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83 lines
2.6 KiB
83 lines
2.6 KiB
#!/usr/bin/env python
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import sys
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import argparse
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import zmq
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import json
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from hexdump import hexdump
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from threading import Thread
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from cereal import log
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import selfdrive.messaging as messaging
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from selfdrive.services import service_list
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def run_server(socketio):
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socketio.run(app, host='0.0.0.0', port=4000)
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if __name__ == "__main__":
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context = zmq.Context()
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poller = zmq.Poller()
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parser = argparse.ArgumentParser(description='Sniff a communcation socket')
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parser.add_argument('--pipe', action='store_true')
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parser.add_argument('--raw', action='store_true')
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parser.add_argument('--json', action='store_true')
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parser.add_argument('--dump-json', action='store_true')
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parser.add_argument('--no-print', action='store_true')
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parser.add_argument('--proxy', action='store_true', help='republish on localhost')
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parser.add_argument('--map', action='store_true')
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parser.add_argument('--addr', default='127.0.0.1')
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parser.add_argument("socket", type=str, nargs='*', help="socket name")
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args = parser.parse_args()
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republish_socks = {}
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for m in args.socket if len(args.socket) > 0 else service_list:
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if m in service_list:
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port = service_list[m].port
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elif m.isdigit():
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port = int(m)
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else:
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print("service not found")
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exit(-1)
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sock = messaging.sub_sock(context, port, poller, addr=args.addr)
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if args.proxy:
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republish_socks[sock] = messaging.pub_sock(context, port)
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if args.map:
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from flask.ext.socketio import SocketIO #pylint: disable=no-name-in-module, import-error
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from flask import Flask
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app = Flask(__name__)
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socketio = SocketIO(app, async_mode='threading')
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server_thread = Thread(target=run_server, args=(socketio,))
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server_thread.daemon = True
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server_thread.start()
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print 'server running'
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while 1:
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polld = poller.poll(timeout=1000)
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for sock, mode in polld:
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if mode != zmq.POLLIN:
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continue
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msg = sock.recv()
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evt = log.Event.from_bytes(msg)
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if sock in republish_socks:
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republish_socks[sock].send(msg)
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if args.map and evt.which() == 'liveLocation':
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print 'send loc'
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socketio.emit('location', {
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'lat': evt.liveLocation.lat,
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'lon': evt.liveLocation.lon,
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'alt': evt.liveLocation.alt,
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})
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if not args.no_print:
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if args.pipe:
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sys.stdout.write(msg)
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sys.stdout.flush()
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elif args.raw:
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hexdump(msg)
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elif args.json:
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print(json.loads(msg))
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elif args.dump_json:
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print json.dumps(evt.to_dict())
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else:
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print evt
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