openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/debug/dump.py

@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+import os
+import sys
+import argparse
+import json
+import codecs
+import cereal.messaging as messaging
+
+from hexdump import hexdump
+from cereal import log
+from cereal.services import SERVICE_LIST
+
+codecs.register_error("strict", codecs.backslashreplace_errors)
+
+if __name__ == "__main__":
+
+  parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')
+  parser.add_argument('--pipe', action='store_true')
+  parser.add_argument('--raw', action='store_true')
+  parser.add_argument('--json', action='store_true')
+  parser.add_argument('--dump-json', action='store_true')
+  parser.add_argument('--no-print', action='store_true')
+  parser.add_argument('--addr', default='127.0.0.1')
+  parser.add_argument('--values', help='values to monitor (instead of entire event)')
+  parser.add_argument("socket", type=str, nargs='*', help="socket names to dump. defaults to all services defined in cereal")
+  args = parser.parse_args()
+
+  if args.addr != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+
+  poller = messaging.Poller()
+
+  for m in args.socket if len(args.socket) > 0 else SERVICE_LIST:
+    messaging.sub_sock(m, poller, addr=args.addr)
+
+  values = None
+  if args.values:
+    values = [s.strip().split(".") for s in args.values.split(",")]
+
+  while 1:
+    polld = poller.poll(100)
+    for sock in polld:
+      msg = sock.receive()
+      with log.Event.from_bytes(msg) as log_evt:
+        evt = log_evt
+
+      if not args.no_print:
+        if args.pipe:
+          sys.stdout.write(msg)
+          sys.stdout.flush()
+        elif args.raw:
+          hexdump(msg)
+        elif args.json:
+          print(json.loads(msg))
+        elif args.dump_json:
+          print(json.dumps(evt.to_dict()))
+        elif values:
+          print(f"logMonotime = {evt.logMonoTime}")
+          for value in values:
+            if hasattr(evt, value[0]):
+              item = evt
+              for key in value:
+                item = getattr(item, key)
+              print(f"{'.'.join(value)} = {item}")
+          print("")
+        else:
+          try:
+            print(evt)
+          except UnicodeDecodeError:
+            w = evt.which()
+            s = f"( logMonoTime {evt.logMonoTime} \n  {w} = "
+            s += str(evt.__getattr__(w))
+            s += f"\n  valid = {evt.valid} )"
+            print(s)