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python 3 fixes for readRadarVin.py (commaai#133)
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* python 3 fixes for readRadarVin.py
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@rafcabezas
rafcabezas authored Dec 9, 2019
1 parent 8070c37 commit 1ddfa19
Showing 1 changed file with 24 additions and 23 deletions.
47 changes: 24 additions & 23 deletions selfdrive/car/tesla/radar_tools/readRadarVin.py
100644 → 100755
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Original file line number Diff line number Diff line change
@@ -1,8 +1,8 @@
#!/usr/bin/env python
#!/usr/bin/env python3
import time
import struct
from enum import IntEnum
from Queue import Queue, Empty
from queue import Queue, Empty
import threading
from binascii import hexlify

Expand Down Expand Up @@ -134,7 +134,7 @@ def _isotp_thread(panda, bus, tx_addr, tx_queue, rx_queue):
# send flow control message (send all bytes)
msg = "\x30\x00\x00".ljust(8, "\x00")
if (DEBUG): print("S: {} {}".format(hex(tx_addr), hexlify(msg)))
panda.can_send(tx_addr, msg, bus)
panda.can_send(tx_addr, msg.encode('utf-8'), bus)
elif rx_data[0] >> 4 == 0x2:
# consecutive rx frame
assert rx_frame["done"] == False, "rx: no active frame"
Expand All @@ -158,9 +158,9 @@ def _isotp_thread(panda, bus, tx_addr, tx_queue, rx_queue):
for i in range(start, end, 7):
tx_frame["idx"] += 1
# consecutive tx frames
msg = (chr(0x20 | (tx_frame["idx"] & 0xF)) + tx_frame["data"][i:i+7]).ljust(8, "\x00")
msg = (chr(0x20 | (tx_frame["idx"] & 0xF)) + tx_frame["data"][i:i+7]).ljust(8, b'\0')
if (DEBUG): print("S: {} {}".format(hex(tx_addr), hexlify(msg)))
panda.can_send(tx_addr, msg, bus)
panda.can_send(tx_addr, msg.encode('utf-8'), bus)
tx_frame["done"] = True

if not tx_queue.empty():
Expand All @@ -171,25 +171,25 @@ def _isotp_thread(panda, bus, tx_addr, tx_queue, rx_queue):
if tx_frame["size"] < 8:
# single frame
tx_frame["done"] = True
msg = (chr(tx_frame["size"]) + tx_frame["data"]).ljust(8, "\x00")
msg = (chr(tx_frame["size"]).encode("utf-8") + tx_frame["data"]).ljust(8, b'\0')
if (DEBUG): print("S: {} {}".format(hex(tx_addr), hexlify(msg)))
panda.can_send(tx_addr, msg, bus)
else:
# first rx_frame
tx_frame["done"] = False
msg = (struct.pack("!H", 0x1000 | tx_frame["size"]) + tx_frame["data"][:6]).ljust(8, "\x00")
msg = (struct.pack("!H", 0x1000 | tx_frame["size"]) + tx_frame["data"][:6]).ljust(8, b'\0')
if (DEBUG): print("S: {} {}".format(hex(tx_addr), hexlify(msg)))
panda.can_send(tx_addr, msg, bus)
panda.can_send(tx_addr, msg.encode('utf-8'), bus)
else:
time.sleep(0.01)
finally:
panda.close()

# generic uds request
def _uds_request(address, service_type, subfunction=None, data=None):
req = chr(service_type)
req = chr(service_type).encode('utf-8')
if subfunction is not None:
req += chr(subfunction)
req += chr(subfunction).encode('utf-8')
if data is not None:
req += data
tx_queue.put(req)
Expand All @@ -198,7 +198,8 @@ def _uds_request(address, service_type, subfunction=None, data=None):
try:
resp = rx_queue.get(block=True, timeout=10)
except Empty:
raise MessageTimeoutError("timeout waiting for response")
print("** Timeout waiting for response. Make sure ignition line is on.")
exit(1)
resp_sid = resp[0] if len(resp) > 0 else None

# negative response
Expand Down Expand Up @@ -710,30 +711,30 @@ def request_transfer_exit(address):
diagnostic_session_control(tx_addr, SESSION_TYPE.EXTENDED_DIAGNOSTIC)
print("reading VIN from radar...")
vin = read_data_by_identifier(tx_addr, DATA_IDENTIFIER_TYPE.VIN)
print("new VIN: {} [{}]".format(vin, hexlify(vin)))
print("new VIN: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))
vin = read_data_by_identifier(tx_addr, 0xA022)
print("plant mode: {} [{}]".format(vin, hexlify(vin)))
print("plant mode: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))
vin = read_data_by_identifier(tx_addr, 0xF014)
print("board part #: {} [{}]".format(vin, hexlify(vin)))
print("board part #: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))
vin = read_data_by_identifier(tx_addr, 0xF015)
print("board ser #: {} [{}]".format(vin, hexlify(vin)))
print("board ser #: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))

vin = read_data_by_identifier(tx_addr, 0xFC01)
print("Active alignment horizontal angle: {} [{}]".format(vin, hexlify(vin)))
print("Active alignment horizontal angle: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))
vin = read_data_by_identifier(tx_addr, 0x508)
print("Active Alignment Horizontal Screw: {} [{}]".format(vin, hexlify(vin)))
print("Active Alignment Horizontal Screw: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))
vin = read_data_by_identifier(tx_addr, 0x505)
print("Active Alignment State: {} [{}]".format(vin, hexlify(vin)))
print("Active Alignment State: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))
vin = read_data_by_identifier(tx_addr, 0xFC02)
print("Active Alignment Vertical Angle: {} [{}]".format(vin, hexlify(vin)))
print("Active Alignment Vertical Angle: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))
vin = read_data_by_identifier(tx_addr, 0x507)
print("Active Alignment Vertical Screw: {} [{}]".format(vin, hexlify(vin)))
print("Active Alignment Vertical Screw: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))
vin = read_data_by_identifier(tx_addr, 0x506)
print("Active Alignment Operation: {} [{}]".format(vin, hexlify(vin)))
print("Active Alignment Operation: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))
vin = read_data_by_identifier(tx_addr, 0x50A)
print("Service Drive Alignment State: {} [{}]".format(vin, hexlify(vin)))
print("Service Drive Alignment State: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))
vin = read_data_by_identifier(tx_addr, 0x509)
print("Service Drive Alignment Status: {} [{}]".format(vin, hexlify(vin)))
print("Service Drive Alignment Status: {} [{}]".format(vin.decode("utf-8"), hexlify(vin)))

print("reading variables from radar...")
for i in range(0xF100, 0xF2FF):
Expand Down

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