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selfdrive/car/ecu_addrs: prefix internal functions with underscore (#32980)

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underscore prefix
old-commit-hash: c0739cd9ee41ccd372bd8cd816c44dfce4e3a8a2
This commit is contained in:
Dean Lee
2024-07-16 03:05:20 +08:00
committed by GitHub
parent e8c4fb0177
commit 34e307fd94
1 changed files with 6 additions and 6 deletions
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12
selfdrive/car/ecu_addrs.py
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@@ -10,7 +10,7 @@ from openpilot.selfdrive.pandad import can_list_to_can_capnp
from openpilot.common.swaglog import cloudlog from openpilot.common.swaglog import cloudlog
def make_tester_present_msg(addr, bus, subaddr=None): def _make_tester_present_msg(addr, bus, subaddr=None):
dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0] dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
if subaddr is not None: if subaddr is not None:
dat.insert(0, subaddr) dat.insert(0, subaddr)
@@ -19,7 +19,7 @@ def make_tester_present_msg(addr, bus, subaddr=None):
return make_can_msg(addr, bytes(dat), bus) return make_can_msg(addr, bytes(dat), bus)
def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool: def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
# ISO-TP messages are always padded to 8 bytes # ISO-TP messages are always padded to 8 bytes
# tester present response is always a single frame # tester present response is always a single frame
dat_offset = 1 if subaddr is not None else 0 dat_offset = 1 if subaddr is not None else 0
@@ -33,7 +33,7 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
return False return False
def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]: def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)] addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list} queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
responses = queries responses = queries
@@ -44,7 +44,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]: responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),) ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),)
try: try:
msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] msgs = [_make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
messaging.drain_sock_raw(logcan) messaging.drain_sock_raw(logcan)
sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan')) sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
@@ -58,7 +58,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
continue continue
subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0] subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr): if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
if debug: if debug:
print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}") print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
if (msg.address, subaddr, msg.src) in ecu_responses: if (msg.address, subaddr, msg.src) in ecu_responses:
@@ -94,7 +94,7 @@ if __name__ == "__main__":
set_obd_multiplexing(params, not args.no_obd) set_obd_multiplexing(params, not args.no_obd)
print("Getting ECU addresses ...") print("Getting ECU addresses ...")
ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug) ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
print() print()
print("Found ECUs on rx addresses:") print("Found ECUs on rx addresses:")