add table support

selfdrive/debug/can_print_changes.py

@@ -5,6 +5,7 @@ import time
 from collections import defaultdict
 
 import cereal.messaging as messaging
+from selfdrive.debug.can_table import can_table
 from tools.lib.logreader import logreader_from_route_or_segment
 
 RED = '\033[91m'
@@ -36,7 +37,7 @@ def update(msgs, bus, dat, low_to_high, high_to_low, quiet=False):
           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):
+def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False):
   logcan = messaging.sub_sock('can', timeout=10)
 
   dat = defaultdict(int)
@@ -62,6 +63,7 @@ def can_printer(bus=0, init_msgs=None, new_msgs=None):
       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]
@@ -69,9 +71,15 @@ def can_printer(bus=0, init_msgs=None, new_msgs=None):
     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)
 
+    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.
@@ -80,6 +88,7 @@ if __name__ == "__main__":
   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")
   parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init")
 
@@ -91,4 +100,4 @@ if __name__ == "__main__":
   if args.comp:
     new_lr = logreader_from_route_or_segment(args.comp)
 
-  can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr)
+  can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table)

selfdrive/debug/can_table.py

@@ -5,6 +5,19 @@ import pandas as pd  # pylint: disable=import-error
 import cereal.messaging as messaging
 
 
+def can_table(dat):
+  rows = []
+  for b in dat:
+    r = list(bin(b).lstrip('0b').zfill(8))
+    r += [hex(b)]
+    rows.append(r)
+
+  df = pd.DataFrame(data=rows)
+  df.columns = [str(n) for n in range(7, -1, -1)] + [' ']
+  table = df.to_markdown(tablefmt='grid')
+  return table
+
+
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Cabana-like table of bits for your terminal",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
@@ -28,13 +41,5 @@ if __name__ == "__main__":
     if latest is None:
       continue
 
-    rows = []
-    for b in latest.dat:
-      r = list(bin(b).lstrip('0b').zfill(8))
-      r += [hex(b)]
-      rows.append(r)
-
-    df = pd.DataFrame(data=rows)
-    df.columns = [str(n) for n in range(7, -1, -1)] + [' ']
-    table = df.to_markdown(tablefmt='grid')
+    table = can_table(latest.dat)
     print(f"\n\n{hex(addr)} ({addr}) on bus {args.bus}\n{table}")