can_print_changes improvements

selfdrive/debug/can_print_changes.py

@@ -1,24 +1,18 @@
 #!/usr/bin/env python3
+import argparse
 import binascii
-import sys
+import time
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from common.realtime import sec_since_boot
+from tools.lib.logreader import logreader_from_route_or_segment
 
 
-def can_printer(bus=0):
+def update(msgs, bus, low_to_high, high_to_low, quiet=False):
-  """Collects messages and prints when a new bit transition is observed.
+  for x in msgs:
-  This is very useful to find signals based on user triggered actions, such as blinkers and seatbelt.
+    if x.which() != 'can':
-  Leave the script running until no new transitions are seen, then perform the action."""
+      continue
-  logcan = messaging.sub_sock('can')
 
-  low_to_high = defaultdict(int)
-  high_to_low = defaultdict(int)
-
-  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 == bus:
         i = int.from_bytes(y.dat, byteorder='big')
@@ -35,12 +29,47 @@ def can_printer(bus=0):
           high_to_low[y.address] = ~i | h_l
           change = "-"
 
-          if change:
+        if change and not quiet:
-            print(f"{sec_since_boot():.2f}\t{hex(y.address)} ({y.address})\t{change}{binascii.hexlify(y.dat)}")
+          print(f"{time.monotonic():.2f}\t{hex(y.address)} ({y.address})\t{change}{binascii.hexlify(y.dat)}")
 
 
-if __name__ == "__main__":
+def can_printer(bus=0, init_msgs=None, new_msgs=None):
-  if len(sys.argv) > 1:
+  logcan = messaging.sub_sock('can')
-    can_printer(int(sys.argv[1]))
+
+  low_to_high = defaultdict(int)
+  high_to_low = defaultdict(int)
+
+  if init_msgs is not None:
+    update(init_msgs, bus, low_to_high, high_to_low, quiet=True)
+
+  if new_msgs is not None:
+    update(new_msgs, bus, low_to_high, high_to_low)
   else:
-    can_printer()
+    # Live mode
+    while 1:
+      can_recv = messaging.drain_sock(logcan, wait_for_one=True)
+      update(can_recv, bus, low_to_high, high_to_low)
+
+
+if __name__ == "__main__":
+  desc = """Collects messages and prints when a new bit transition is observed.
+  This is very useful to find signals based on user triggered actions, such as blinkers and seatbelt.
+  Leave the script running until no new transitions are seen, then perform the action."""
+
+  parser = argparse.ArgumentParser(description=desc,
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
+
+  parser.add_argument("--init", type=str, help="Route or segment to initialize with")
+  parser.add_argument("--comp", type=str, help="Route or segment to compare against init")
+
+  args = parser.parse_args()
+
+  init_lr, new_lr = None, None
+  if args.init:
+    init_lr = logreader_from_route_or_segment(args.init)
+  if args.comp:
+    new_lr = logreader_from_route_or_segment(args.comp)
+
+  can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr)

tools/lib/logreader.py

@@ -5,8 +5,9 @@ import bz2
 import urllib.parse
 import capnp
 
-from tools.lib.filereader import FileReader
 from cereal import log as capnp_log
+from tools.lib.filereader import FileReader
+from tools.lib.route import Route, SegmentName
 
 # this is an iterator itself, and uses private variables from LogReader
 class MultiLogIterator:
@@ -99,6 +100,16 @@ class LogReader:
       else:
         yield ent
 
+
+def logreader_from_route_or_segment(r):
+  sn = SegmentName(r, allow_route_name=True)
+  route = Route(sn.route_name.canonical_name)
+  if sn.segment_num < 0:
+    return MultiLogIterator(route.log_paths())
+  else:
+    return LogReader(route.log_paths()[sn.segment_num])
+
+
 if __name__ == "__main__":
   import codecs
   # capnproto <= 0.8.0 throws errors converting byte data to string