wip

selfdrive/debug/can_printer.py

@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import argparse
+import binascii
+import time
+from collections import defaultdict
+
+import cereal.messaging as messaging
+
+
+def can_printer(bus, max_msg, addr, ascii_decode):
+  logcan = messaging.sub_sock('can', addr=addr)
+
+  start = time.monotonic()
+  lp = time.monotonic()
+  msgs = defaultdict(list)
+  while 1:
+    can_recv = messaging.drain_sock(logcan, wait_for_one=True)
+    for x in can_recv:
+      for y in x.can:
+        if y.src == bus:
+          msgs[y.address].append(y.dat)
+
+    if time.monotonic() - lp > 0.1:
+      dd = chr(27) + "[2J"
+      dd += f"{time.monotonic() - start:5.2f}\n"
+      for addr in sorted(msgs.keys()):
+        a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
+        x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
+        freq = len(msgs[addr]) / (time.monotonic() - start)
+        if max_msg is None or addr < max_msg:
+          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a)
+      print(dd)
+      lp = time.monotonic()
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="simple CAN data viewer",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+
+  parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
+  parser.add_argument("--max_msg", type=int, help="max addr")
+  parser.add_argument("--ascii", action='store_true', help="decode as ascii")
+  parser.add_argument("--addr", default="127.0.0.1")
+
+  args = parser.parse_args()
+  can_printer(args.bus, args.max_msg, args.addr, args.ascii)