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34 lines
1.1 KiB
34 lines
1.1 KiB
2 years ago
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#!/usr/bin/env python3
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import time
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from cereal import car, log, messaging
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from common.params import Params
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from selfdrive.manager.process_config import managed_processes
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if __name__ == "__main__":
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CP = car.CarParams(notCar=True)
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Params().put("CarParams", CP.to_bytes())
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procs = ['camerad', 'ui', 'modeld', 'calibrationd']
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for p in procs:
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managed_processes[p].start()
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pm = messaging.PubMaster(['controlsState', 'deviceState', 'pandaStates', 'carParams'])
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msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams']}
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msgs['deviceState'].deviceState.started = True
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msgs['carParams'].carParams.openpilotLongitudinalControl = True
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msgs['pandaStates'] = messaging.new_message('pandaStates', 1)
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msgs['pandaStates'].pandaStates[0].ignitionLine = True
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msgs['pandaStates'].pandaStates[0].pandaType = log.PandaState.PandaType.uno
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try:
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while True:
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time.sleep(1 / 100) # continually send, rate doesn't matter
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for s in msgs:
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pm.send(s, msgs[s])
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except KeyboardInterrupt:
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for p in procs:
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managed_processes[p].stop()
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