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 python3
import time
from cereal import car, log, messaging
from openpilot.common.params import Params
from openpilot.system.manager.process_config import managed_processes
from openpilot.system.hardware import HARDWARE
if __name__ == "__main__":
CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
Params().put("CarParams", CP.to_bytes())
procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
for p in procs:
managed_processes[p].start()
pm = messaging.PubMaster(['controlsState', 'deviceState', 'pandaStates', 'carParams'])
msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams']}
msgs['deviceState'].deviceState.started = True
msgs['deviceState'].deviceState.deviceType = HARDWARE.get_device_type()
msgs['carParams'].carParams.openpilotLongitudinalControl = True
msgs['pandaStates'] = messaging.new_message('pandaStates', 1)
msgs['pandaStates'].pandaStates[0].ignitionLine = True
msgs['pandaStates'].pandaStates[0].pandaType = log.PandaState.PandaType.uno
try:
while True:
time.sleep(1 / 100) # continually send, rate doesn't matter
for s in msgs:
pm.send(s, msgs[s])
except KeyboardInterrupt:
for p in procs:
managed_processes[p].stop()