carrot/selfdrive/debug/can_print_changes.py
Vehicle Researcher d64fb1838d openpilot v0.9.7 release
date: 2024-06-11T01:36:39
master commit: f8cb04e4a8b032b72a909f68b808a50936184bee
2024-06-11 16:32:27 -07:00

110 lines
3.4 KiB
Python
Executable File

#!/usr/bin/env python3
import argparse
import binascii
import time
from collections import defaultdict
import cereal.messaging as messaging
from openpilot.selfdrive.debug.can_table import can_table
from openpilot.tools.lib.logreader import LogIterable, LogReader
RED = '\033[91m'
CLEAR = '\033[0m'
def update(msgs, bus, dat, low_to_high, high_to_low, quiet=False):
for x in msgs:
if x.which() != 'can':
continue
for y in x.can:
if y.src == bus:
dat[y.address] = y.dat
i = int.from_bytes(y.dat, byteorder='big')
l_h = low_to_high[y.address]
h_l = high_to_low[y.address]
change = None
if (i | l_h) != l_h:
low_to_high[y.address] = i | l_h
change = "+"
if (~i | h_l) != h_l:
high_to_low[y.address] = ~i | h_l
change = "-"
if change and not quiet:
print(f"{time.monotonic():.2f}\t{hex(y.address)} ({y.address})\t{change}{binascii.hexlify(y.dat)}")
def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False):
logcan = messaging.sub_sock('can', timeout=10)
dat = defaultdict(int)
low_to_high = defaultdict(int)
high_to_low = defaultdict(int)
if init_msgs is not None:
update(init_msgs, bus, dat, low_to_high, high_to_low, quiet=True)
low_to_high_init = low_to_high.copy()
high_to_low_init = high_to_low.copy()
if new_msgs is not None:
update(new_msgs, bus, dat, low_to_high, high_to_low)
else:
# Live mode
print(f"Waiting for messages on bus {bus}")
try:
while 1:
can_recv = messaging.drain_sock(logcan)
update(can_recv, bus, dat, low_to_high, high_to_low)
time.sleep(0.02)
except KeyboardInterrupt:
pass
print("\n\n")
tables = ""
for addr in sorted(dat.keys()):
init = low_to_high_init[addr] & high_to_low_init[addr]
now = low_to_high[addr] & high_to_low[addr]
d = now & ~init
if d == 0:
continue
b = d.to_bytes(len(dat[addr]), byteorder='big')
byts = ''.join([(c if c == '0' else f'{RED}{c}{CLEAR}') for c in str(binascii.hexlify(b))[2:-1]])
header = f"{hex(addr).ljust(6)}({str(addr).ljust(4)})"
print(header, byts)
tables += f"{header}\n"
tables += can_table(b) + "\n\n"
if table:
print(tables)
if __name__ == "__main__":
desc = """Collects messages and prints when a new bit transition is observed.
This is very useful to find signals based on user triggered actions, such as blinkers and seatbelt.
Leave the script running until no new transitions are seen, then perform the action."""
parser = argparse.ArgumentParser(description=desc,
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
parser.add_argument("--table", action="store_true", help="Print a cabana-like table")
parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with. Use empty quotes to compare against all zeros.")
parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init")
args = parser.parse_args()
init_lr: LogIterable | None = None
new_lr: LogIterable | None = None
if args.init:
if args.init == '':
init_lr = []
else:
init_lr = LogReader(args.init)
if args.comp:
new_lr = LogReader(args.comp)
can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table)