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44 lines
1.3 KiB
44 lines
1.3 KiB
#!/usr/bin/env python
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import os
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import sys
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from collections import defaultdict
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from common.realtime import sec_since_boot
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import zmq
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import selfdrive.messaging as messaging
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from selfdrive.services import service_list
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def can_printer(bus=0, max_msg=None, addr="127.0.0.1"):
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context = zmq.Context()
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logcan = messaging.sub_sock(context, service_list['can'].port, addr=addr)
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start = sec_since_boot()
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lp = sec_since_boot()
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msgs = defaultdict(list)
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canbus = int(os.getenv("CAN", bus))
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while 1:
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can_recv = messaging.drain_sock(logcan, wait_for_one=True)
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for x in can_recv:
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for y in x.can:
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if y.src == canbus:
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msgs[y.address].append(y.dat)
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if sec_since_boot() - lp > 0.1:
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dd = chr(27) + "[2J"
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dd += "%5.2f\n" % (sec_since_boot() - start)
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for k,v in sorted(zip(msgs.keys(), map(lambda x: x[-1].encode("hex"), msgs.values()))):
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if max_msg is None or k < max_msg:
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dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v)
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print(dd)
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lp = sec_since_boot()
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if __name__ == "__main__":
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if len(sys.argv) > 3:
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can_printer(int(sys.argv[1]), int(sys.argv[2]), sys.argv[3])
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elif len(sys.argv) > 2:
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can_printer(int(sys.argv[1]), int(sys.argv[2]))
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elif len(sys.argv) > 1:
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can_printer(int(sys.argv[1]))
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else:
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can_printer()
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