openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.

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#!/usr/bin/env python
import os
import sys
import struct
import time
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
if __name__ == "__main__":
if os.getenv("WIFI") is not None:
p = Panda("WIFI")
else:
p = Panda()
print(p.get_serial())
print(p.health())
t1 = time.time()
for i in range(100):
p.get_serial()
t2 = time.time()
print("100 requests took %.2f ms" % ((t2-t1)*1000))
p.set_controls_allowed(True)
a = 0
while True:
# flood
msg = b"\xaa"*4 + struct.pack("I", a)
p.can_send(0xaa, msg, 0)
p.can_send(0xaa, msg, 1)
p.can_send(0xaa, msg, 4)
time.sleep(0.01)
dat = p.can_recv()
if len(dat) > 0:
print(dat)
a += 1