openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

tools/lib/live_logreader.py

@@ -0,0 +1,31 @@
+import os
+from typing import List
+from cereal import log as capnp_log, messaging
+from cereal.services import SERVICE_LIST
+
+from openpilot.tools.lib.logreader import LogIterable, RawLogIterable
+
+
+ALL_SERVICES = list(SERVICE_LIST.keys())
+
+def raw_live_logreader(services: List[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> RawLogIterable:
+  if addr != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+
+  poller = messaging.Poller()
+
+  for m in services:
+    messaging.sub_sock(m, poller, addr=addr)
+
+  while True:
+    polld = poller.poll(100)
+    for sock in polld:
+      msg = sock.receive()
+      yield msg
+
+
+def live_logreader(services: List[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> LogIterable:
+  for m in raw_live_logreader(services, addr):
+    with capnp_log.Event.from_bytes(m) as evt:
+      yield evt