selfdrive/debug

old-commit-hash: f467642a1c

selfdrive/debug/can_printer.py

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+import binascii
+import os
+import sys
+from collections import defaultdict
+
+import cereal.messaging as messaging
+from common.realtime import sec_since_boot
+
+
+def can_printer(bus=0, max_msg=None, addr="127.0.0.1"):
+  logcan = messaging.sub_sock('can', addr=addr)
+
+  start = sec_since_boot()
+  lp = sec_since_boot()
+  msgs = defaultdict(list)
+  canbus = int(os.getenv("CAN", bus))
+  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 == canbus:
+          msgs[y.address].append(y.dat)
+
+    if sec_since_boot() - lp > 0.1:
+      dd = chr(27) + "[2J"
+      dd += "%5.2f\n" % (sec_since_boot() - start)
+      for k,v in sorted(zip(msgs.keys(), map(lambda x: binascii.hexlify(x[-1]), msgs.values()))):
+        if max_msg is None or k < max_msg:
+          dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v.decode('ascii'))
+      print(dd)
+      lp = sec_since_boot()
+
+if __name__ == "__main__":
+  if len(sys.argv) > 3:
+    can_printer(int(sys.argv[1]), int(sys.argv[2]), sys.argv[3])
+  elif len(sys.argv) > 2:
+    can_printer(int(sys.argv[1]), int(sys.argv[2]))
+  elif len(sys.argv) > 1:
+    can_printer(int(sys.argv[1]))
+  else:
+    can_printer()