You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
42 lines
1020 B
42 lines
1020 B
6 years ago
|
#!/usr/bin/env python3
|
||
|
|
import zmq
|
||
|
|
import time
|
||
|
|
from collections import defaultdict, OrderedDict
|
||
|
|
|
||
|
|
from selfdrive.boardd.boardd import can_list_to_can_capnp
|
||
|
|
from selfdrive.car.toyota.toyotacan import make_can_msg
|
||
|
|
import cereal.messaging as messaging
|
||
|
|
from cereal.services import service_list
|
||
|
|
|
||
|
|
can = messaging.sub_sock('can')
|
||
|
|
sendcan = messaging.pub_sock('sendcan')
|
||
|
|
|
||
|
|
|
||
|
|
BEFORE = [
|
||
|
|
"\x10\x15\x30\x0B\x00\x00\x00\x00",
|
||
|
|
"\x21\x00\x00\x00\x00\x00\x00\x00",
|
||
|
|
]
|
||
|
|
|
||
|
|
LEFT = "\x22\x00\x00\x08\x00\x00\x00\x00"
|
||
|
|
RIGHT = "\x22\x00\x00\x04\x00\x00\x00\x00"
|
||
|
|
OFF = "\x22\x00\x00\x00\x00\x00\x00\x00"
|
||
|
|
|
||
|
|
AFTER = "\x23\x00\x00\x00\x00\x00\x00\x00"
|
||
|
|
|
||
|
|
i = 0
|
||
|
|
j = 0
|
||
|
|
while True:
|
||
|
|
i += 1
|
||
|
|
|
||
|
|
if i % 10 == 0:
|
||
|
|
j += 1
|
||
|
|
|
||
|
|
cur = RIGHT if j % 2 == 0 else OFF
|
||
|
|
can_list = [make_can_msg(1984, d, 0, False) for d in BEFORE]
|
||
|
|
can_list.append(make_can_msg(1984, cur, 0, False))
|
||
|
|
can_list.append(make_can_msg(1984, AFTER, 0, False))
|
||
|
|
|
||
|
|
for m in can_list:
|
||
|
|
sendcan.send(can_list_to_can_capnp([m], msgtype='sendcan').to_bytes())
|
||
|
|
time.sleep(0.01)
|