mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-04 21:12:07 +08:00
Adeeb Shihadeh
76 lines
2.3 KiB
Python
Executable File
76 lines
2.3 KiB
Python
Executable File
#!/usr/bin/env python3
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import argparse
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import binascii
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import time
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from collections import defaultdict
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import cereal.messaging as messaging
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from tools.lib.logreader import logreader_from_route_or_segment
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def update(msgs, bus, low_to_high, high_to_low, quiet=False):
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for x in msgs:
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if x.which() != 'can':
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continue
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for y in x.can:
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if y.src == bus:
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i = int.from_bytes(y.dat, byteorder='big')
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l_h = low_to_high[y.address]
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h_l = high_to_low[y.address]
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change = None
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if (i | l_h) != l_h:
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low_to_high[y.address] = i | l_h
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change = "+"
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if (~i | h_l) != h_l:
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high_to_low[y.address] = ~i | h_l
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change = "-"
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if change and not quiet:
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print(f"{time.monotonic():.2f}\t{hex(y.address)} ({y.address})\t{change}{binascii.hexlify(y.dat)}")
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def can_printer(bus=0, init_msgs=None, new_msgs=None):
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logcan = messaging.sub_sock('can')
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low_to_high = defaultdict(int)
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high_to_low = defaultdict(int)
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if init_msgs is not None:
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update(init_msgs, bus, low_to_high, high_to_low, quiet=True)
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if new_msgs is not None:
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update(new_msgs, bus, low_to_high, high_to_low)
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else:
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# Live mode
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while 1:
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can_recv = messaging.drain_sock(logcan, wait_for_one=True)
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update(can_recv, bus, low_to_high, high_to_low)
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if __name__ == "__main__":
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desc = """Collects messages and prints when a new bit transition is observed.
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This is very useful to find signals based on user triggered actions, such as blinkers and seatbelt.
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Leave the script running until no new transitions are seen, then perform the action."""
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parser = argparse.ArgumentParser(description=desc,
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formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0)
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parser.add_argument("init", type=str, help="Route or segment to initialize with")
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parser.add_argument("comp", type=str, help="Route or segment to compare against init")
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args = parser.parse_args()
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init_lr, new_lr = None, None
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if args.init:
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init_lr = logreader_from_route_or_segment(args.init)
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if args.comp:
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new_lr = logreader_from_route_or_segment(args.comp)
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can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr)
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