diff options
Diffstat (limited to 'scripts/canbus_query.py')
| -rw-r--r-- | scripts/canbus_query.py | 52 |
1 files changed, 35 insertions, 17 deletions
diff --git a/scripts/canbus_query.py b/scripts/canbus_query.py index 52dd4706..12032ee7 100644 --- a/scripts/canbus_query.py +++ b/scripts/canbus_query.py @@ -7,49 +7,66 @@ import sys, os, optparse, time import can -CANBUS_ID_ADMIN = 0x3f0 +CANBUS_ID_ADMIN = 0x3F0 CMD_QUERY_UNASSIGNED = 0x00 RESP_NEED_NODEID = 0x20 CMD_SET_KLIPPER_NODEID = 0x01 CMD_SET_CANBOOT_NODEID = 0x11 + def query_unassigned(canbus_iface): # Open CAN socket - filters = [{"can_id": CANBUS_ID_ADMIN + 1, "can_mask": 0x7ff, - "extended": False}] - bus = can.interface.Bus(channel=canbus_iface, can_filters=filters, - bustype='socketcan') + filters = [{"can_id": CANBUS_ID_ADMIN + 1, "can_mask": 0x7FF, "extended": False}] + bus = can.interface.Bus( + channel=canbus_iface, can_filters=filters, bustype="socketcan" + ) # Send query - msg = can.Message(arbitration_id=CANBUS_ID_ADMIN, - data=[CMD_QUERY_UNASSIGNED], is_extended_id=False) + msg = can.Message( + arbitration_id=CANBUS_ID_ADMIN, + data=[CMD_QUERY_UNASSIGNED], + is_extended_id=False, + ) bus.send(msg) # Read responses found_ids = {} start_time = curtime = time.time() while 1: - tdiff = start_time + 2. - curtime - if tdiff <= 0.: + tdiff = start_time + 2.0 - curtime + if tdiff <= 0.0: break msg = bus.recv(tdiff) curtime = time.time() - if (msg is None or msg.arbitration_id != CANBUS_ID_ADMIN + 1 - or msg.dlc < 7 or msg.data[0] != RESP_NEED_NODEID): + if ( + msg is None + or msg.arbitration_id != CANBUS_ID_ADMIN + 1 + or msg.dlc < 7 + or msg.data[0] != RESP_NEED_NODEID + ): continue - uuid = sum([v << ((5-i)*8) for i, v in enumerate(msg.data[1:7])]) + uuid = sum([v << ((5 - i) * 8) for i, v in enumerate(msg.data[1:7])]) if uuid in found_ids: continue found_ids[uuid] = 1 AppNames = { CMD_SET_KLIPPER_NODEID: "Klipper", - CMD_SET_CANBOOT_NODEID: "CanBoot" + CMD_SET_CANBOOT_NODEID: "CanBoot", } app_id = CMD_SET_KLIPPER_NODEID if msg.dlc > 7: app_id = msg.data[7] app_name = AppNames.get(app_id, "Unknown") - sys.stdout.write("Found canbus_uuid=%012x, Application: %s\n" - % (uuid, app_name)) - sys.stdout.write("Total %d uuids found\n" % (len(found_ids,))) + sys.stdout.write( + "Found canbus_uuid=%012x, Application: %s\n" % (uuid, app_name) + ) + sys.stdout.write( + "Total %d uuids found\n" + % ( + len( + found_ids, + ) + ) + ) + def main(): usage = "%prog [options] <can interface>" @@ -60,5 +77,6 @@ def main(): canbus_iface = args[0] query_unassigned(canbus_iface) -if __name__ == '__main__': + +if __name__ == "__main__": main() |