openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

43 lines
1.2 KiB

5 years ago
#!/usr/bin/env python3
import binascii
import os
import sys
from collections import defaultdict
import cereal.messaging as messaging
from common.realtime import sec_since_boot
def can_printer(bus=0, max_msg=None, addr="127.0.0.1"):
logcan = messaging.sub_sock('can', addr=addr)
start = sec_since_boot()
lp = sec_since_boot()
msgs = defaultdict(list)
canbus = int(os.getenv("CAN", bus))
while 1:
can_recv = messaging.drain_sock(logcan, wait_for_one=True)
for x in can_recv:
for y in x.can:
if y.src == canbus:
msgs[y.address].append(y.dat)
if sec_since_boot() - lp > 0.1:
dd = chr(27) + "[2J"
dd += "%5.2f\n" % (sec_since_boot() - start)
for k,v in sorted(zip(msgs.keys(), map(lambda x: binascii.hexlify(x[-1]), msgs.values()))):
if max_msg is None or k < max_msg:
dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v.decode('ascii'))
print(dd)
lp = sec_since_boot()
if __name__ == "__main__":
if len(sys.argv) > 3:
can_printer(int(sys.argv[1]), int(sys.argv[2]), sys.argv[3])
elif len(sys.argv) > 2:
can_printer(int(sys.argv[1]), int(sys.argv[2]))
elif len(sys.argv) > 1:
can_printer(int(sys.argv[1]))
else:
can_printer()