diff --git a/selfdrive/debug/internal/toyota/blindspot.py b/selfdrive/debug/internal/toyota/blindspot.py deleted file mode 100755 index 32d9b38194..0000000000 --- a/selfdrive/debug/internal/toyota/blindspot.py +++ /dev/null @@ -1,152 +0,0 @@ -#!/usr/bin/env python3 -import zmq -import time -import random -from collections import defaultdict, OrderedDict - -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car.toyota.toyotacan import make_can_msg -import cereal.messaging as messaging -from cereal.services import service_list - - -fields = range(0, 256) -fields = [105, 225] -field_results = defaultdict(lambda: "\x00\x00") -cur_field = 97 - -def send(sendcan, addr, m): - packet = make_can_msg(addr, m, 0, False) - packets = can_list_to_can_capnp([packet], msgtype='sendcan') - sendcan.send(packets.to_bytes()) - - -def recv(can, addr): - received = False - r = [] - - while not received: - c = messaging.recv_one(can) - for msg in c.can: - if msg.address == addr: - r.append(msg) - received = True - return r - - -def recv_timeout(can, addr): - received = False - r = [] - t = time.time() - - while not received: - c = messaging.recv_one_or_none(can) - - if c is not None: - for msg in c.can: - if msg.address == addr: - r.append(msg) - received = True - - if time.time() - t > 0.05: - received = True - - return r - - -def print_hex(d): - s = map(ord, d) - s = "".join(["{:02X}".format(b) for b in s]) - print(s) - - -TYPES = { - 0: 'single', - 1: 'first', - 2: 'consecutive', - 3: 'flow' -} - -FIRST = "\x42\x02\xA8\x01\x00\x00\x00\x00" -CONTINUE = "\x42\x30\x01\x00\x00\x00\x00\x00" - -TEST_ON = "\x42\x02\x10\x60\x00\x00\x00\x00" -TEST_OFF = "\x42\x02\x10\x5F\x00\x00\x00\x00" - -POLL = "\x42\x02\x21\x69\x00\x00\x00\x00" - -prev_rcv_t = "" -recv_data = [] -l = 0 -index = 0 - - -can = messaging.sub_sock('can') -sendcan = messaging.pub_sock('sendcan') - -time.sleep(0.5) - -send(sendcan, 1872, FIRST) -results = [] - -test_mode = False - -while True: - # Send flow control if necessary - if prev_rcv_t == 'first' or prev_rcv_t == 'consecutive': - send(sendcan, 1872, CONTINUE) - - received = recv_timeout(can, 1880) - - if len(received) == 0: - print(chr(27) + "[2J") - print(time.time()) - if results[0] != "\x7F\x21\x31": - field_results[cur_field] = results[0] - else: - fields.remove(cur_field) - for k in fields: - if field_results[k] == "\x00\x00": - continue - print(k, end=' ') - print_hex(field_results[k]) - results = [] - - if not test_mode: - send(sendcan, 1872, TEST_ON) - test_mode = True - else: - cur_field = random.choice(fields) - send(sendcan, 1872, POLL.replace('\x69', chr(cur_field))) - - for r in received: - data = r.dat - - # Check message type - t = TYPES[ord(data[1]) >> 4] - if t == 'single': - l = ord(data[1]) & 0x0F - elif t == 'first': - a = ord(data[1]) & 0x0F - b = ord(data[2]) - l = b + (a << 8) - recv_data = [] - - prev_rcv_t = t - - if t == 'single': - recv_data = data[2: 2 + l] - results.append(recv_data) - if t == 'first': - index = 0 - recv_data += data[3: min(8, 3 + l)] - if t == 'consecutive': - index += 1 - assert index == ord(data[1]) & 0x0F - - pending_l = l - len(recv_data) - recv_data += data[2: min(8, 2 + pending_l)] - - if len(recv_data) == l: - prev_rcv_t = "" - results.append(recv_data) diff --git a/selfdrive/debug/internal/toyota/blindspot2.py b/selfdrive/debug/internal/toyota/blindspot2.py deleted file mode 100755 index 864849dff2..0000000000 --- a/selfdrive/debug/internal/toyota/blindspot2.py +++ /dev/null @@ -1,151 +0,0 @@ -#!/usr/bin/env python3 -import zmq -import time -import random -from collections import defaultdict, OrderedDict - -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car.toyota.toyotacan import make_can_msg -import cereal.messaging as messaging -from cereal.services import service_list - - -fields = range(0, 256) -# fields = [105, 225] -fields = [105] -field_results = defaultdict(lambda: "\x00\x00") -cur_field = 97 - -def send(sendcan, addr, m): - packet = make_can_msg(addr, m, 0, False) - packets = can_list_to_can_capnp([packet], msgtype='sendcan') - sendcan.send(packets.to_bytes()) - - -def recv(can, addr): - received = False - r = [] - - while not received: - c = messaging.recv_one(can) - for msg in c.can: - if msg.address == addr: - r.append(msg) - received = True - return r - - -def recv_timeout(can, addr): - received = False - r = [] - t = time.time() - - while not received: - c = messaging.recv_one_or_none(can) - - if c is not None: - for msg in c.can: - if msg.address == addr: - r.append(msg) - received = True - - if time.time() - t > 0.05: - received = True - - return r - - -def print_hex(d): - s = map(ord, d) - s = "".join(["{:02X}".format(b) for b in s]) - print(s) - - -TYPES = { - 0: 'single', - 1: 'first', - 2: 'consecutive', - 3: 'flow' -} - -FIRST = "\xFF\x02\xA8\x01\x00\x00\x00\x00" -CONTINUE = "\xFF\x30\x01\x00\x00\x00\x00\x00" -TEST_ON = "\xFF\x02\x10\x01\x00\x00\x00\x00" -POLL = "\xFF\x02\x21\x69\x00\x00\x00\x00" - -prev_rcv_t = "" -recv_data = [] -l = 0 -index = 0 - - -can = messaging.sub_sock('can') -sendcan = messaging.pub_sock('sendcan') - -time.sleep(0.5) - -send(sendcan, 1872, FIRST) -results = [] - -test_mode = False - -while True: - # Send flow control if necessary - if prev_rcv_t == 'first' or prev_rcv_t == 'consecutive': - send(sendcan, 1872, CONTINUE) - - received = recv_timeout(can, 1880) - - if len(received) == 0: - print_hex(results[0]) - # print chr(27) + "[2J" - # print time.time() - # if results[0] != "\x7F\x21\x31": - # field_results[cur_field] = results[0] - # else: - # fields.remove(cur_field) - # for k in fields: - # if field_results[k] == "\x00\x00": - # continue - # print k, - # print_hex(field_results[k]) - results = [] - - if not test_mode: - send(sendcan, 1872, TEST_ON) - test_mode = True - else: - cur_field = random.choice(fields) - send(sendcan, 1872, POLL.replace('\x69', chr(cur_field))) - - for r in received: - data = r.dat - - # Check message type - t = TYPES[ord(data[1]) >> 4] - if t == 'single': - l = ord(data[1]) & 0x0F - elif t == 'first': - a = ord(data[1]) & 0x0F - b = ord(data[2]) - l = b + (a << 8) - recv_data = [] - - prev_rcv_t = t - - if t == 'single': - recv_data = data[2: 2 + l] - results.append(recv_data) - if t == 'first': - index = 0 - recv_data += data[3: min(8, 3 + l)] - if t == 'consecutive': - index += 1 - assert index == ord(data[1]) & 0x0F - - pending_l = l - len(recv_data) - recv_data += data[2: min(8, 2 + pending_l)] - - if len(recv_data) == l: - prev_rcv_t = "" - results.append(recv_data) diff --git a/selfdrive/debug/internal/toyota/blinker_toyota.py b/selfdrive/debug/internal/toyota/blinker_toyota.py deleted file mode 100755 index d1faf81505..0000000000 --- a/selfdrive/debug/internal/toyota/blinker_toyota.py +++ /dev/null @@ -1,41 +0,0 @@ -#!/usr/bin/env python3 -import zmq -import time -from collections import defaultdict, OrderedDict - -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car.toyota.toyotacan import make_can_msg -import cereal.messaging as messaging -from cereal.services import service_list - -can = messaging.sub_sock('can') -sendcan = messaging.pub_sock('sendcan') - - -BEFORE = [ -"\x10\x15\x30\x0B\x00\x00\x00\x00", -"\x21\x00\x00\x00\x00\x00\x00\x00", -] - -LEFT = "\x22\x00\x00\x08\x00\x00\x00\x00" -RIGHT = "\x22\x00\x00\x04\x00\x00\x00\x00" -OFF = "\x22\x00\x00\x00\x00\x00\x00\x00" - -AFTER = "\x23\x00\x00\x00\x00\x00\x00\x00" - -i = 0 -j = 0 -while True: - i += 1 - - if i % 10 == 0: - j += 1 - - cur = RIGHT if j % 2 == 0 else OFF - can_list = [make_can_msg(1984, d, 0, False) for d in BEFORE] - can_list.append(make_can_msg(1984, cur, 0, False)) - can_list.append(make_can_msg(1984, AFTER, 0, False)) - - for m in can_list: - sendcan.send(can_list_to_can_capnp([m], msgtype='sendcan').to_bytes()) - time.sleep(0.01) diff --git a/selfdrive/debug/internal/toyota/continental_radar.py b/selfdrive/debug/internal/toyota/continental_radar.py deleted file mode 100755 index 74219a74f0..0000000000 --- a/selfdrive/debug/internal/toyota/continental_radar.py +++ /dev/null @@ -1,61 +0,0 @@ -#!/usr/bin/env python3 -import zmq -import time -from collections import defaultdict, OrderedDict - -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car.toyota.toyotacan import make_can_msg -import cereal.messaging as messaging -from cereal.services import service_list - - -def send(sendcan, addr, m): - packet = make_can_msg(addr, m, 0, False) - packets = can_list_to_can_capnp([packet], msgtype='sendcan') - sendcan.send(packets.to_bytes()) - - -def recv_timeout(can, addr): - received = False - r = [] - t = time.time() - - while not received: - c = messaging.recv_one_or_none(can) - - if c is not None: - for msg in c.can: - if msg.address == addr: - r.append(msg) - received = True - - if time.time() - t > 0.1: - received = True - - return r - - -can = messaging.sub_sock('can') -sendcan = messaging.pub_sock('sendcan') - -PUBLIC = 0 -PRIVATE = 1 - -time.sleep(0.5) - -# 1, 112 - -TEST_ON = "\xFF\x02\x10\x70\x00\x00\x00\x00" -POLL = "\xFF\x02\x21\x69\x00\x00\x00\x00" -send(sendcan, 1872, TEST_ON) -r = recv_timeout(can, 1880) -print(r) - - -for i in range(0, 256): - send(sendcan, 1872, POLL.replace('\x69', chr(i))) - r = recv_timeout(can, 1880) - if len(r): - print(i, end=' ') - for m in r: - print(m.dat.encode('hex')) diff --git a/selfdrive/debug/internal/toyota/simple_can_printer.py b/selfdrive/debug/internal/toyota/simple_can_printer.py deleted file mode 100755 index 77d6e2900d..0000000000 --- a/selfdrive/debug/internal/toyota/simple_can_printer.py +++ /dev/null @@ -1,26 +0,0 @@ -#!/usr/bin/env python3 -import zmq -from collections import OrderedDict -import cereal.messaging as messaging -from cereal.services import service_list - -can = messaging.sub_sock('can') - -addr = OrderedDict() - -while True: - c = messaging.recv_one(can) - for msg in c.can: - s = map(ord, msg.dat) - s = "".join(["\\x{:02X}".format(b) for b in s]) - s = "\"" + s + "\"," - - if msg.address == 1872: - print("s:", s) - if msg.address == 1880: - print("r:", s) - - if msg.address not in addr: - addr[msg.address] = list() - if msg.dat not in addr[msg.address]: - addr[msg.address].append(s) diff --git a/selfdrive/debug/internal/toyota/sonar.py b/selfdrive/debug/internal/toyota/sonar.py deleted file mode 100755 index ccc64280b8..0000000000 --- a/selfdrive/debug/internal/toyota/sonar.py +++ /dev/null @@ -1,159 +0,0 @@ -#!/usr/bin/env python3 -import sys -import zmq -import os -import time -import random -from collections import defaultdict, OrderedDict - -from selfdrive.boardd.boardd import can_list_to_can_capnp -from selfdrive.car.toyota.toyotacan import make_can_msg -import cereal.messaging as messaging -from cereal.services import service_list - -changing = [] -fields = range(0, 256) -# fields = [225, 50, 39, 40] -fields = [50] -field_results = defaultdict(lambda: "\x00\x00") -cur_field = 97 - -def send(sendcan, addr, m): - packet = make_can_msg(addr, m, 0, False) - packets = can_list_to_can_capnp([packet], msgtype='sendcan') - sendcan.send(packets.to_bytes()) - - -def recv(can, addr): - received = False - r = [] - - while not received: - c = messaging.recv_one(can) - for msg in c.can: - if msg.address == addr: - r.append(msg) - received = True - return r - - -def recv_timeout(can, addr): - received = False - r = [] - t = time.time() - - while not received: - c = messaging.recv_one_or_none(can) - - if c is not None: - for msg in c.can: - if msg.address == addr: - r.append(msg) - received = True - - if time.time() - t > 0.05: - received = True - - return r - - -def print_hex(d): - s = map(ord, d) - s = "".join(["{:02X}".format(b) for b in s]) - print(s) - - -TYPES = { - 0: 'single', - 1: 'first', - 2: 'consecutive', - 3: 'flow' -} - -CONTINUE = "\x67\x30\x01\x00\x00\x00\x00\x00" -TEST_ON = "\x67\x02\x10\x74\x00\x00\x00\x00" -POLL = "\x67\x02\x21\x69\x00\x00\x00\x00" -# POLL = "\x67\x02\x10\x69\x00\x00\x00\x00" - -prev_rcv_t = "" -recv_data = [] -l = 0 -index = 0 - - -can = messaging.sub_sock('can') -sendcan = messaging.pub_sock('sendcan') - -time.sleep(0.5) - -results = [] - -test_mode = False - -while True: - # Send flow control if necessary - if prev_rcv_t == 'first' or prev_rcv_t == 'consecutive': - send(sendcan, 1872, CONTINUE) - - received = recv_timeout(can, 1880) - - if len(received) == 0: - sys.stdout.flush() - print(chr(27) + "[2J") - print(time.time()) - print(changing) - - if len(results): - if results[0] != "\x7F\x21\x31": - old = field_results[cur_field] - if old != '\x00\x00' and old != results[0] and cur_field not in changing: - changing.append(cur_field) - field_results[cur_field] = results[0] - else: - fields.remove(cur_field) - - for k in fields: - # if field_results[k] == "\x00\x00": - # continue - print(k, end=' ') - print_hex(field_results[k]) - results = [] - - if not test_mode: - send(sendcan, 1872, TEST_ON) - test_mode = True - else: - cur_field = random.choice(fields) - send(sendcan, 1872, POLL.replace('\x69', chr(cur_field))) - - for r in received: - data = r.dat - - # Check message type - t = TYPES[ord(data[1]) >> 4] - if t == 'single': - l = ord(data[1]) & 0x0F - elif t == 'first': - a = ord(data[1]) & 0x0F - b = ord(data[2]) - l = b + (a << 8) - recv_data = [] - - prev_rcv_t = t - - if t == 'single': - recv_data = data[2: 2 + l] - results.append(recv_data) - if t == 'first': - index = 0 - recv_data += data[3: min(8, 3 + l)] - if t == 'consecutive': - index += 1 - assert index == ord(data[1]) & 0x0F - - pending_l = l - len(recv_data) - recv_data += data[2: min(8, 2 + pending_l)] - - if len(recv_data) == l: - prev_rcv_t = "" - results.append(recv_data)