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40 lines
1.3 KiB
40 lines
1.3 KiB
#!/usr/bin/env python3
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import argparse
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import time
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import cereal.messaging as messaging
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from opendbc.car.ecu_addrs import get_all_ecu_addrs
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from openpilot.common.params import Params
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from openpilot.selfdrive.car.card import can_comm_callbacks, obd_callback
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
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parser.add_argument('--debug', action='store_true')
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parser.add_argument('--bus', type=int, default=1)
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parser.add_argument('--no-obd', action='store_true')
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parser.add_argument('--timeout', type=float, default=1.0)
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args = parser.parse_args()
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logcan = messaging.sub_sock('can')
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sendcan = messaging.pub_sock('sendcan')
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can_callbacks = can_comm_callbacks(logcan, sendcan)
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# Set up params for pandad
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params = Params()
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params.remove("FirmwareQueryDone")
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params.put_bool("IsOnroad", False)
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time.sleep(0.2) # thread is 10 Hz
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params.put_bool("IsOnroad", True)
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obd_callback(params)(not args.no_obd)
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print("Getting ECU addresses ...")
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ecu_addrs = get_all_ecu_addrs(*can_callbacks, args.bus, args.timeout, debug=args.debug)
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print()
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print("Found ECUs on rx addresses:")
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for addr, subaddr, _ in ecu_addrs:
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msg = f" {hex(addr)}"
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if subaddr is not None:
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msg += f" (sub-address: {hex(subaddr)})"
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print(msg)
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