new: implemented can.obd2 builtin parser

modules/can/can.go

@@ -20,6 +20,7 @@ type CANModule struct {
 	filter     string
 	filterExpr *bexpr.Evaluator
 	dbc        *DBC
+	obd2       *OBD2
 	conn       net.Conn
 	recv       *socketcan.Receiver
 	send       *socketcan.Transmitter
@@ -30,6 +31,7 @@ func NewCanModule(s *session.Session) *CANModule {
 		SessionModule: session.NewSessionModule("can", s),
 		filter:        "",
 		dbc:           &DBC{},
+		obd2:          &OBD2{},
 		filterExpr:    nil,
 		transport:     "can",
 		deviceName:    "can0",
@@ -61,6 +63,10 @@ func NewCanModule(s *session.Session) *CANModule {
 		"",
 		"Optional boolean expression to select frames to report."))
 
+	mod.AddParam(session.NewBoolParameter("can.parse.obd2",
+		"false",
+		"Enable built in OBD2 PID parsing."))
+
 	mod.AddHandler(session.NewModuleHandler("can.recon on", "",
 		"Start CAN-bus discovery.",
 		func(args []string) error {

modules/can/can_dbc.go

@@ -6,7 +6,6 @@ import (
 	"sync"
 
 	"github.com/evilsocket/islazy/str"
-	"go.einride.tech/can"
 	"go.einride.tech/can/pkg/descriptor"
 )
 
@@ -54,7 +53,7 @@ func (dbc *DBC) LoadData(mod *CANModule, name string, input []byte) error {
 	return nil
 }
 
-func (dbc *DBC) Parse(mod *CANModule, frame can.Frame, msg *Message) bool {
+func (dbc *DBC) Parse(mod *CANModule, msg *Message) bool {
 	dbc.RLock()
 	defer dbc.RUnlock()
 
@@ -64,7 +63,7 @@ func (dbc *DBC) Parse(mod *CANModule, frame can.Frame, msg *Message) bool {
 	}
 
 	// if the database contains this message id
-	if message, found := dbc.db.Message(frame.ID); found {
+	if message, found := dbc.db.Message(msg.Frame.ID); found {
 		msg.Name = message.Name
 
 		// find source full info in DBC nodes
@@ -76,24 +75,21 @@ func (dbc *DBC) Parse(mod *CANModule, frame can.Frame, msg *Message) bool {
 		}
 
 		// add CAN source if new
-		_, msg.Source = mod.Session.CAN.AddIfNew(sourceName, sourceDesc, frame.Data[:])
+		_, msg.Source = mod.Session.CAN.AddIfNew(sourceName, sourceDesc, msg.Frame.Data[:])
-
-		msg.Signals = make(map[string]string)
 
 		// parse signals
 		for _, signal := range message.Signals {
 			var value string
 
 			if signal.Length <= 32 && signal.IsFloat {
-				value = fmt.Sprintf("%f", signal.UnmarshalFloat(frame.Data))
+				value = fmt.Sprintf("%f", signal.UnmarshalFloat(msg.Frame.Data))
 			} else if signal.Length == 1 {
-				value = fmt.Sprintf("%v", signal.UnmarshalBool(frame.Data))
+				value = fmt.Sprintf("%v", signal.UnmarshalBool(msg.Frame.Data))
 			} else if signal.IsSigned {
-				value = fmt.Sprintf("%d", signal.UnmarshalSigned(frame.Data))
+				value = fmt.Sprintf("%d", signal.UnmarshalSigned(msg.Frame.Data))
 			} else {
-				value = fmt.Sprintf("%d", signal.UnmarshalUnsigned(frame.Data))
+				value = fmt.Sprintf("%d", signal.UnmarshalUnsigned(msg.Frame.Data))
 			}
-
 			msg.Signals[signal.Name] = str.Trim(fmt.Sprintf("%s %s", value, signal.Unit))
 		}
 

modules/can/can_dump_reader.go

@@ -55,8 +55,7 @@ func (mod *CANModule) startDumpReader() error {
 
 	scanner := bufio.NewScanner(file)
 	for scanner.Scan() {
-		line := str.Trim(scanner.Text())
+		if line := str.Trim(scanner.Text()); line != "" {
-		if line != "" {
 			if m := dumpLineParser.FindStringSubmatch(line); len(m) != 4 {
 				mod.Warning("unexpected line: '%s' -> %d matches", line, len(m))
 			} else if timeval, err := parseTimeval(m[1]); err != nil {

modules/can/can_message.go

@@ -0,0 +1,24 @@
+package can
+
+import (
+	"github.com/bettercap/bettercap/v2/network"
+	"go.einride.tech/can"
+)
+
+type Message struct {
+	// the raw frame
+	Frame can.Frame
+	// parsed as OBD2
+	OBD2 *OBD2Message
+	// parsed from DBC
+	Name    string
+	Source  *network.CANDevice
+	Signals map[string]string
+}
+
+func NewCanMessage(frame can.Frame) Message {
+	return Message{
+		Frame:   frame,
+		Signals: make(map[string]string),
+	}
+}

modules/can/can_obd2.go

@@ -0,0 +1,54 @@
+package can
+
+import (
+	"fmt"
+	"sync"
+)
+
+type OBD2 struct {
+	sync.RWMutex
+
+	enabled bool
+}
+
+func (obd *OBD2) Enabled() bool {
+	obd.RLock()
+	defer obd.RUnlock()
+	return obd.enabled
+}
+
+func (obd *OBD2) Enable(enable bool) {
+	obd.RLock()
+	defer obd.RUnlock()
+	obd.enabled = enable
+}
+
+func (obd *OBD2) Parse(mod *CANModule, msg *Message) bool {
+	obd.RLock()
+	defer obd.RUnlock()
+
+	// did we load any DBC database?
+	if !obd.enabled {
+		return false
+	}
+
+	odbMessage := &OBD2Message{}
+
+	if msg.Frame.ID == OBD2BroadcastRequestID {
+		// parse as request
+		if odbMessage.ParseRequest(msg.Frame) {
+			msg.OBD2 = odbMessage
+			return true
+		}
+	} else if msg.Frame.ID >= OBD2ECUResponseMinID && msg.Frame.ID <= OBD2ECUResponseMaxID {
+		// parse as response
+		if odbMessage.ParseResponse(msg.Frame) {
+			msg.OBD2 = odbMessage
+			// add CAN source if new
+			_, msg.Source = mod.Session.CAN.AddIfNew(fmt.Sprintf("ECU_%d", odbMessage.ECU), "", msg.Frame.Data[:])
+			return true
+		}
+	}
+
+	return false
+}

modules/can/can_obd2_message.go

@@ -0,0 +1,72 @@
+package can
+
+import (
+	"fmt"
+)
+
+// https://en.wikipedia.org/wiki/OBD-II_PIDs
+
+// https://www.csselectronics.com/pages/obd2-explained-simple-intro
+// https://www.csselectronics.com/pages/obd2-pid-table-on-board-diagnostics-j1979
+
+// https://stackoverflow.com/questions/40826932/how-can-i-get-mode-pids-from-raw-obd2-identifier-11-or-29-bit
+
+// https://github.com/ejvaughan/obdii/blob/master/src/OBDII.c
+
+// TODO: add support for 29bit identifiers
+const OBD2BroadcastRequestID = 0x7DF
+const OBD2ECUResponseMinID = 0x7E0
+const OBD2ECUResponseMaxID = 0x7EF
+
+type OBD2Service uint8
+
+func (s OBD2Service) String() string {
+	switch s {
+	case 0x01:
+		return "Show current data"
+	case 0x02:
+		return "Show freeze frame data"
+	case 0x03:
+		return "Show stored Diagnostic Trouble Codes"
+	case 0x04:
+		return "Clear Diagnostic Trouble Codes and stored values"
+	case 0x05:
+		return "Test results, oxygen sensor monitoring (non CAN only)"
+	case 0x06:
+		return "Test results, other component/system monitoring (Test results, oxygen sensor monitoring for CAN only)"
+	case 0x07:
+		return "Show pending Diagnostic Trouble Codes (detected during current or last driving cycle)"
+	case 0x08:
+		return "Control operation of on-board component/system"
+	case 0x09:
+		return "Request vehicle information"
+	case 0x0A:
+		return "Permanent Diagnostic Trouble Codes (DTCs) (Cleared DTCs)"
+	}
+
+	return fmt.Sprintf("service 0x%x", uint8(s))
+}
+
+type OBD2MessageType uint8
+
+const (
+	OBD2MessageTypeRequest OBD2MessageType = iota
+	OBD2MessageTypeResponse
+)
+
+func (t OBD2MessageType) String() string {
+	if t == OBD2MessageTypeRequest {
+		return "request"
+	} else {
+		return "response"
+	}
+}
+
+type OBD2Message struct {
+	Type    OBD2MessageType
+	ECU     uint8
+	Service OBD2Service
+	PID     OBD2PID
+	Size    uint8
+	Data    []uint8
+}

modules/can/can_obd2_pid_request.go

@@ -0,0 +1,247 @@
+package can
+
+import (
+	"encoding/binary"
+	"fmt"
+
+	"go.einride.tech/can"
+)
+
+var servicePIDS = map[uint8]map[uint16]string{
+	0x01: {
+		0x0:  "PIDs supported [$01 - $20]",
+		0x1:  "Monitor status since DTCs cleared.",
+		0x2:  "DTC that caused freeze frame to be stored.",
+		0x3:  "Fuel system status",
+		0x4:  "Calculated engine load",
+		0x5:  "Engine coolant temperature",
+		0x6:  "Short term fuel trim (STFT)—Bank 1",
+		0x7:  "Long term fuel trim (LTFT)—Bank 1",
+		0x8:  "Short term fuel trim (STFT)—Bank 2",
+		0x9:  "Long term fuel trim (LTFT)—Bank 2",
+		0x0A: "Fuel pressure (gauge pressure)",
+		0x0B: "Intake manifold absolute pressure",
+		0x0C: "Engine speed",
+		0x0D: "Vehicle speed",
+		0x0E: "Timing advance",
+		0x0F: "Intake air temperature",
+		0x10: "Mass air flow sensor (MAF) air flow rate",
+		0x11: "Throttle position",
+		0x12: "Commanded secondary air status",
+		0x13: "Oxygen sensors present",
+		0x14: "Oxygen Sensor 1",
+		0x15: "Oxygen Sensor 2",
+		0x16: "Oxygen Sensor 3",
+		0x17: "Oxygen Sensor 4",
+		0x18: "Oxygen Sensor 5",
+		0x19: "Oxygen Sensor 6",
+		0x1A: "Oxygen Sensor 7",
+		0x1B: "Oxygen Sensor 8",
+		0x1C: "OBD standards this vehicle conforms to",
+		0x1D: "Oxygen sensors present",
+		0x1E: "Auxiliary input status",
+		0x1F: "Run time since engine start",
+		0x20: "PIDs supported [$21 - $40]",
+		0x21: "Distance traveled with malfunction indicator lamp (MIL) on",
+		0x22: "Fuel Rail Pressure (relative to manifold vacuum)",
+		0x23: "Fuel Rail Gauge Pressure (diesel, or gasoline direct injection)",
+		0x24: "Oxygen Sensor 1",
+		0x25: "Oxygen Sensor 2",
+		0x26: "Oxygen Sensor 3",
+		0x27: "Oxygen Sensor 4",
+		0x28: "Oxygen Sensor 5",
+		0x29: "Oxygen Sensor 6",
+		0x2A: "Oxygen Sensor 7",
+		0x2B: "Oxygen Sensor 8",
+		0x2C: "Commanded EGR",
+		0x2D: "EGR Error",
+		0x2E: "Commanded evaporative purge",
+		0x2F: "Fuel Tank Level Input",
+		0x30: "Warm-ups since codes cleared",
+		0x31: "Distance traveled since codes cleared",
+		0x32: "Evap. System Vapor Pressure",
+		0x33: "Absolute Barometric Pressure",
+		0x34: "Oxygen Sensor 1",
+		0x35: "Oxygen Sensor 2",
+		0x36: "Oxygen Sensor 3",
+		0x37: "Oxygen Sensor 4",
+		0x38: "Oxygen Sensor 5",
+		0x39: "Oxygen Sensor 6",
+		0x3A: "Oxygen Sensor 7",
+		0x3B: "Oxygen Sensor 8",
+		0x3C: "Catalyst Temperature: Bank 1, Sensor 1",
+		0x3D: "Catalyst Temperature: Bank 2, Sensor 1",
+		0x3E: "Catalyst Temperature: Bank 1, Sensor 2",
+		0x3F: "Catalyst Temperature: Bank 2, Sensor 2",
+		0x40: "PIDs supported [$41 - $60]",
+		0x41: "Monitor status this drive cycle",
+		0x42: "Control module voltage",
+		0x43: "Absolute load value",
+		0x44: "Commanded Air-Fuel Equivalence Ratio (lambda,λ)",
+		0x45: "Relative throttle position",
+		0x46: "Ambient air temperature",
+		0x47: "Absolute throttle position B",
+		0x48: "Absolute throttle position C",
+		0x49: "Accelerator pedal position D",
+		0x4A: "Accelerator pedal position E",
+		0x4B: "Accelerator pedal position F",
+		0x4C: "Commanded throttle actuator",
+		0x4D: "Time run with MIL on",
+		0x4E: "Time since trouble codes cleared",
+		0x4F: "Maximum value for Fuel–Air equivalence ratio, oxygen sensor voltage, oxygen sensor current, and intake manifold absolute pressure",
+		0x50: "Maximum value for air flow rate from mass air flow sensor",
+		0x51: "Fuel Type",
+		0x52: "Ethanol fuel %",
+		0x53: "Absolute Evap system Vapor Pressure",
+		0x54: "Evap system vapor pressure",
+		0x55: "Short term secondary oxygen sensor trim, A: bank 1, B: bank 3",
+		0x56: "Long term secondary oxygen sensor trim, A: bank 1, B: bank 3",
+		0x57: "Short term secondary oxygen sensor trim, A: bank 2, B: bank 4",
+		0x58: "Long term secondary oxygen sensor trim, A: bank 2, B: bank 4",
+		0x59: "Fuel rail absolute pressure",
+		0x5A: "Relative accelerator pedal position",
+		0x5B: "Hybrid battery pack remaining life",
+		0x5C: "Engine oil temperature",
+		0x5D: "Fuel injection timing",
+		0x5E: "Engine fuel rate",
+		0x5F: "Emission requirements to which vehicle is designed",
+		0x60: "PIDs supported [$61 - $80]",
+		0x61: "Driver's demand engine - percent torque",
+		0x62: "Actual engine - percent torque",
+		0x63: "Engine reference torque",
+		0x64: "Engine percent torque data",
+		0x65: "Auxiliary input / output supported",
+		0x66: "Mass air flow sensor",
+		0x67: "Engine coolant temperature",
+		0x68: "Intake air temperature sensor",
+		0x69: "Actual EGR, Commanded EGR, and EGR Error",
+		0x6A: "Commanded Diesel intake air flow control and relative intake air flow position",
+		0x6B: "Exhaust gas recirculation temperature",
+		0x6C: "Commanded throttle actuator control and relative throttle position",
+		0x6D: "Fuel pressure control system",
+		0x6E: "Injection pressure control system",
+		0x6F: "Turbocharger compressor inlet pressure",
+		0x70: "Boost pressure control",
+		0x71: "Variable Geometry turbo (VGT) control",
+		0x72: "Wastegate control",
+		0x73: "Exhaust pressure",
+		0x74: "Turbocharger RPM",
+		0x75: "Turbocharger temperature",
+		0x76: "Turbocharger temperature",
+		0x77: "Charge air cooler temperature (CACT)",
+		0x78: "Exhaust Gas temperature (EGT) Bank 1",
+		0x79: "Exhaust Gas temperature (EGT) Bank 2",
+		0x7A: "Diesel particulate filter (DPF)differential pressure",
+		0x7B: "Diesel particulate filter (DPF)",
+		0x7C: "Diesel Particulate filter (DPF) temperature",
+		0x7D: "NOx NTE (Not-To-Exceed) control area status",
+		0x7E: "PM NTE (Not-To-Exceed) control area status",
+		0x7F: "Engine run time [b]",
+		0x80: "PIDs supported [$81 - $A0]",
+		0x81: "Engine run time for Auxiliary Emissions Control Device(AECD)",
+		0x82: "Engine run time for Auxiliary Emissions Control Device(AECD)",
+		0x83: "NOx sensor",
+		0x84: "Manifold surface temperature",
+		0x85: "NOx reagent system",
+		0x86: "Particulate matter (PM) sensor",
+		0x87: "Intake manifold absolute pressure",
+		0x88: "SCR Induce System",
+		0x89: "Run Time for AECD #11-#15",
+		0x8A: "Run Time for AECD #16-#20",
+		0x8B: "Diesel Aftertreatment",
+		0x8C: "O2 Sensor (Wide Range)",
+		0x8D: "Throttle Position G",
+		0x8E: "Engine Friction - Percent Torque",
+		0x8F: "PM Sensor Bank 1 & 2",
+		0x90: "WWH-OBD Vehicle OBD System Information",
+		0x91: "WWH-OBD Vehicle OBD System Information",
+		0x92: "Fuel System Control",
+		0x93: "WWH-OBD Vehicle OBD Counters support",
+		0x94: "NOx Warning And Inducement System",
+		0x98: "Exhaust Gas Temperature Sensor",
+		0x99: "Exhaust Gas Temperature Sensor",
+		0x9A: "Hybrid/EV Vehicle System Data, Battery, Voltage",
+		0x9B: "Diesel Exhaust Fluid Sensor Data",
+		0x9C: "O2 Sensor Data",
+		0x9D: "Engine Fuel Rate",
+		0x9E: "Engine Exhaust Flow Rate",
+		0x9F: "Fuel System Percentage Use",
+		0xA0: "PIDs supported [$A1 - $C0]",
+		0xA1: "NOx Sensor Corrected Data",
+		0xA2: "Cylinder Fuel Rate",
+		0xA3: "Evap System Vapor Pressure",
+		0xA4: "Transmission Actual Gear",
+		0xA5: "Commanded Diesel Exhaust Fluid Dosing",
+		0xA6: "Odometer [c]",
+		0xA7: "NOx Sensor Concentration Sensors 3 and 4",
+		0xA8: "NOx Sensor Corrected Concentration Sensors 3 and 4",
+		0xA9: "ABS Disable Switch State",
+		0xC0: "PIDs supported [$C1 - $E0]",
+		0xC3: "Fuel Level Input A/B",
+		0xC4: "Exhaust Particulate Control System Diagnostic Time/Count",
+		0xC5: "Fuel Pressure A and B",
+		0xC6: "Multiple system counters",
+		0xC7: "Distance Since Reflash or Module Replacement",
+		0xC8: "NOx Control Diagnostic (NCD) and Particulate Control Diagnostic (PCD) Warning Lamp status",
+	},
+}
+
+type OBD2PID struct {
+	ID   uint16
+	Name string
+}
+
+func (p OBD2PID) String() string {
+	if p.Name != "" {
+		return p.Name
+	}
+	return fmt.Sprintf("pid 0x%d", p.ID)
+}
+
+func lookupPID(svcID uint8, data []uint8) OBD2PID {
+	if len(data) == 1 {
+		data = []byte{
+			0x00,
+			data[0],
+		}
+	}
+
+	pid := OBD2PID{
+		ID: binary.BigEndian.Uint16(data),
+	}
+
+	// resolve service
+	if svc, found := servicePIDS[svcID]; found {
+		// resolve PID name
+		if name, found := svc[pid.ID]; found {
+			pid.Name = name
+		}
+	}
+
+	return pid
+}
+
+func (msg *OBD2Message) ParseRequest(frame can.Frame) bool {
+	svcID := frame.Data[1]
+	// validate service / mode
+	if svcID > 0x0a {
+		return false
+	}
+
+	msgSize := frame.Data[0]
+	// validate data size
+	if msgSize > 6 {
+		return false
+	}
+
+	data := frame.Data[2 : 1+msgSize]
+
+	msg.PID = lookupPID(svcID, data)
+	msg.Type = OBD2MessageTypeRequest
+	msg.ECU = 0xff // broadcast
+	msg.Size = msgSize - 1
+	msg.Service = OBD2Service(svcID)
+	msg.Data = data
+
+	return true
+}

modules/can/can_obd2_pid_response.go

@@ -0,0 +1,25 @@
+package can
+
+import (
+	"go.einride.tech/can"
+)
+
+func (msg *OBD2Message) ParseResponse(frame can.Frame) bool {
+	msgSize := frame.Data[0]
+	// validate data size
+	if msgSize > 7 {
+		// fmt.Printf("invalid response size %d\n", msgSize)
+		return false
+	}
+
+	svcID := frame.Data[1] - 0x40
+
+	msg.Type = OBD2MessageTypeResponse
+	msg.ECU = uint8(uint16(frame.ID) - uint16(OBD2ECUResponseMinID))
+	msg.Size = msgSize - 3
+	msg.Service = OBD2Service(svcID)
+	msg.PID = lookupPID(svcID, []uint8{frame.Data[2]})
+	msg.Data = frame.Data[3 : 3+msg.Size]
+
+	return true
+}

modules/can/can_recon.go

@@ -3,7 +3,6 @@ package can
 import (
 	"errors"
 
-	"github.com/bettercap/bettercap/v2/network"
 	"github.com/bettercap/bettercap/v2/session"
 	"github.com/evilsocket/islazy/tui"
 	"github.com/hashicorp/go-bexpr"
@@ -11,15 +10,9 @@ import (
 	"go.einride.tech/can/pkg/socketcan"
 )
 
-type Message struct {
-	Frame   can.Frame
-	Name    string
-	Source  *network.CANDevice
-	Signals map[string]string
-}
-
 func (mod *CANModule) Configure() error {
 	var err error
+	var parseOBD bool
 
 	if mod.Running() {
 		return session.ErrAlreadyStarted(mod.Name())
@@ -29,6 +22,8 @@ func (mod *CANModule) Configure() error {
 		return err
 	} else if err, mod.dumpInject = mod.BoolParam("can.dump.inject"); err != nil {
 		return err
+	} else if err, parseOBD = mod.BoolParam("can.parse.obd2"); err != nil {
+		return err
 	} else if err, mod.transport = mod.StringParam("can.transport"); err != nil {
 		return err
 	} else if mod.transport != "can" && mod.transport != "udp" {
@@ -37,6 +32,8 @@ func (mod *CANModule) Configure() error {
 		return err
 	}
 
+	mod.obd2.Enable(parseOBD)
+
 	if mod.filter != "" {
 		if mod.filterExpr, err = bexpr.CreateEvaluator(mod.filter); err != nil {
 			return err
@@ -77,12 +74,13 @@ func (mod *CANModule) isFilteredOut(frame can.Frame, msg Message) bool {
 }
 
 func (mod *CANModule) onFrame(frame can.Frame) {
-	msg := Message{
+	msg := NewCanMessage(frame)
-		Frame: frame,
-	}
 
 	// try to parse with DBC if we have any
-	mod.dbc.Parse(mod, frame, &msg)
+	if !mod.dbc.Parse(mod, &msg) {
+		// not parsed, if enabled try ODB2
+		mod.obd2.Parse(mod, &msg)
+	}
 
 	if !mod.isFilteredOut(frame, msg) {
 		mod.Session.Events.Add("can.message", msg)

modules/events_stream/events_view_can.go

@@ -13,37 +13,84 @@ import (
 	"github.com/evilsocket/islazy/tui"
 )
 
-func (mod *EventsStream) viewCANEvent(output io.Writer, e session.Event) {
+func (mod *EventsStream) viewCANDeviceNew(output io.Writer, e session.Event) {
-	if e.Tag == "can.device.new" {
+	dev := e.Data.(*network.CANDevice)
-		dev := e.Data.(*network.CANDevice)
+	fmt.Fprintf(output, "[%s] [%s] new CAN device %s (%s) detected.\n",
-		fmt.Fprintf(output, "[%s] [%s] new CAN device %s (%s) detected.\n",
+		e.Time.Format(mod.timeFormat),
+		tui.Green(e.Tag),
+		tui.Bold(dev.Name),
+		tui.Dim(dev.Description))
+}
+
+func (mod *EventsStream) viewCANRawMessage(output io.Writer, e session.Event) {
+	msg := e.Data.(can.Message)
+
+	fmt.Fprintf(output, "[%s] [%s] %s <0x%x> (%s): %s\n",
+		e.Time.Format(mod.timeFormat),
+		tui.Green(e.Tag),
+		tui.Dim("raw"),
+		msg.Frame.ID,
+		tui.Dim(humanize.Bytes(uint64(msg.Frame.Length))),
+		hex.EncodeToString(msg.Frame.Data[:msg.Frame.Length]))
+}
+
+func (mod *EventsStream) viewCANDBCMessage(output io.Writer, e session.Event) {
+	msg := e.Data.(can.Message)
+	src := ""
+	if msg.Source != nil && msg.Source.Name != "" {
+		src = fmt.Sprintf(" from %s", msg.Source.Name)
+	}
+
+	fmt.Fprintf(output, "[%s] [%s] (dbc) <0x%x> %s (%s)%s:\n",
+		e.Time.Format(mod.timeFormat),
+		tui.Green(e.Tag),
+		msg.Frame.ID,
+		msg.Name,
+		tui.Dim(humanize.Bytes(uint64(msg.Frame.Length))),
+		tui.Bold(src))
+
+	for name, value := range msg.Signals {
+		fmt.Fprintf(output, "  %s : %s\n", name, value)
+	}
+}
+
+func (mod *EventsStream) viewCANOBDMessage(output io.Writer, e session.Event) {
+	msg := e.Data.(can.Message)
+	obd2 := msg.OBD2
+
+	if obd2.Type == can.OBD2MessageTypeRequest {
+		fmt.Fprintf(output, "[%s] [%s] %s : %s > %s\n",
 			e.Time.Format(mod.timeFormat),
 			tui.Green(e.Tag),
-			tui.Bold(dev.Name),
+			tui.Yellow("obd2.request"),
-			tui.Dim(dev.Description))
+			obd2.Service, obd2.PID)
+	} else {
+
+		fmt.Fprintf(output, "[%s] [%s] %s : %s > %s > %s : 0x%x\n",
+			e.Time.Format(mod.timeFormat),
+			tui.Green(e.Tag),
+			tui.Yellow("obd2.response"),
+			tui.Bold(msg.Source.Name),
+			obd2.Service, obd2.PID,
+			obd2.Data)
+	}
+
+}
+
+func (mod *EventsStream) viewCANEvent(output io.Writer, e session.Event) {
+	if e.Tag == "can.device.new" {
+		mod.viewCANDeviceNew(output, e)
 	} else if e.Tag == "can.message" {
 		msg := e.Data.(can.Message)
-
+		if msg.OBD2 != nil {
-		// unparsed
+			// OBD-2 PID
-		if msg.Name == "" {
+			mod.viewCANOBDMessage(output, e)
-			fmt.Fprintf(output, "[%s] [%s] <id %d> (%s): %s\n",
+		} else if msg.Name != "" {
-				e.Time.Format(mod.timeFormat),
+			// parsed from DBC
-				tui.Green(e.Tag),
+			mod.viewCANDBCMessage(output, e)
-				msg.Frame.ID,
-				tui.Dim(humanize.Bytes(uint64(msg.Frame.Length))),
-				hex.EncodeToString(msg.Frame.Data[:msg.Frame.Length]))
 		} else {
-			fmt.Fprintf(output, "[%s] [%s] <id %d> %s (%s) from %s:\n",
+			// raw unparsed frame
-				e.Time.Format(mod.timeFormat),
+			mod.viewCANRawMessage(output, e)
-				tui.Green(e.Tag),
-				msg.Frame.ID,
-				msg.Name,
-				tui.Dim(humanize.Bytes(uint64(msg.Frame.Length))),
-				tui.Bold(msg.Source.Name))
-
-			for name, value := range msg.Signals {
-				fmt.Fprintf(output, "  %s : %s\n", name, value)
-			}
 		}
 	} else {
 		fmt.Fprintf(output, "[%s] [%s] %v\n", e.Time.Format(mod.timeFormat), tui.Green(e.Tag), e)

modules/ui/ui

@@ -1 +1 @@
-Subproject commit 6e126c470e97542d724927ba975011244127dbb1
+Subproject commit c671b0be70074e918788fe9f9fd19a5d35bf79dc