportsPgm = result.resource.pgm
+        self.slaveProperties.supportsStim = result.resource.stim
+        self.slaveProperties.supportsDaq = result.resource.daq
+        self.slaveProperties.supportsCalpag = result.resource.calpag
+        self.slaveProperties.slaveBlockMode = result.commModeBasic.slaveBlockMode
+        self.slaveProperties.addressGranularity = result.commModeBasic.addressGranularity
+        self.slaveProperties.protocolLayerVersion = result.protocolLayerVersion
+        self.slaveProperties.transportLayerVersion = result.transportLayerVersion
+        self.slaveProperties.optionalCommMode = result.commModeBasic.optional
+        self.slaveProperties.maxWriteDaqMultipleElements = (
+            0 if self.slaveProperties.maxCto < 10 else int((self.slaveProperties.maxCto - 2) // 8)
+        )
+        self.BYTE_pack = makeBytePacker(byteOrderPrefix)
+        self.BYTE_unpack = makeByteUnpacker(byteOrderPrefix)
+        self.WORD_pack = makeWordPacker(byteOrderPrefix)
+        self.WORD_unpack = makeWordUnpacker(byteOrderPrefix)
+        self.DWORD_pack = makeDWordPacker(byteOrderPrefix)
+        self.DWORD_unpack = makeDWordUnpacker(byteOrderPrefix)
+        self.DLONG_pack = makeDLongPacker(byteOrderPrefix)
+        self.DLONG_unpack = makeDLongUnpacker(byteOrderPrefix)
+        self.slaveProperties.bytesPerElement = None  # Download/Upload commands are using element- not byte-count.
+        if self.slaveProperties.addressGranularity == types.AddressGranularity.BYTE:
+            self.AG_pack = struct.Struct("<B").pack
+            self.AG_unpack = struct.Struct("<B").unpack
+            self.slaveProperties.bytesPerElement = 1
+        elif self.slaveProperties.addressGranularity == types.AddressGranularity.WORD:
+            self.AG_pack = self.WORD_pack
+            self.AG_unpack = self.WORD_unpack
+            self.slaveProperties.bytesPerElement = 2
+        elif self.slaveProperties.addressGranularity == types.AddressGranularity.DWORD:
+            self.AG_pack = self.DWORD_pack
+            self.AG_unpack = self.DWORD_unpack
+            self.slaveProperties.bytesPerElement = 4
+            # self.connected = True
+        return result
+
+    @wrapped
+    def disconnect(self):
+        """Releases the connection to the XCP slave.
+
+        Thereafter, no further communication with the slave is possible
+        (besides `connect`).
+
+
+        Note
+        -----
+        - If DISCONNECT is currently not possible, ERR_CMD_BUSY will be returned.
+        - While XCP spec. requires a response, this behavior can be made optional by adding
+            - `DISCONNECT_RESPONSE_OPTIONAL = true` (TOML)
+            - `"DISCONNECT_RESPONSE_OPTIONAL": true` (JSON)
+            to your configuration file.
+        """
+        if self.disconnect_response_optional:
+            response = self.transport.request_optional_response(types.Command.DISCONNECT)
+        else:
+            response = self.transport.request(types.Command.DISCONNECT)
+        # self.connected = False
+        return response
+
+    @wrapped
+    def getStatus(self):
+        """Get current status information of the slave device.
+
+        This includes the status of the resource protection, pending store
+        requests and the general status of data acquisition and stimulation.
+
+        Returns
+        -------
+        :obj:`pyxcp.types.GetStatusResponse`
+        """
+        response = self.transport.request(types.Command.GET_STATUS)
+        result = types.GetStatusResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        self._setProtectionStatus(result.resourceProtectionStatus)
+        return result
+
+    @wrapped
+    def synch(self):
+        """Synchronize command execution after timeout conditions."""
+        response = self.transport.request(types.Command.SYNCH)
+        return response
+
+    @wrapped
+    def getCommModeInfo(self):
+        """Get optional information on different Communication Modes supported
+        by the slave.
+
+        Returns
+        -------
+        :obj:`pyxcp.types.GetCommModeInfoResponse`
+        """
+        response = self.transport.request(types.Command.GET_COMM_MODE_INFO)
+        result = types.GetCommModeInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        self.slaveProperties.interleavedMode = result.commModeOptional.interleavedMode
+        self.slaveProperties.masterBlockMode = result.commModeOptional.masterBlockMode
+        self.slaveProperties.maxBs = result.maxBs
+        self.slaveProperties.minSt = result.minSt
+        self.slaveProperties.queueSize = result.queueSize
+        self.slaveProperties.xcpDriverVersionNumber = result.xcpDriverVersionNumber
+        return result
+
+    @wrapped
+    def getId(self, mode: int):
+        """This command is used for automatic session configuration and for
+        slave device identification.
+
+        Parameters
+        ----------
+        mode : int
+            The following identification types may be requested:
+            - 0        ASCII text
+            - 1        ASAM-MC2 filename without path and extension
+            - 2        ASAM-MC2 filename with path and extension
+            - 3        URL where the ASAM-MC2 file can be found
+            - 4        ASAM-MC2 file to upload
+            - 128..255 User defined
+
+        Returns
+        -------
+        :obj:`pydbc.types.GetIDResponse`
+        """
+        response = self.transport.request(types.Command.GET_ID, mode)
+        result = types.GetIDResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        result.length = self.DWORD_unpack(response[3:7])[0]
+        return result
+
+    @wrapped
+    def setRequest(self, mode: int, sessionConfigurationId: int):
+        """Request to save to non-volatile memory.
+
+        Parameters
+        ----------
+        mode : int (bitfield)
+            - 1  Request to store calibration data
+            - 2  Request to store DAQ list, no resume
+            - 4  Request to store DAQ list, resume enabled
+            - 8  Request to clear DAQ configuration
+        sessionConfigurationId : int
+
+        """
+        return self.transport.request(
+            types.Command.SET_REQUEST,
+            mode,
+            sessionConfigurationId >> 8,
+            sessionConfigurationId & 0xFF,
+        )
+
+    @wrapped
+    def getSeed(self, first: int, resource: int):
+        """Get seed from slave for unlocking a protected resource.
+
+        Parameters
+        ----------
+        first : int
+            - 0 - first part of seed
+            - 1 - remaining part
+        resource : int
+            - Mode = =0 - Resource
+            - Mode == 1 - Don't care
+
+        Returns
+        -------
+        `pydbc.types.GetSeedResponse`
+        """
+        if self.transport_name == "can":
+            # for CAN it might happen that the seed is longer than the max DLC
+            # in this case the first byte will be the current remaining seed size
+            # followed by the seeds bytes that can fit in the current frame
+            # the master must call getSeed several times until the complete seed is received
+            response = self.transport.request(types.Command.GET_SEED, first, resource)
+            size, seed = response[0], response[1:]
+            if size < len(seed):
+                seed = seed[:size]
+            reply = types.GetSeedResponse.parse(
+                types.GetSeedResponse.build({"length": size, "seed": bytes(size)}),
+                byteOrder=self.slaveProperties.byteOrder,
+            )
+            reply.seed = seed
+            return reply
+        else:
+            response = self.transport.request(types.Command.GET_SEED, first, resource)
+            return types.GetSeedResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def unlock(self, length: int, key: bytes):
+        """Send key to slave for unlocking a protected resource.
+
+        Parameters
+        ----------
+        length : int
+            indicates the (remaining) number of key bytes.
+        key : bytes
+
+        Returns
+        -------
+        :obj:`pydbc.types.ResourceType`
+
+        Note
+        ----
+        The master has to use :meth:`unlock` in a defined sequence together
+        with :meth:`getSeed`. The master only can send an :meth:`unlock` sequence
+        if previously there was a :meth:`getSeed` sequence. The master has
+        to send the first `unlocking` after a :meth:`getSeed` sequence with
+        a Length containing the total length of the key.
+        """
+        response = self.transport.request(types.Command.UNLOCK, length, *key)
+        result = types.ResourceType.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        self._setProtectionStatus(result)
+        return result
+
+    @wrapped
+    def setMta(self, address: int, addressExt: int = 0x00):
+        """Set Memory Transfer Address in slave.
+
+        Parameters
+        ----------
+        address : int
+        addressExt : int
+
+        Note
+        ----
+        The MTA is used by :meth:`buildChecksum`, :meth:`upload`, :meth:`download`, :meth:`downloadNext`,
+        :meth:`downloadMax`, :meth:`modifyBits`, :meth:`programClear`, :meth:`program`, :meth:`programNext`
+        and :meth:`programMax`.
+
+        """
+        self.mta = types.MtaType(address, addressExt)  # Keep track of MTA (needed for error-handling).
+        addr = self.DWORD_pack(address)
+        return self.transport.request(types.Command.SET_MTA, 0, 0, addressExt, *addr)
+
+    @wrapped
+    def upload(self, length: int):
+        """Transfer data from slave to master.
+
+        Parameters
+        ----------
+        length : int
+            Number of elements (address granularity).
+
+        Note
+        ----
+        Adress is set via :meth:`setMta` (Some services like :meth:`getID` also set the MTA).
+
+        Returns
+        -------
+        bytes
+        """
+        byte_count = length * self.slaveProperties.bytesPerElement
+        response = self.transport.request(types.Command.UPLOAD, length)
+        if byte_count > (self.slaveProperties.maxCto - 1):
+            block_response = self.transport.block_receive(length_required=(byte_count - len(response)))
+            response += block_response
+        elif self.transport_name == "can":
+            # larger sizes will send in multiple CAN messages
+            # each valid message will start with 0xFF followed by the upload bytes
+            # the last message might be padded to the required DLC
+            rem = byte_count - len(response)
+            while rem:
+                if len(self.transport.resQueue):
+                    data = self.transport.resQueue.popleft()
+                    response += data[1 : rem + 1]
+                    rem = byte_count - len(response)
+                else:
+                    short_sleep()
+        return response
+
+    @wrapped
+    def shortUpload(self, length: int, address: int, addressExt: int = 0x00):
+        """Transfer data from slave to master.
+        As opposed to :meth:`upload` this service also includes address information.
+
+        Parameters
+        ----------
+        length : int
+            Number of elements (address granularity).
+        address : int
+        addressExt : int
+
+        Returns
+        -------
+        bytes
+        """
+        addr = self.DWORD_pack(address)
+        byte_count = length * self.slaveProperties.bytesPerElement
+        max_byte_count = self.slaveProperties.maxCto - 1
+        if byte_count > max_byte_count:
+            self.logger.warn(f"SHORT_UPLOAD: {byte_count} bytes exceeds the maximum value of {max_byte_count}.")
+        response = self.transport.request(types.Command.SHORT_UPLOAD, length, 0, addressExt, *addr)
+        return response[:byte_count]
+
+    @wrapped
+    def buildChecksum(self, blocksize: int):
+        """Build checksum over memory range.
+
+        Parameters
+        ----------
+        blocksize : int
+
+        Returns
+        -------
+        :obj:`~pyxcp.types.BuildChecksumResponse`
+
+        .. note:: Adress is set via `setMta`
+
+        See Also
+        --------
+        :mod:`~pyxcp.checksum`
+        """
+        bs = self.DWORD_pack(blocksize)
+        response = self.transport.request(types.Command.BUILD_CHECKSUM, 0, 0, 0, *bs)
+        return types.BuildChecksumResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def transportLayerCmd(self, subCommand: int, *data: List[bytes]):
+        """Execute transfer-layer specific command.
+
+        Parameters
+        ----------
+        subCommand : int
+        data : bytes
+
+        Note
+        ----
+        For details refer to XCP specification.
+        """
+        return self.transport.request_optional_response(types.Command.TRANSPORT_LAYER_CMD, subCommand, *data)
+
+    @wrapped
+    def userCmd(self, subCommand: int, data: bytes):
+        """Execute proprietary command implemented in your XCP client.
+
+        Parameters
+        ----------
+        subCommand : int
+        data : bytes
+
+
+        .. note:: For details refer to your XCP client vendor.
+        """
+
+        response = self.transport.request(types.Command.USER_CMD, subCommand, *data)
+        return response
+
+    @wrapped
+    def getVersion(self):
+        """Get version information.
+
+        This command returns detailed information about the implemented
+        protocol layer version of the XCP slave and the transport layer
+        currently in use.
+
+        Returns
+        -------
+        :obj:`~types.GetVersionResponse`
+        """
+
+        response = self.transport.request(types.Command.GET_VERSION)
+        result = types.GetVersionResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        self.slaveProperties.protocolMajor = result.protocolMajor
+        self.slaveProperties.protocolMinor = result.protocolMinor
+        self.slaveProperties.transportMajor = result.transportMajor
+        self.slaveProperties.transportMinor = result.transportMinor
+        return result
+
+    def fetch(self, length: int, limitPayload: int = None):  # TODO: pull
+        """Convenience function for data-transfer from slave to master
+        (Not part of the XCP Specification).
+
+        Parameters
+        ----------
+        length : int
+        limitPayload : int
+            transfer less bytes then supported by transport-layer
+
+        Returns
+        -------
+        bytes
+
+        Note
+        ----
+        address is not included because of services implicitly setting address information like :meth:`getID` .
+        """
+        if limitPayload and limitPayload < 8:
+            raise ValueError(f"Payload must be at least 8 bytes - given: {limitPayload}")
+
+        slaveBlockMode = self.slaveProperties.slaveBlockMode
+        if slaveBlockMode:
+            maxPayload = 255
+        else:
+            maxPayload = self.slaveProperties.maxCto - 1
+        payload = min(limitPayload, maxPayload) if limitPayload else maxPayload
+        chunkSize = payload
+        chunks = range(length // chunkSize)
+        remaining = length % chunkSize
+        result = []
+        for _ in chunks:
+            data = self.upload(chunkSize)
+            result.extend(data)
+        if remaining:
+            data = self.upload(remaining)
+            result.extend(data)
+        return bytes(result)
+
+    pull = fetch  # fetch() may be completely replaced by pull() someday.
+
+    def push(self, address: int, address_ext: int, data: bytes, callback=None):
+        """Convenience function for data-transfer from master to slave.
+        (Not part of the XCP Specification).
+
+        Parameters
+        ----------
+        address: int
+
+        data : bytes
+            Arbitrary number of bytes.
+
+        Returns
+        -------
+        """
+        self._generalized_downloader(
+            address=address,
+            address_ext=address_ext,
+            data=data,
+            maxCto=self.slaveProperties.maxCto,
+            maxBs=self.slaveProperties.maxBs,
+            minSt=self.slaveProperties.minSt,
+            master_block_mode=self.slaveProperties.masterBlockMode,
+            dl_func=self.download,
+            dl_next_func=self.downloadNext,
+            callback=callback,
+        )
+
+    def flash_program(self, address: int, data: bytes, callback=None):
+        """Convenience function for flash programing.
+        (Not part of the XCP Specification).
+
+        Parameters
+        ----------
+        address: int
+
+        data : bytes
+            Arbitrary number of bytes.
+
+        Returns
+        -------
+        """
+        self._generalized_downloader(
+            address=address,
+            data=data,
+            maxCto=self.slaveProperties.pgmProcessor.maxCtoPgm,
+            maxBs=self.slaveProperties.pgmProcessor.maxBsPgm,
+            minSt=self.slaveProperties.pgmProcessor.minStPgm,
+            master_block_mode=self.slaveProperties.pgmProcessor.masterBlockMode,
+            dl_func=self.program,
+            dl_next_func=self.programNext,
+            callback=callback,
+        )
+
+    def _generalized_downloader(
+        self,
+        address: int,
+        address_ext: int,
+        data: bytes,
+        maxCto: int,
+        maxBs: int,
+        minSt: int,
+        master_block_mode: bool,
+        dl_func,
+        dl_next_func,
+        callback=None,
+    ):
+        """ """
+        self.setMta(address, address_ext)
+        minSt /= 10000.0
+        block_downloader = functools.partial(
+            self._block_downloader,
+            dl_func=dl_func,
+            dl_next_func=dl_next_func,
+            minSt=minSt,
+        )
+        total_length = len(data)
+        if master_block_mode:
+            max_payload = min(maxBs * (maxCto - 2), 255)
+        else:
+            max_payload = maxCto - 2
+        offset = 0
+        if master_block_mode:
+            remaining = total_length
+            blocks = range(total_length // max_payload)
+            percent_complete = 1
+            remaining_block_size = total_length % max_payload
+            for _ in blocks:
+                block = data[offset : offset + max_payload]
+                block_downloader(block)
+                offset += max_payload
+                remaining -= max_payload
+                if callback and remaining <= total_length - (total_length / 100) * percent_complete:
+                    callback(percent_complete)
+                    percent_complete += 1
+            if remaining_block_size:
+                block = data[offset : offset + remaining_block_size]
+                block_downloader(block)
+                if callback:
+                    callback(percent_complete)
+        else:
+            chunk_size = max_payload
+            chunks = range(total_length // chunk_size)
+            remaining = total_length % chunk_size
+            percent_complete = 1
+            callback_remaining = total_length
+            for _ in chunks:
+                block = data[offset : offset + max_payload]
+                dl_func(block, max_payload, last=True)
+                offset += max_payload
+                callback_remaining -= chunk_size
+                if callback and callback_remaining <= total_length - (total_length / 100) * percent_complete:
+                    callback(percent_complete)
+                    percent_complete += 1
+            if remaining:
+                block = data[offset : offset + remaining]
+                dl_func(block, remaining, last=True)
+                if callback:
+                    callback(percent_complete)
+
+    def _block_downloader(self, data: bytes, dl_func=None, dl_next_func=None, minSt=0):
+        """Re-usable block downloader.
+
+        Parameters
+        ----------
+        data : bytes
+            Arbitrary number of bytes.
+
+        dl_func: method
+            usually :meth: `download` or :meth:`program`
+
+        dl_next_func: method
+            usually :meth: `downloadNext` or :meth:`programNext`
+
+        minSt: int
+            Minimum separation time of frames.
+        """
+        length = len(data)
+        max_packet_size = self.slaveProperties.maxCto - 2  # Command ID + Length
+        packets = range(length // max_packet_size)
+        offset = 0
+        remaining = length % max_packet_size
+        remaining_block_size = length
+        index = 0
+        for index in packets:
+            packet_data = data[offset : offset + max_packet_size]
+            last = (remaining_block_size - max_packet_size) == 0
+            if index == 0:
+                dl_func(packet_data, length, last)  # Transmit the complete length in the first CTO.
+            else:
+                dl_next_func(packet_data, remaining_block_size, last)
+            offset += max_packet_size
+            remaining_block_size -= max_packet_size
+            delay(minSt)
+        if remaining:
+            packet_data = data[offset : offset + remaining]
+            if index == 0:
+                # length of data is smaller than maxCto - 2
+                dl_func(packet_data, remaining, last=True)
+            else:
+                dl_next_func(packet_data, remaining, last=True)
+            delay(minSt)
+
+    @wrapped
+    def download(self, data: bytes, blockModeLength=None, last=False):
+        """Transfer data from master to slave.
+
+        Parameters
+        ----------
+        data : bytes
+            Data to send to slave.
+        blockModeLength : int or None
+            for block mode, the download request must contain the length of the whole block,
+            not just the length in the current packet. The whole block length can be given here for block-mode
+            transfers. For normal mode, the length indicates the actual packet's payload length.
+
+        Note
+        ----
+        Adress is set via :meth:`setMta`
+        """
+
+        if blockModeLength is None or last:
+            # standard mode
+            length = len(data)
+            response = self.transport.request(types.Command.DOWNLOAD, length, *data)
+            return response
+        else:
+            # block mode
+            if not isinstance(blockModeLength, int):
+                raise TypeError("blockModeLength must be int!")
+            self.transport.block_request(types.Command.DOWNLOAD, blockModeLength, *data)
+            return None
+
+    @wrapped
+    def downloadNext(self, data: bytes, remainingBlockLength, last=False):
+        """Transfer data from master to slave (block mode).
+
+        Parameters
+        ----------
+        data : bytes
+        remainingBlockLength : int
+            This parameter has to be given the remaining length in the block
+        last : bool
+            The block mode implementation shall indicate the last packet in the block with this parameter, because
+            the slave device will send the response after this.
+        """
+
+        if last:
+            # last DOWNLOAD_NEXT packet in a block: the slave device has to send the response after this.
+            response = self.transport.request(types.Command.DOWNLOAD_NEXT, remainingBlockLength, *data)
+            return response
+        else:
+            # the slave device won't respond to consecutive DOWNLOAD_NEXT packets in block mode,
+            # so we must not wait for any response
+            self.transport.block_request(types.Command.DOWNLOAD_NEXT, remainingBlockLength, *data)
+            return None
+
+    @wrapped
+    def downloadMax(self, data: bytes):
+        """Transfer data from master to slave (fixed size).
+
+        Parameters
+        ----------
+        data : bytes
+        """
+        return self.transport.request(types.Command.DOWNLOAD_MAX, *data)
+
+    @wrapped
+    def shortDownload(self, address, addressExt, data):
+        length = len(data)
+        addr = self.DWORD_pack(address)
+        return self.transport.request(types.Command.SHORT_DOWNLOAD, length, 0, addressExt, *addr, *data)
+
+    @wrapped
+    def modifyBits(self, shiftValue, andMask, xorMask):
+        # A = ( (A) & ((~((dword)(((word)~MA)<<S))) )^((dword)(MX<<S)) )
+        am = self.WORD_pack(andMask)
+        xm = self.WORD_pack(xorMask)
+        return self.transport.request(types.Command.MODIFY_BITS, shiftValue, *am, *xm)
+
+    # Page Switching Commands (PAG)
+    @wrapped
+    def setCalPage(self, mode: int, logicalDataSegment: int, logicalDataPage: int):
+        """Set calibration page.
+
+        Parameters
+        ----------
+        mode : int (bitfield)
+            - 0x01 - The given page will be used by the slave device application.
+            - 0x02 - The slave device XCP driver will access the given page.
+            - 0x80 - The logical segment number is ignored. The command applies to all segments
+        logicalDataSegment : int
+        logicalDataPage : int
+        """
+        return self.transport.request(types.Command.SET_CAL_PAGE, mode, logicalDataSegment, logicalDataPage)
+
+    @wrapped
+    def getCalPage(self, mode: int, logicalDataSegment: int):
+        """Get calibration page
+
+        Parameters
+        ----------
+        mode : int
+        logicalDataSegment : int
+        """
+        response = self.transport.request(types.Command.GET_CAL_PAGE, mode, logicalDataSegment)
+        return response[2]
+
+    @wrapped
+    def getPagProcessorInfo(self):
+        """Get general information on PAG processor.
+
+        Returns
+        -------
+        `pydbc.types.GetPagProcessorInfoResponse`
+        """
+        response = self.transport.request(types.Command.GET_PAG_PROCESSOR_INFO)
+        return types.GetPagProcessorInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getSegmentInfo(self, mode, segmentNumber, segmentInfo, mappingIndex):
+        """Get specific information for a segment.
+
+        Parameters
+        ----------
+        mode : int
+            - 0 = get basic address info for this segment
+            - 1 = get standard info for this segment
+            - 2 = get address mapping info for this segment
+
+        segmentNumber : int
+        segmentInfo : int
+            Mode 0:
+                - 0 = address
+                - 1 = length
+
+            Mode 1:
+                - don't care
+
+            Mode 2:
+                - 0 = source address
+                - 1 = destination address
+                - 2 = length address
+
+        mappingIndex : int
+            - Mode 0: don't care
+            - Mode 1: don't care
+            - Mode 2: identifier for address mapping range that mapping_info belongs to.
+
+        """
+        response = self.transport.request(
+            types.Command.GET_SEGMENT_INFO,
+            mode,
+            segmentNumber,
+            segmentInfo,
+            mappingIndex,
+        )
+        if mode == 0:
+            return types.GetSegmentInfoMode0Response.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        elif mode == 1:
+            return types.GetSegmentInfoMode1Response.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        elif mode == 2:
+            return types.GetSegmentInfoMode2Response.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getPageInfo(self, segmentNumber, pageNumber):
+        """Get specific information for a page.
+
+        Parameters
+        ----------
+        segmentNumber : int
+        pageNumber : int
+        """
+        response = self.transport.request(types.Command.GET_PAGE_INFO, 0, segmentNumber, pageNumber)
+        return (
+            types.PageProperties.parse(bytes([response[0]]), byteOrder=self.slaveProperties.byteOrder),
+            response[1],
+        )
+
+    @wrapped
+    def setSegmentMode(self, mode, segmentNumber):
+        """Set mode for a segment.
+
+        Parameters
+        ----------
+        mode : int (bitfield)
+            1 = enable FREEZE Mode
+        segmentNumber : int
+        """
+        return self.transport.request(types.Command.SET_SEGMENT_MODE, mode, segmentNumber)
+
+    @wrapped
+    def getSegmentMode(self, segmentNumber):
+        """Get mode for a segment.
+
+        Parameters
+        ----------
+        segmentNumber : int
+        """
+        response = self.transport.request(types.Command.GET_SEGMENT_MODE, 0, segmentNumber)
+        return response[1]
+
+    @wrapped
+    def copyCalPage(self, srcSegment, srcPage, dstSegment, dstPage):
+        """Copy page.
+
+        Parameters
+        ----------
+        srcSegment : int
+        srcPage : int
+        dstSegment : int
+        dstPage : int
+        """
+        return self.transport.request(types.Command.COPY_CAL_PAGE, srcSegment, srcPage, dstSegment, dstPage)
+
+    # DAQ
+
+    @wrapped
+    def setDaqPtr(self, daqListNumber: int, odtNumber: int, odtEntryNumber: int):
+        self.currentDaqPtr = types.DaqPtr(daqListNumber, odtNumber, odtEntryNumber)  # Needed for errorhandling.
+        daqList = self.WORD_pack(daqListNumber)
+        response = self.transport.request(types.Command.SET_DAQ_PTR, 0, *daqList, odtNumber, odtEntryNumber)
+        self.stim.setDaqPtr(daqListNumber, odtNumber, odtEntryNumber)
+        return response
+
+    @wrapped
+    def clearDaqList(self, daqListNumber: int):
+        """Clear DAQ list configuration.
+
+        Parameters
+        ----------
+        daqListNumber : int
+        """
+        daqList = self.WORD_pack(daqListNumber)
+        result = self.transport.request(types.Command.CLEAR_DAQ_LIST, 0, *daqList)
+        self.stim.clearDaqList(daqListNumber)
+        return result
+
+    @wrapped
+    def writeDaq(self, bitOffset: int, entrySize: int, addressExt: int, address: int):
+        """Write element in ODT entry.
+
+        Parameters
+        ----------
+        bitOffset : int
+            Position of bit in 32-bit variable referenced by the address and
+            extension below
+        entrySize : int
+        addressExt : int
+        address : int
+        """
+        addr = self.DWORD_pack(address)
+        result = self.transport.request(types.Command.WRITE_DAQ, bitOffset, entrySize, addressExt, *addr)
+        self.stim.writeDaq(bitOffset, entrySize, addressExt, address)
+        return result
+
+    @wrapped
+    def setDaqListMode(self, mode, daqListNumber, eventChannelNumber, prescaler, priority):
+        dln = self.WORD_pack(daqListNumber)
+        ecn = self.WORD_pack(eventChannelNumber)
+        self.stim.setDaqListMode(mode, daqListNumber, eventChannelNumber, prescaler, priority)
+        return self.transport.request(types.Command.SET_DAQ_LIST_MODE, mode, *dln, *ecn, prescaler, priority)
+
+    @wrapped
+    def getDaqListMode(self, daqListNumber):
+        """Get mode from DAQ list.
+
+        Parameters
+        ----------
+        daqListNumber : int
+
+        Returns
+        -------
+        `pyxcp.types.GetDaqListModeResponse`
+        """
+        dln = self.WORD_pack(daqListNumber)
+        response = self.transport.request(types.Command.GET_DAQ_LIST_MODE, 0, *dln)
+        return types.GetDaqListModeResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def startStopDaqList(self, mode: int, daqListNumber: int):
+        """Start /stop/select DAQ list.
+
+        Parameters
+        ----------
+        mode : int
+            0 = stop
+            1 = start
+            2 = select
+        daqListNumber : int
+        """
+        dln = self.WORD_pack(daqListNumber)
+        response = self.transport.request(types.Command.START_STOP_DAQ_LIST, mode, *dln)
+        self.stim.startStopDaqList(mode, daqListNumber)
+        firstPid = types.StartStopDaqListResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        self.stim.set_first_pid(daqListNumber, firstPid.firstPid)
+        return firstPid
+
+    @wrapped
+    def startStopSynch(self, mode):
+        """Start/stop DAQ lists (synchronously).
+
+        Parameters
+        ----------
+        mode : int
+            0 = stop all
+            1 = start selected
+            2 = stop selected
+        """
+        res = self.transport.request(types.Command.START_STOP_SYNCH, mode)
+        self.stim.startStopSynch(mode)
+        return res
+
+    @wrapped
+    def writeDaqMultiple(self, daqElements):
+        """Write multiple elements in ODT.
+
+        Parameters
+        ----------
+        daqElements : list of `dict` containing the following keys: *bitOffset*, *size*, *address*, *addressExt*.
+        """
+        if len(daqElements) > self.slaveProperties.maxWriteDaqMultipleElements:
+            raise ValueError(f"At most {self.slaveProperties.maxWriteDaqMultipleElements} daqElements are permitted.")
+        data = bytearray()
+        data.append(len(daqElements))
+
+        for daqElement in daqElements:
+            data.extend(types.DaqElement.build(daqElement, byteOrder=self.slaveProperties.byteOrder))
+
+        return self.transport.request(types.Command.WRITE_DAQ_MULTIPLE, *data)
+
+    # optional
+    @wrapped
+    def getDaqClock(self):
+        """Get DAQ clock from slave.
+
+        Returns
+        -------
+        int
+            Current timestamp, format specified by `getDaqResolutionInfo`
+        """
+        response = self.transport.request(types.Command.GET_DAQ_CLOCK)
+        result = types.GetDaqClockResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        return result.timestamp
+
+    @wrapped
+    def readDaq(self):
+        """Read element from ODT entry.
+
+        Returns
+        -------
+        `pyxcp.types.ReadDaqResponse`
+        """
+        response = self.transport.request(types.Command.READ_DAQ)
+        return types.ReadDaqResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getDaqProcessorInfo(self):
+        """Get general information on DAQ processor.
+
+        Returns
+        -------
+        `pyxcp.types.GetDaqProcessorInfoResponse`
+        """
+        response = self.transport.request(types.Command.GET_DAQ_PROCESSOR_INFO)
+        return types.GetDaqProcessorInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getDaqResolutionInfo(self):
+        """Get general information on DAQ processing resolution.
+
+        Returns
+        -------
+        `pyxcp.types.GetDaqResolutionInfoResponse`
+        """
+        response = self.transport.request(types.Command.GET_DAQ_RESOLUTION_INFO)
+        return types.GetDaqResolutionInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getDaqListInfo(self, daqListNumber):
+        """Get specific information for a DAQ list.
+
+        Parameters
+        ----------
+        daqListNumber : int
+        """
+        dln = self.WORD_pack(daqListNumber)
+        response = self.transport.request(types.Command.GET_DAQ_LIST_INFO, 0, *dln)
+        return types.GetDaqListInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def getDaqEventInfo(self, eventChannelNumber):
+        """Get specific information for an event channel.
+
+        Parameters
+        ----------
+        eventChannelNumber : int
+
+        Returns
+        -------
+        `pyxcp.types.GetEventChannelInfoResponse`
+        """
+        ecn = self.WORD_pack(eventChannelNumber)
+        response = self.transport.request(types.Command.GET_DAQ_EVENT_INFO, 0, *ecn)
+        return types.GetEventChannelInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dtoCtrProperties(self, modifier, eventChannel, relatedEventChannel, mode):
+        """DTO CTR properties
+
+        Parameters
+        ----------
+        modifier :
+        eventChannel : int
+        relatedEventChannel : int
+        mode :
+
+        Returns
+        -------
+        `pyxcp.types.DtoCtrPropertiesResponse`
+        """
+        data = bytearray()
+        data.append(modifier)
+        data.extend(self.WORD_pack(eventChannel))
+        data.extend(self.WORD_pack(relatedEventChannel))
+        data.append(mode)
+        response = self.transport.request(types.Command.DTO_CTR_PROPERTIES, *data)
+        return types.DtoCtrPropertiesResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def setDaqPackedMode(self, daqListNumber, daqPackedMode, dpmTimestampMode=None, dpmSampleCount=None):
+        """Set DAQ List Packed Mode.
+
+        Parameters
+        ----------
+        daqListNumber : int
+        daqPackedMode : int
+        """
+        params = []
+        dln = self.WORD_pack(daqListNumber)
+        params.extend(dln)
+        params.append(daqPackedMode)
+
+        if daqPackedMode == 1 or daqPackedMode == 2:
+            params.append(dpmTimestampMode)
+            dsc = self.WORD_pack(dpmSampleCount)
+            params.extend(dsc)
+
+        return self.transport.request(types.Command.SET_DAQ_PACKED_MODE, *params)
+
+    @wrapped
+    def getDaqPackedMode(self, daqListNumber):
+        """Get DAQ List Packed Mode.
+
+        This command returns information of the currently active packed mode of
+        the addressed DAQ list.
+
+        Parameters
+        ----------
+        daqListNumber : int
+        """
+        dln = self.WORD_pack(daqListNumber)
+        response = self.transport.request(types.Command.GET_DAQ_PACKED_MODE, *dln)
+        return types.GetDaqPackedModeResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    # dynamic
+    @wrapped
+    def freeDaq(self):
+        """Clear dynamic DAQ configuration."""
+        result = self.transport.request(types.Command.FREE_DAQ)
+        self.stim.freeDaq()
+        return result
+
+    @wrapped
+    def allocDaq(self, daqCount: int):
+        """Allocate DAQ lists.
+
+        Parameters
+        ----------
+        daqCount : int
+            number of DAQ lists to be allocated
+        """
+        dq = self.WORD_pack(daqCount)
+        result = self.transport.request(types.Command.ALLOC_DAQ, 0, *dq)
+        self.stim.allocDaq(daqCount)
+        return result
+
+    @wrapped
+    def allocOdt(self, daqListNumber: int, odtCount: int):
+        dln = self.WORD_pack(daqListNumber)
+        result = self.transport.request(types.Command.ALLOC_ODT, 0, *dln, odtCount)
+        self.stim.allocOdt(daqListNumber, odtCount)
+        return result
+
+    @wrapped
+    def allocOdtEntry(self, daqListNumber: int, odtNumber: int, odtEntriesCount: int):
+        dln = self.WORD_pack(daqListNumber)
+        result = self.transport.request(types.Command.ALLOC_ODT_ENTRY, 0, *dln, odtNumber, odtEntriesCount)
+        self.stim.allocOdtEntry(daqListNumber, odtNumber, odtEntriesCount)
+        return result
+
+    # PGM
+    @wrapped
+    def programStart(self):
+        """Indicate the beginning of a programming sequence.
+
+        Returns
+        -------
+        `pyxcp.types.ProgramStartResponse`
+        """
+        response = self.transport.request(types.Command.PROGRAM_START)
+        result = types.ProgramStartResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        self.slaveProperties.pgmProcessor.commModePgm = result.commModePgm
+        self.slaveProperties.pgmProcessor.maxCtoPgm = result.maxCtoPgm
+        self.slaveProperties.pgmProcessor.maxBsPgm = result.maxBsPgm
+        self.slaveProperties.pgmProcessor.minStPgm = result.minStPgm
+        self.slaveProperties.pgmProcessor.queueSizePgm = result.queueSizePgm
+        self.slaveProperties.pgmProcessor.slaveBlockMode = result.commModePgm.slaveBlockMode
+        self.slaveProperties.pgmProcessor.interleavedMode = result.commModePgm.interleavedMode
+        self.slaveProperties.pgmProcessor.masterBlockMode = result.commModePgm.masterBlockMode
+        return result
+
+    @wrapped
+    def programClear(self, mode: int, clearRange: int):
+        """Clear a part of non-volatile memory.
+
+        Parameters
+        ----------
+        mode : int
+            0x00 = the absolute access mode is active (default)
+            0x01 = the functional access mode is active
+        clearRange : int
+        """
+        cr = self.DWORD_pack(clearRange)
+        response = self.transport.request(types.Command.PROGRAM_CLEAR, mode, 0, 0, *cr)
+        # ERR_ACCESS_LOCKED
+        return response
+
+    @wrapped
+    def program(self, data: bytes, blockLength, last=False):
+        """Parameters
+        ----------
+        data : bytes
+            Data to send to slave.
+        blockModeLength : int
+            the program request must contain the length of the whole block, not just the length
+            in the current packet.
+        last : bool
+            Indicates that this is the only packet in the block, because
+            the slave device will send the response after this.
+
+        Note
+        ----
+        Adress is set via :meth:`setMta`
+        """
+        # d = bytearray()
+        # d.append(len(data))
+        # if self.slaveProperties.addressGranularity == types.AddressGranularity.DWORD:
+        #    d.extend(b"\x00\x00")  # alignment bytes
+        # for e in data:
+        #    d.extend(self.AG_pack(e))
+        if last:
+            # last PROGRAM_NEXT packet in a block: the slave device has to send the response after this.
+            response = self.transport.request(types.Command.PROGRAM, blockLength, *data)
+            return response
+        else:
+            # the slave device won't respond to consecutive PROGRAM_NEXT packets in block mode,
+            # so we must not wait for any response
+            self.transport.block_request(types.Command.PROGRAM, blockLength, *data)
+            return None
+
+    @wrapped
+    def programReset(self, wait_for_optional_response=True):
+        """Indicate the end of a programming sequence."""
+        if wait_for_optional_response:
+            return self.transport.request_optional_response(types.Command.PROGRAM_RESET)
+        else:
+            return self.transport.block_request(types.Command.PROGRAM_RESET)
+
+    @wrapped
+    def getPgmProcessorInfo(self):
+        """Get general information on PGM processor."""
+        response = self.transport.request(types.Command.GET_PGM_PROCESSOR_INFO)
+        result = types.GetPgmProcessorInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        self.slaveProperties.pgmProcessor.pgmProperties = result.pgmProperties
+        self.slaveProperties.pgmProcessor.maxSector = result.maxSector
+        return result
+
+    @wrapped
+    def getSectorInfo(self, mode, sectorNumber):
+        """Get specific information for a sector."""
+        response = self.transport.request(types.Command.GET_SECTOR_INFO, mode, sectorNumber)
+        if mode == 0 or mode == 1:
+            return types.GetSectorInfoResponseMode01.parse(response, byteOrder=self.slaveProperties.byteOrder)
+        elif mode == 2:
+            return types.GetSectorInfoResponseMode2.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def programPrepare(self, codesize):
+        """Prepare non-volatile memory programming."""
+        cs = self.WORD_pack(codesize)
+        return self.transport.request(types.Command.PROGRAM_PREPARE, 0x00, *cs)
+
+    @wrapped
+    def programFormat(self, compressionMethod, encryptionMethod, programmingMethod, accessMethod):
+        return self.transport.request(
+            types.Command.PROGRAM_FORMAT,
+            compressionMethod,
+            encryptionMethod,
+            programmingMethod,
+            accessMethod,
+        )
+
+    @wrapped
+    def programNext(self, data: bytes, remainingBlockLength: int, last: bool = False):
+        # d = bytearray()
+        # d.append(len(data))
+        # if self.slaveProperties.addressGranularity == types.AddressGranularity.DWORD:
+        #    d.extend(b"\x00\x00")  # alignment bytes
+        # for e in data:
+        #    d.extend(self.AG_pack(e))
+        if last:
+            # last PROGRAM_NEXT packet in a block: the slave device has to send the response after this.
+            response = self.transport.request(types.Command.PROGRAM_NEXT, remainingBlockLength, *data)
+            return response
+        else:
+            # the slave device won't respond to consecutive PROGRAM_NEXT packets in block mode,
+            # so we must not wait for any response
+            self.transport.block_request(types.Command.PROGRAM_NEXT, remainingBlockLength, *data)
+            return None
+
+    @wrapped
+    def programMax(self, data):
+        d = bytearray()
+        if self.slaveProperties.addressGranularity == types.AddressGranularity.WORD:
+            d.extend(b"\x00")  # alignment bytes
+        elif self.slaveProperties.addressGranularity == types.AddressGranularity.DWORD:
+            d.extend(b"\x00\x00\x00")  # alignment bytes
+        for e in data:
+            d.extend(self.AG_pack(e))
+        return self.transport.request(types.Command.PROGRAM_MAX, *d)
+
+    @wrapped
+    def programVerify(self, verMode, verType, verValue):
+        data = bytearray()
+        data.extend(self.WORD_pack(verType))
+        data.extend(self.DWORD_pack(verValue))
+        return self.transport.request(types.Command.PROGRAM_VERIFY, verMode, *data)
+
+    # DBG
+
+    @wrapped
+    def dbgAttach(self):
+        """Returns detailed information about the implemented version of the SW-DBG feature of the XCP slave
+
+        Returns
+        -------
+        `pyxcp.types.DbgAttachResponse`
+        """
+        response = self.transport.request(types.Command.DBG_ATTACH)
+        return types.DbgAttachResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgGetVendorInfo(self):
+        """"""
+        response = self.transport.request(types.Command.DBG_GET_VENDOR_INFO)
+        return types.DbgGetVendorInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgGetModeInfo(self):
+        """"""
+        response = self.transport.request(types.Command.DBG_GET_MODE_INFO)
+        return types.DbgGetModeInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgGetJtagId(self):
+        """"""
+        response = self.transport.request(types.Command.DBG_GET_JTAG_ID)
+        return types.DbgGetJtagIdResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgHaltAfterReset(self):
+        """"""
+        return self.transport.request(types.Command.DBG_HALT_AFTER_RESET)
+
+    @wrapped
+    def dbgGetHwioInfo(self, index: int):
+        """"""
+        response = self.transport.request(types.Command.DBG_GET_HWIO_INFO, index)
+        return types.DbgGetHwioInfoResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgSetHwioEvent(self, index: int, trigger: int):
+        """"""
+        return self.transport.request(types.Command.DBG_SET_HWIO_EVENT, index, trigger)
+
+    @wrapped
+    def dbgHwioControl(self, pins):
+        """"""
+        d = bytearray()
+        d.extend(self.BYTE_pack(len(pins)))
+        for p in pins:
+            d.extend(self.BYTE_pack(p[0]))  # index
+            d.extend(self.BYTE_pack(p[1]))  # state
+            d.extend(self.WORD_pack(p[2]))  # frequency
+
+        response = self.transport.request(types.Command.DBG_HWIO_CONTROL, *d)
+        return types.DbgHwioControlResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgExclusiveTargetAccess(self, mode: int, context: int):
+        """"""
+        return self.transport.request(types.Command.DBG_EXCLUSIVE_TARGET_ACCESS, mode, context)
+
+    @wrapped
+    def dbgSequenceMultiple(self, mode: int, num: int, *seq):
+        """"""
+        response = self.transport.request(types.Command.DBG_SEQUENCE_MULTIPLE, mode, self.WORD_pack(num), *seq)
+        return types.DbgSequenceMultipleResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgLlt(self, num: int, mode: int, *llts):
+        """"""
+        response = self.transport.request(types.Command.DBG_LLT, num, mode, *llts)
+        return types.DbgLltResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgReadModifyWrite(self, tri: int, width: int, address: int, mask: int, data: int):
+        """"""
+        d = bytearray()
+        d.extend(b"\x00")
+        d.append(tri)
+        d.append(width)
+        d.extend(b"\x00\x00")
+        d.extend(self.DLONG_pack(address))
+        if width == 0x01:
+            d.extend(self.BYTE_pack(mask))
+            d.extend(self.BYTE_pack(data))
+        elif width == 0x02:
+            d.extend(self.WORD_pack(mask))
+            d.extend(self.WORD_pack(data))
+        elif width == 0x04:
+            d.extend(self.DWORD_pack(mask))
+            d.extend(self.DWORD_pack(data))
+        elif width == 0x08:
+            d.extend(self.DLONG_pack(mask))
+            d.extend(self.DLONG_pack(data))
+        response = self.transport.request(types.Command.DBG_READ_MODIFY_WRITE, *d)
+        return types.DbgReadModifyWriteResponse.parse(response, byteOrder=self.slaveProperties.byteOrder, width=width)
+
+    @wrapped
+    def dbgWrite(self, tri: int, width: int, address: int, data):
+        """"""
+        d = bytearray()
+        d.extend(b"\x00")
+        d.append(tri)
+        self._dbg_width = width
+        d.append(width)
+        d.extend(self.WORD_pack(len(data)))
+        d.extend(self.DLONG_pack(address))
+        for da in data:
+            if width == 0x01:
+                d.extend(self.BYTE_pack(da))
+            elif width == 0x02:
+                d.extend(self.WORD_pack(da))
+            elif width == 0x04:
+                d.extend(self.DWORD_pack(da))
+            elif width == 0x08:
+                d.extend(self.DLONG_pack(da))
+        return self.transport.request(types.Command.DBG_WRITE, *d)
+
+    @wrapped
+    def dbgWriteNext(self, num: int, data: int):
+        """"""
+        d = bytearray()
+        d.extend(b"\x00")
+        d.extend(self.WORD_pack(num))
+        d.extend(b"\x00\x00")
+        for i in range(num):
+            if self._dbg_width == 0x01:
+                d.extend(self.BYTE_pack(data[i]))
+            elif self._dbg_width == 0x02:
+                d.extend(self.WORD_pack(data[i]))
+            elif self._dbg_width == 0x04:
+                d.extend(self.DWORD_pack(data[i]))
+            elif self._dbg_width == 0x08:
+                d.extend(self.DLONG_pack(data[i]))
+        return self.transport.request(types.Command.DBG_WRITE_NEXT, *d)
+
+    @wrapped
+    def dbgWriteCan1(self, tri: int, address: int):
+        """"""
+        d = bytearray()
+        d.extend(self.BYTE_pack(tri))
+        d.extend(self.DWORD_pack(address))
+        return self.transport.request(types.Command.DBG_WRITE_CAN1, *d)
+
+    @wrapped
+    def dbgWriteCan2(self, width: int, num: int):
+        """"""
+        d = bytearray()
+        self._dbg_width = width
+        d.append(width)
+        d.extend(self.BYTE_pack(num))
+        return self.transport.request(types.Command.DBG_WRITE_CAN2, *d)
+
+    @wrapped
+    def dbgWriteCanNext(self, num: int, data: int):
+        """"""
+        d = bytearray()
+        d.extend(self.BYTE_pack(num))
+        for i in range(num):
+            if self._dbg_width == 0x01:
+                d.extend(self.BYTE_pack(data[i]))
+            elif self._dbg_width == 0x02:
+                d.extend(self.WORD_pack(data[i]))
+            elif self._dbg_width == 0x04:
+                d.extend(self.DWORD_pack(data[i]))
+            elif self._dbg_width == 0x08:
+                d.extend(self.DLONG_pack(data[i]))
+        return self.transport.request(types.Command.DBG_WRITE_CAN_NEXT, *d)
+
+    @wrapped
+    def dbgRead(self, tri: int, width: int, num: int, address: int):
+        """"""
+        d = bytearray()
+        d.extend(b"\x00")
+        d.extend(self.BYTE_pack(tri))
+        self._dbg_width = width
+        d.extend(self.BYTE_pack(width))
+        d.extend(self.WORD_pack(num))
+        d.extend(self.DLONG_pack(address))
+        response = self.transport.request(types.Command.DBG_READ, *d)
+        return types.DbgReadResponse.parse(response, byteOrder=self.slaveProperties.byteOrder, width=width)
+
+    @wrapped
+    def dbgReadCan1(self, tri: int, address: int):
+        """"""
+        d = bytearray()
+        d.extend(self.BYTE_pack(tri))
+        d.extend(self.DWORD_pack(address))
+        return self.transport.request(types.Command.DBG_READ_CAN1, *d)
+
+    @wrapped
+    def dbgReadCan2(self, width: int, num: int):
+        """"""
+        d = bytearray()
+        self._dbg_width = width
+        d.extend(self.BYTE_pack(width))
+        d.extend(self.BYTE_pack(num))
+        return self.transport.request(types.Command.DBG_READ_CAN2, *d)
+
+    @wrapped
+    def dbgGetTriDescTbl(self):
+        """"""
+        response = self.transport.request(types.Command.DBG_GET_TRI_DESC_TBL, b"\x00\x00\x00\x00\x00")
+        return types.DbgGetTriDescTblResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def dbgLlbt(self, data):
+        """"""
+        d = bytearray()
+        d.extend(b"\x00")
+        d.extend(self.WORD_pack(len(data)))
+        for b in data:
+            d.extend(self.BYTE_pack(b))
+        response = self.transport.request(types.Command.DBG_LLBT, d)
+        return types.DbgLlbtResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    @wrapped
+    def timeCorrelationProperties(self, setProperties, getPropertiesRequest, clusterId):
+        response = self.transport.request(
+            types.Command.TIME_CORRELATION_PROPERTIES, setProperties, getPropertiesRequest, 0, *self.WORD_pack(clusterId)
+        )
+        return types.TimeCorrelationPropertiesResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    # Transport layer commands / CAN.
+
+    @broadcasted
+    @wrapped
+    def getSlaveID(self, mode: int):
+        response = self.transportLayerCmd(types.TransportLayerCommands.GET_SLAVE_ID, ord("X"), ord("C"), ord("P"), mode)
+        return types.GetSlaveIdResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    def getDaqId(self, daqListNumber: int):
+        response = self.transportLayerCmd(types.TransportLayerCommands.GET_DAQ_ID, *self.WORD_pack(daqListNumber))
+        # if response:
+        return types.GetDaqIdResponse.parse(response, byteOrder=self.slaveProperties.byteOrder)
+
+    def setDaqId(self, daqListNumber: int, identifier: int):
+        response = self.transportLayerCmd(
+            types.TransportLayerCommands.SET_DAQ_ID, *self.WORD_pack(daqListNumber), *self.DWORD_pack(identifier)
+        )
+        return response
+
+    # Convenience Functions.
+    def verify(self, addr, length):
+        """Convenience function for verification of a data-transfer from slave
+        to master (Not part of the XCP Specification).
+
+        Parameters
+        ----------
+        addr : int
+        length : int
+
+        Returns
+        -------
+        bool
+        """
+        self.setMta(addr)
+        cs = self.buildChecksum(length)
+        self.logger.debug(f"BuildChecksum return'd: 0x{cs.checksum:08X} [{cs.checksumType}]")
+        self.setMta(addr)
+        data = self.fetch(length)
+        cc = checksum.check(data, cs.checksumType)
+        self.logger.debug(f"Our checksum          : 0x{cc:08X}")
+        return cs.checksum == cc
+
+    def getDaqInfo(self):
+        """Get DAQ information: processor, resolution, events."""
+        result = {}
+        dpi = self.getDaqProcessorInfo()
+        processorInfo = {
+            "minDaq": dpi["minDaq"],
+            "maxDaq": dpi["maxDaq"],
+            "properties": {
+                "configType": dpi["daqProperties"]["daqConfigType"],
+                "overloadEvent": dpi["daqProperties"]["overloadEvent"],
+                "overloadMsb": dpi["daqProperties"]["overloadMsb"],
+                "prescalerSupported": dpi["daqProperties"]["prescalerSupported"],
+                "pidOffSupported": dpi["daqProperties"]["pidOffSupported"],
+                "timestampSupported": dpi["daqProperties"]["timestampSupported"],
+                "bitStimSupported": dpi["daqProperties"]["bitStimSupported"],
+                "resumeSupported": dpi["daqProperties"]["resumeSupported"],
+            },
+            "keyByte": {
+                "identificationField": dpi["daqKeyByte"]["Identification_Field"],
+                "addressExtension": dpi["daqKeyByte"]["Address_Extension"],
+                "optimisationType": dpi["daqKeyByte"]["Optimisation_Type"],
+            },
+        }
+        result["processor"] = processorInfo
+
+        dri = self.getDaqResolutionInfo()
+        resolutionInfo = {
+            "timestampTicks": dri["timestampTicks"],
+            "maxOdtEntrySizeDaq": dri["maxOdtEntrySizeDaq"],
+            "maxOdtEntrySizeStim": dri["maxOdtEntrySizeStim"],
+            "granularityOdtEntrySizeDaq": dri["granularityOdtEntrySizeDaq"],
+            "granularityOdtEntrySizeStim": dri["granularityOdtEntrySizeStim"],
+            "timestampMode": {
+                "unit": dri["timestampMode"]["unit"],
+                "fixed": dri["timestampMode"]["fixed"],
+                "size": dri["timestampMode"]["size"],
+            },
+        }
+        result["resolution"] = resolutionInfo
+        channels = []
+        daq_events = []
+        for ecn in range(dpi.maxEventChannel):
+            eci = self.getDaqEventInfo(ecn)
+            cycle = eci["eventChannelTimeCycle"]
+            maxDaqList = eci["maxDaqList"]
+            priority = eci["eventChannelPriority"]
+            time_unit = eci["eventChannelTimeUnit"]
+            consistency = eci["daqEventProperties"]["consistency"]
+            daq_supported = eci["daqEventProperties"]["daq"]
+            stim_supported = eci["daqEventProperties"]["stim"]
+            packed_supported = eci["daqEventProperties"]["packed"]
+            name = self.fetch(eci.eventChannelNameLength)
+            if name:
+                name = decode_bytes(name)
+            channel = {
+                "name": name,
+                "priority": eci["eventChannelPriority"],
+                "unit": eci["eventChannelTimeUnit"],
+                "cycle": eci["eventChannelTimeCycle"],
+                "maxDaqList": eci["maxDaqList"],
+                "properties": {
+                    "consistency": consistency,
+                    "daq": daq_supported,
+                    "stim": stim_supported,
+                    "packed": packed_supported,
+                },
+            }
+            daq_event_info = DaqEventInfo(
+                name,
+                types.EVENT_CHANNEL_TIME_UNIT_TO_EXP[time_unit],
+                cycle,
+                maxDaqList,
+                priority,
+                consistency,
+                daq_supported,
+                stim_supported,
+                packed_supported,
+            )
+            daq_events.append(daq_event_info)
+            channels.append(channel)
+        result["channels"] = channels
+        self.stim.setDaqEventInfo(daq_events)
+        return result
+
+    def getCurrentProtectionStatus(self):
+        """"""
+        if self.currentProtectionStatus is None:
+            status = self.getStatus()
+            self._setProtectionStatus(status.resourceProtectionStatus)
+        return self.currentProtectionStatus
+
+    def _setProtectionStatus(self, protection):
+        """"""
+        self.currentProtectionStatus = {
+            "dbg": protection.dbg,
+            "pgm": protection.pgm,
+            "stim": protection.stim,
+            "daq": protection.daq,
+            "calpag": protection.calpag,
+        }
+
+    def cond_unlock(self, resources=None):
+        """Conditionally unlock resources, i.e. only unlock locked resources.
+
+        Precondition: Parameter "SEED_N_KEY_DLL" must be present and point to a valid DLL/SO.
+
+        Parameters
+        ----------
+        resources: str
+            Comma or space separated list of resources, e.g. "DAQ, CALPAG".
+            The names are not case-sensitive.
+            Valid identifiers are: "calpag", "daq", "dbg", "pgm", "stim".
+
+            If omitted, try to unlock every available resource.
+
+        Raises
+        ------
+        ValueError
+            Invalid resource name.
+
+        `dllif.SeedNKeyError`
+            In case of DLL related issues.
+        """
+        import re
+
+        from pyxcp.dllif import SeedNKeyError, SeedNKeyResult, getKey
+
+        MAX_PAYLOAD = self.slaveProperties["maxCto"] - 2
+
+        protection_status = self.getCurrentProtectionStatus()
+        if any(protection_status.values()) and (not (self.seed_n_key_dll or self.seed_n_key_function)):
+            raise RuntimeError("Neither seed-and-key DLL nor function specified, cannot proceed.")  # TODO: ConfigurationError
+        if resources is None:
+            result = []
+            if self.slaveProperties["supportsCalpag"]:
+                result.append("calpag")
+            if self.slaveProperties["supportsDaq"]:
+                result.append("daq")
+            if self.slaveProperties["supportsStim"]:
+                result.append("stim")
+            if self.slaveProperties["supportsPgm"]:
+                result.append("pgm")
+            resources = ",".join(result)
+        resource_names = [r.lower() for r in re.split(r"[ ,]", resources) if r]
+        for name in resource_names:
+            if name not in types.RESOURCE_VALUES:
+                raise ValueError(f"Invalid resource name {name!r}.")
+            if not protection_status[name]:
+                continue
+            resource_value = types.RESOURCE_VALUES[name]
+            result = self.getSeed(types.XcpGetSeedMode.FIRST_PART, resource_value)
+            seed = list(result.seed)
+            length = result.length
+            if length == 0:
+                continue
+            if length > MAX_PAYLOAD:
+                remaining = length - len(seed)
+                while remaining > 0:
+                    result = self.getSeed(types.XcpGetSeedMode.REMAINING, resource_value)
+                    seed.extend(list(result.seed))
+                    remaining -= result.length
+            self.logger.debug(f"Got seed {seed!r} for resource {resource_value!r}.")
+            if self.seed_n_key_function:
+                key = self.seed_n_key_function(resource_value, bytes(seed))
+                self.logger.debug(f"Using seed and key function {self.seed_n_key_function.__name__!r}().")
+                result = SeedNKeyResult.ACK
+            elif self.seed_n_key_dll:
+                self.logger.debug(f"Using seed and key DLL {self.seed_n_key_dll!r}.")
+                result, key = getKey(
+                    self.logger,
+                    self.seed_n_key_dll,
+                    resource_value,
+                    bytes(seed),
+                    self.seed_n_key_dll_same_bit_width,
+                )
+            if result == SeedNKeyResult.ACK:
+                key = list(key)
+                self.logger.debug(f"Unlocking resource {resource_value!r} with key {key!r}.")
+                remaining = len(key)
+                while key:
+                    data = key[:MAX_PAYLOAD]
+                    key_len = len(data)
+                    self.unlock(remaining, data)
+                    key = key[MAX_PAYLOAD:]
+                    remaining -= key_len
+            else:
+                raise SeedNKeyError(f"SeedAndKey DLL returned: {SeedNKeyResult(result).name!r}")
+
+    def identifier(self, id_value: int) -> str:
+        """Return the identifier for the given value.
+        Use this method instead of calling `getId()` directly.
+
+        Parameters
+        ----------
+        id_value: int
+            For standard identifiers, use the constants from `pyxcp.types.XcpGetIdType`.
+
+        Returns
+        -------
+        str
+        """
+        gid = self.getId(id_value)
+        if (gid.mode & 0x01) == 0x01:
+            value = bytes(gid.identification or b"")
+        else:
+            value = self.fetch(gid.length)
+        return decode_bytes(value)
+
+    def id_scanner(self, scan_ranges: Optional[Collection[Collection[int]]] = None) -> Dict[str, str]:
+        """Scan for available standard identification types (GET_ID).
+
+        Parameters
+        ----------
+        scan_ranges: Optional[Collection[Collection[int]]]
+
+        - If parameter is omitted or `None` test every standard identification type (s. GET_ID service)
+          plus extensions by Vector Informatik.
+        - Else `scan_ranges` must be a list-of-list.
+            e.g: [[12, 80], [123], [240, 16, 35]]
+                - The first list is a range (closed interval).
+                - The second is a single value.
+                - The third is a value list.
+
+        Returns
+        -------
+        Dict[str, str]
+
+        """
+        result = {}
+
+        def make_generator(sr):
+            STD_IDS = {int(v): k for k, v in types.XcpGetIdType.__members__.items()}
+            if sr is None:
+                scan_range = STD_IDS.keys()
+            else:
+                scan_range = []
+                if not isinstance(sr, Collection):
+                    raise TypeError("scan_ranges must be of type `Collection`")
+                for element in sr:
+                    if not isinstance(element, Collection):
+                        raise TypeError("scan_ranges elements must be of type `Collection`")
+                    if not element:
+                        raise ValueError("scan_ranges elements cannot be empty")
+                    if len(element) == 1:
+                        scan_range.append(element[0])  # Single value
+                    elif len(element) == 2:
+                        start, stop = element  # Value range
+                        scan_range.extend(list(range(start, stop + 1)))
+                    else:
+                        scan_range.extend(element)  # Value list.
+            scan_range = sorted(frozenset(scan_range))
+
+            def generate():
+                for idx, id_value in enumerate(scan_range):
+                    if id_value in STD_IDS:
+                        name = STD_IDS[id_value]
+                    else:
+                        name = f"USER_{idx}"
+                    yield id_value, name,
+
+            return generate()
+
+        gen = make_generator(scan_ranges)
+        for id_value, name in gen:
+            status, response = self.try_command(self.identifier, id_value)
+            if status == types.TryCommandResult.OK and response:
+                result[name] = response
+            elif status == types.TryCommandResult.XCP_ERROR and response.error_code == types.XcpError.ERR_CMD_UNKNOWN:
+                break  # Nothing to do here.
+            elif status == types.TryCommandResult.OTHER_ERROR:
+                raise RuntimeError(f"Error while scanning for ID {id_value}: {response!r}")
+        return result
+
+    @property
+    def start_datetime(self) -> int:
+        """"""
+        return self.transport.start_datetime
+
+    def try_command(self, cmd: Callable, *args, **kws) -> Tuple[types.TryCommandResult, Any]:
+        """Call master functions and handle XCP errors more gracefuly.
+
+        Parameter
+        ---------
+        cmd: Callable
+        args: list
+            variable length arguments to `cmd`.
+        kws: dict
+            keyword arguments to `cmd`.
+
+            `extra_msg`: str
+                Additional info to log message (not passed to `cmd`).
+
+        Returns
+        -------
+
+        Note
+        ----
+        Mainly used for plug-and-play applications, e.g. `id_scanner` may confronted with `ERR_OUT_OF_RANGE` errors, which
+        is normal for this kind of applications -- or to test for optional commands.
+        Use carefuly not to hide serious error causes.
+        """
+        try:
+            extra_msg: Optional[str] = kws.get("extra_msg")
+            if extra_msg:
+                kws.pop("extra_msg")
+            res = cmd(*args, **kws)
+        except SystemExit as e:
+            if e.error_code == types.XcpError.ERR_CMD_UNKNOWN:
+                # This is a rather common use-case, so let the user know that there is some functionality missing.
+                if extra_msg:
+                    self.logger.warning(f"Optional command {cmd.__name__!r} not implemented -- {extra_msg!r}")
+                else:
+                    self.logger.warning(f"Optional command {cmd.__name__!r} not implemented.")
+            return (types.TryCommandResult.XCP_ERROR, e)
+        except Exception as e:
+            return (types.TryCommandResult.OTHER_ERROR, e)
+        else:
+            return (types.TryCommandResult.OK, res)
+
+
+def ticks_to_seconds(ticks, resolution):
+    """Convert DAQ timestamp/tick value to seconds.
+
+    Parameters
+    ----------
+    ticks: int
+
+    unit: `GetDaqResolutionInfoResponse` as returned by :meth:`getDaqResolutionInfo`
+    """
+    warnings.warn(
+        "ticks_to_seconds() deprecated, use factory :func:`make_tick_converter` instead.",
+        Warning,
+        stacklevel=1,
+    )
+    return (10 ** types.DAQ_TIMESTAMP_UNIT_TO_EXP[resolution.timestampMode.unit]) * resolution.timestampTicks * ticks
+
+
+def make_tick_converter(resolution):
+    """Make a function that converts tick count from XCP slave to seconds.
+
+    Parameters
+    ----------
+    resolution: `GetDaqResolutionInfoResponse` as returned by :meth:`getDaqResolutionInfo`
+
+    """
+    exponent = types.DAQ_TIMESTAMP_UNIT_TO_EXP[resolution.timestampMode.unit]
+    tick_resolution = resolution.timestampTicks
+    base = (10**exponent) * tick_resolution
+
+    def ticks_to_seconds(ticks):
+        """Convert DAQ timestamp/tick value to seconds.
+
+        Parameters
+        ----------
+        ticks: int
+
+        Returns
+        -------
+        float
+        """
+        return base * ticks
+
+    return ticks_to_seconds