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We dont need toyota debug folder

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old-commit-hash: aa84d05c6c
commatwo_master
Willem Melching 5 years ago
parent 21d7ad1e51
commit 17d28e3ffc
6 changed files with 0 additions and 590 deletions
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  1. 152
      selfdrive/debug/internal/toyota/blindspot.py
  2. 151
      selfdrive/debug/internal/toyota/blindspot2.py
  3. 41
      selfdrive/debug/internal/toyota/blinker_toyota.py
  4. 61
      selfdrive/debug/internal/toyota/continental_radar.py
  5. 26
      selfdrive/debug/internal/toyota/simple_can_printer.py
  6. 159
      selfdrive/debug/internal/toyota/sonar.py

152
selfdrive/debug/internal/toyota/blindspot.py
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#!/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)

151
selfdrive/debug/internal/toyota/blindspot2.py
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#!/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)

41
selfdrive/debug/internal/toyota/blinker_toyota.py
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#!/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)

61
selfdrive/debug/internal/toyota/continental_radar.py
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@ -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'))

26
selfdrive/debug/internal/toyota/simple_can_printer.py
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@ -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)

159
selfdrive/debug/internal/toyota/sonar.py
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@ -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)
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