canbus_query: Add tool to query CANBUS uuid

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2021-03-07 22:30:39 -05:00
parent 6cb419a90a
commit 5e0503f643
1 changed files with 53 additions and 0 deletions

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scripts/canbus_query.py Normal file
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#!/usr/bin/env python2
# Tool to query CAN bus uuids
#
# Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, os, optparse, time
import can
CANBUS_ID_ADMIN = 0x3f0
CMD_QUERY_UNASSIGNED = 0x00
RESP_NEED_NODEID = 0x20
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')
# Send query
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.:
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):
continue
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
sys.stdout.write("Found canbus_uuid=%012x\n" % (uuid,))
sys.stdout.write("Total %d uuids found\n" % (len(found_ids,)))
def main():
usage = "%prog [options] <can interface>"
opts = optparse.OptionParser(usage)
options, args = opts.parse_args()
if len(args) != 1:
opts.error("Incorrect number of arguments")
canbus_iface = args[0]
query_unassigned(canbus_iface)
if __name__ == '__main__':
main()