selfdrive/debug

old-commit-hash: f467642a1c

selfdrive/debug/dump.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python3
+import os
+import sys
+import argparse
+import json
+from hexdump import hexdump
+
+from cereal import log
+import cereal.messaging as messaging
+from cereal.services import service_list
+
+if __name__ == "__main__":
+
+  parser = argparse.ArgumentParser(description='Sniff a communcation socket')
+  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 name")
+  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:
+    sock = 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(1000)
+    for sock in polld:
+      msg = sock.receive()
+      evt = log.Event.from_bytes(msg)
+
+      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("logMonotime = {}".format(evt.logMonoTime))
+          for value in values:
+            if hasattr(evt, value[0]):
+              item = evt
+              for key in value:
+                item = getattr(item, key)
+              print("{} = {}".format(".".join(value), item))
+          print("")
+        else:
+          print(evt)