Release 260111

panda/tests/can_printer.py

@@ -0,0 +1,46 @@
+#!/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()