From bcf66c127155b9106449ae890a5b288290ff0035 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 10 Mar 2022 17:06:13 -0800 Subject: [PATCH] this is pretty nice now --- selfdrive/debug/can_print_changes.py | 45 ++++++++++++++++++++-------- 1 file changed, 32 insertions(+), 13 deletions(-) diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index 7e49487b..2f31118e 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -7,16 +7,19 @@ from collections import defaultdict import cereal.messaging as messaging from tools.lib.logreader import logreader_from_route_or_segment +RED = '\033[91m' +CLEAR = '\033[0m' -def update(msgs, bus, low_to_high, high_to_low, quiet=False): +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: - i = int.from_bytes(y.dat, byteorder='big') + 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] @@ -34,35 +37,51 @@ def update(msgs, bus, low_to_high, high_to_low, quiet=False): def can_printer(bus=0, init_msgs=None, new_msgs=None): - logcan = messaging.sub_sock('can') + 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, low_to_high, high_to_low, quiet=True) + 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, low_to_high, high_to_low) + update(new_msgs, bus, dat, low_to_high, high_to_low) else: # Live mode - while 1: - can_recv = messaging.drain_sock(logcan, wait_for_one=True) - update(can_recv, bus, low_to_high, high_to_low) + 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") + 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]]) + print(f"{hex(addr).ljust(6)}({str(addr).ljust(4)})", byts) 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("init", type=str, help="Route or segment to initialize with") - parser.add_argument("comp", type=str, help="Route or segment to compare against init") + parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with") + parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init") args = parser.parse_args()