mirror of
https://github.com/firestar5683/StarPilot.git
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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.
112 lines
3.6 KiB
Python
Executable File
112 lines
3.6 KiB
Python
Executable File
#!/usr/bin/env python3
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import csv
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import sys
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CSV_KEYS = {
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"logger": {
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"time": "Time",
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"message_id": "MessageID",
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"data": "Message",
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"bus": "Bus"
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},
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"cabana": {
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"time": "time",
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"message_id": "addr",
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"data": "data",
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"bus": "bus"
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}
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}
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class Message():
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"""Details about a specific message ID."""
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def __init__(self, message_id):
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self.message_id = message_id
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self.ones = [0] * 64 # bit set if 1 is always seen
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self.zeros = [0] * 64 # bit set if 0 is always seen
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def printBitDiff(self, other):
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"""Prints bits that transition from always zero to always 1 and vice versa."""
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for i in range(len(self.ones)):
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zero_to_one = other.zeros[i] & self.ones[i]
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if zero_to_one:
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print('id %s 0 -> 1 at byte %d bitmask %d' % (self.message_id, i, zero_to_one))
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one_to_zero = other.ones[i] & self.zeros[i]
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if one_to_zero:
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print('id %s 1 -> 0 at byte %d bitmask %d' % (self.message_id, i, one_to_zero))
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class Info():
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"""A collection of Messages."""
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def __init__(self):
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self.messages = {} # keyed by MessageID
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def load(self, filename, start, end):
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"""Given a CSV file, adds information about message IDs and their values."""
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with open(filename, newline='') as inp:
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reader = csv.DictReader(inp)
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dtype = None
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for row in reader:
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if not len(row):
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continue
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if dtype is None:
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dtype = "logger" if "Bus" in row else "cabana"
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time = float(row[CSV_KEYS[dtype]["time"]])
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bus = int(row[CSV_KEYS[dtype]["bus"]])
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if time < start or bus > 127:
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continue
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elif time > end:
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break
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message_id = row[CSV_KEYS[dtype]["message_id"]]
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if message_id.startswith('0x'):
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message_id = message_id[2:] # remove leading '0x'
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else:
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message_id = hex(int(message_id))[2:] # old message IDs are in decimal
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message_id = f'{bus}:{message_id}'
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data = row[CSV_KEYS[dtype]["data"]]
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if data.startswith('0x'):
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data = data[2:] # remove leading '0x'
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else:
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data = data
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new_message = False
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if message_id not in self.messages:
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self.messages[message_id] = Message(message_id)
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new_message = True
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message = self.messages[message_id]
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bts = bytearray.fromhex(data)
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for i in range(len(bts)):
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ones = int(bts[i])
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message.ones[i] = ones if new_message else message.ones[i] & ones
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# Inverts the data and masks it to a byte to get the zeros as ones.
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zeros = (~int(bts[i])) & 0xff
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message.zeros[i] = zeros if new_message else message.zeros[i] & zeros
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def PrintUnique(log_file, low_range, high_range):
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# find messages with bits that are always low
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start, end = list(map(float, low_range.split('-')))
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low = Info()
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low.load(log_file, start, end)
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# find messages with bits that are always high
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start, end = list(map(float, high_range.split('-')))
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high = Info()
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high.load(log_file, start, end)
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# print messages that go from low to high
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found = False
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for message_id in sorted(high.messages, key=lambda x: int(x.split(':')[1], 16)):
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if message_id in low.messages:
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high.messages[message_id].printBitDiff(low.messages[message_id])
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found = True
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if not found:
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print('No messages that transition from always low to always high found!')
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if __name__ == "__main__":
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if len(sys.argv) < 4:
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print('Usage:\n%s log.csv <low-start>-<low-end> <high-start>-<high-end>' % sys.argv[0])
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sys.exit(0)
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PrintUnique(sys.argv[1], sys.argv[2], sys.argv[3])
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