mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-10-27 16:43:59 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
47 lines
1.1 KiB
Python
Executable File
47 lines
1.1 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import os
|
|
import time
|
|
from collections import defaultdict
|
|
import binascii
|
|
|
|
from opendbc.car.structs import CarParams
|
|
from panda import Panda
|
|
|
|
# fake
|
|
def sec_since_boot():
|
|
return time.time()
|
|
|
|
def can_printer():
|
|
p = Panda()
|
|
print(f"Connected to id: {p.get_serial()[0]}: {p.get_version()}")
|
|
time.sleep(1)
|
|
|
|
p.can_clear(0xFFFF)
|
|
p.set_safety_mode(CarParams.SafetyModel.allOutput)
|
|
|
|
start = sec_since_boot()
|
|
lp = sec_since_boot()
|
|
all_msgs = defaultdict(list)
|
|
|
|
canbus = os.getenv("CAN")
|
|
if canbus == "3":
|
|
p.set_obd(True)
|
|
canbus = "1"
|
|
|
|
while True:
|
|
can_recv = p.can_recv()
|
|
for addr, dat, bus in can_recv:
|
|
if canbus is None or str(bus) == canbus:
|
|
all_msgs[(addr, bus)].append((dat))
|
|
|
|
if sec_since_boot() - lp > 0.1:
|
|
dd = chr(27) + "[2J"
|
|
dd += "%5.2f\n" % (sec_since_boot() - start)
|
|
for (addr, bus), dat_log in sorted(all_msgs.items()):
|
|
dd += "%d: %s(%6d): %s\n" % (bus, "%04X(%4d)" % (addr, addr), len(dat_log), binascii.hexlify(dat_log[-1]).decode())
|
|
print(dd)
|
|
lp = sec_since_boot()
|
|
|
|
if __name__ == "__main__":
|
|
can_printer()
|