openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
 
 
 
 
 
 

45 lines
1.6 KiB

#!/usr/bin/env python3
import argparse
import binascii
from collections import defaultdict
import cereal.messaging as messaging
from common.realtime import sec_since_boot
def can_printer(bus, max_msg, addr, ascii_decode):
logcan = messaging.sub_sock('can', addr=addr)
start = sec_since_boot()
lp = sec_since_boot()
msgs = defaultdict(list)
while 1:
can_recv = messaging.drain_sock(logcan, wait_for_one=True)
for x in can_recv:
for y in x.can:
if y.src == bus:
msgs[y.address].append(y.dat)
if sec_since_boot() - lp > 0.1:
dd = chr(27) + "[2J"
dd += f"{sec_since_boot() - start:5.2f}\n"
for addr in sorted(msgs.keys()):
a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
freq = len(msgs[addr]) / (sec_since_boot() - start)
if max_msg is None or addr < max_msg:
dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a)
print(dd)
lp = sec_since_boot()
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="simple CAN data viewer",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
parser.add_argument("--max_msg", type=int, help="max addr")
parser.add_argument("--ascii", action='store_true', help="decode as ascii")
parser.add_argument("--addr", default="127.0.0.1")
args = parser.parse_args()
can_printer(args.bus, args.max_msg, args.addr, args.ascii)