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52 lines
1.9 KiB
52 lines
1.9 KiB
#!/usr/bin/env python3
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import argparse
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from opendbc.car import uds
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from openpilot.tools.lib.live_logreader import live_logreader
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from openpilot.tools.lib.logreader import LogReader, ReadMode
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def main(route: str | None, addrs: list[int], rxoffset: int | None):
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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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if route is None:
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lr = live_logreader()
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else:
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lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True)
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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, rxoffset) 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 or not len(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.which():>7}: rxaddr={can.address}, bus={str(can.src) + ',':<4} {round((msg.logMonoTime - start_mono_time) * 1e-6)} 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', nargs='?', help='Route name, live if not specified')
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parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)')
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parser.add_argument('--rxoffset', default='')
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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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rxoffset = int(args.rxoffset, base=16) if args.rxoffset else None
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main(args.route, addrs, rxoffset)
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