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#!/usr/bin/env python3
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import time
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import cereal.messaging as messaging
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from selfdrive.manager import start_managed_process, kill_managed_process
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services = ['controlsState', 'thermal', 'radarState'] # the services needed to be spoofed to start ui offroad
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procs = ['camerad', 'ui', 'modeld', 'calibrationd']
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[start_managed_process(p) for p in procs] # start needed processes
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pm = messaging.PubMaster(services)
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dat_cs, dat_thermal, dat_radar = [messaging.new_message(s) for s in services]
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dat_cs.controlsState.rearViewCam = False # ui checks for these two messages
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dat_thermal.thermal.started = True
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try:
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while True:
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pm.send('controlsState', dat_cs)
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pm.send('thermal', dat_thermal)
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pm.send('radarState', dat_radar)
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time.sleep(1 / 100) # continually send, rate doesn't matter for thermal
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except KeyboardInterrupt:
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[kill_managed_process(p) for p in procs]
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