From 768bea48d04f8f6e517db0458c1d979b00508c89 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 21 Feb 2022 19:42:46 -0800
Subject: [PATCH] cabana for your terminal

---
 selfdrive/debug/can_table.py | 39 ++++++++++++++++++++++++++++++++++++
 1 file changed, 39 insertions(+)
 create mode 100755 selfdrive/debug/can_table.py

diff --git a/selfdrive/debug/can_table.py b/selfdrive/debug/can_table.py
new file mode 100755
index 000000000..156984905
--- /dev/null
+++ b/selfdrive/debug/can_table.py
@@ -0,0 +1,39 @@
+#!/usr/bin/env python3
+import argparse
+import pandas as pd  # pylint: disable=import-error
+
+import cereal.messaging as messaging
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Cabana-like table of bits for your terminal",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("addr", type=str, nargs=1)
+  parser.add_argument("bus", type=int, default=0, nargs='?')
+
+  args = parser.parse_args()
+
+  addr = int(args.addr[0], 0)
+  can = messaging.sub_sock('can', conflate=False, timeout=None)
+
+  print(f"waiting for {hex(addr)} ({addr}) on bus {args.bus}...")
+
+  latest = None
+  while True:
+    for msg in messaging.drain_sock(can, wait_for_one=True):
+      for m in msg.can:
+        if m.address == addr and m.src == args.bus:
+          latest = m
+
+    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)
+    table = df.to_markdown(tablefmt='grid')
+    print(f"\n\n{hex(addr)} ({addr}) on bus {args.bus}\n{table}")