selfdrive/debug: view iso-tp communication from logs (#31217)
* add
* some clean up
* more clean up
* add
* ltl
* add todo
* rm
* use default_mode
---------
Co-authored-by: Justin Newberry <justin@comma.ai>
old-commit-hash: 50cb6f819d
pull/32199/head
parent
223b1ed065
commit
59bf311b0f
1 changed files with 46 additions and 0 deletions
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#!/usr/bin/env python3 |
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import argparse |
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from openpilot.tools.lib.logreader import LogReader, ReadMode |
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from panda.python import uds |
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def main(route: str, addrs: list[int]): |
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""" |
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TODO: |
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- highlight TX vs RX clearly |
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- disambiguate sendcan and can (useful to know if something sent on sendcan made it to the bus on can->128) |
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- print as fixed width table, easier to read |
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""" |
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lr = LogReader(route, default_mode=ReadMode.RLOG) |
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start_mono_time = None |
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prev_mono_time = 0 |
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# include rx addresses |
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addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs] |
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for msg in lr: |
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if msg.which() == 'can': |
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if start_mono_time is None: |
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start_mono_time = msg.logMonoTime |
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if msg.which() in ("can", 'sendcan'): |
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for can in getattr(msg, msg.which()): |
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if can.address in addrs: |
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if msg.logMonoTime != prev_mono_time: |
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print() |
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prev_mono_time = msg.logMonoTime |
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print(f"{msg.logMonoTime} rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " + |
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f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}") |
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if __name__ == "__main__": |
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parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address') |
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parser.add_argument('route', help='Route name') |
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parser.add_argument('addrs', nargs='*', help='List of tx address to view (0x7e0 for engine)') |
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args = parser.parse_args() |
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addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs] |
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main(args.route, addrs) |
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