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109 lines
3.4 KiB
109 lines
3.4 KiB
#!/usr/bin/env python3
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import argparse
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import binascii
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import time
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from collections import defaultdict
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import cereal.messaging as messaging
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from openpilot.selfdrive.debug.can_table import can_table
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from openpilot.tools.lib.logreader import LogIterable, LogReader
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RED = '\033[91m'
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CLEAR = '\033[0m'
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def update(msgs, bus, dat, low_to_high, high_to_low, quiet=False):
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for x in msgs:
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if x.which() != 'can':
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continue
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for y in x.can:
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if y.src == bus:
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dat[y.address] = y.dat
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i = int.from_bytes(y.dat, byteorder='big')
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l_h = low_to_high[y.address]
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h_l = high_to_low[y.address]
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change = None
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if (i | l_h) != l_h:
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low_to_high[y.address] = i | l_h
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change = "+"
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if (~i | h_l) != h_l:
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high_to_low[y.address] = ~i | h_l
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change = "-"
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if change and not quiet:
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print(f"{time.monotonic():.2f}\t{hex(y.address)} ({y.address})\t{change}{binascii.hexlify(y.dat)}")
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def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False):
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logcan = messaging.sub_sock('can', timeout=10)
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dat = defaultdict(int)
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low_to_high = defaultdict(int)
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high_to_low = defaultdict(int)
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if init_msgs is not None:
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update(init_msgs, bus, dat, low_to_high, high_to_low, quiet=True)
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low_to_high_init = low_to_high.copy()
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high_to_low_init = high_to_low.copy()
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if new_msgs is not None:
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update(new_msgs, bus, dat, low_to_high, high_to_low)
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else:
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# Live mode
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print(f"Waiting for messages on bus {bus}")
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try:
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while 1:
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can_recv = messaging.drain_sock(logcan)
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update(can_recv, bus, dat, low_to_high, high_to_low)
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time.sleep(0.02)
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except KeyboardInterrupt:
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pass
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print("\n\n")
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tables = ""
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for addr in sorted(dat.keys()):
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init = low_to_high_init[addr] & high_to_low_init[addr]
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now = low_to_high[addr] & high_to_low[addr]
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d = now & ~init
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if d == 0:
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continue
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b = d.to_bytes(len(dat[addr]), byteorder='big')
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byts = ''.join([(c if c == '0' else f'{RED}{c}{CLEAR}') for c in str(binascii.hexlify(b))[2:-1]])
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header = f"{hex(addr).ljust(6)}({str(addr).ljust(4)})"
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print(header, byts)
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tables += f"{header}\n"
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tables += can_table(b) + "\n\n"
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if table:
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print(tables)
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if __name__ == "__main__":
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desc = """Collects messages and prints when a new bit transition is observed.
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This is very useful to find signals based on user triggered actions, such as blinkers and seatbelt.
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Leave the script running until no new transitions are seen, then perform the action."""
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parser = argparse.ArgumentParser(description=desc,
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
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parser.add_argument("--table", action="store_true", help="Print a cabana-like table")
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parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with. Use empty quotes to compare against all zeros.")
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parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init")
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args = parser.parse_args()
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init_lr: LogIterable | None = None
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new_lr: LogIterable | None = None
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if args.init:
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if args.init == '':
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init_lr = []
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else:
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init_lr = LogReader(args.init)
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if args.comp:
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new_lr = LogReader(args.comp)
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can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table)
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