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52 lines
1.1 KiB
52 lines
1.1 KiB
#!/usr/bin/env python
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import os
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import zmq
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from cereal import car
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import selfdrive.messaging as messaging
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from selfdrive.services import service_list
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from selfdrive.car import get_car
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def bpressed(CS, btype):
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for b in CS.buttonEvents:
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if b.type == btype:
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return True
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return False
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def test_loop():
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context = zmq.Context()
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logcan = messaging.sub_sock(context, service_list['can'].port)
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CI, CP = get_car(logcan)
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state = 0
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states = [
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"'seatbeltNotLatched' in CS.errors",
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"CS.gasPressed",
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"CS.brakePressed",
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"CS.steeringPressed",
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"bpressed(CS, 'leftBlinker')",
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"bpressed(CS, 'rightBlinker')",
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"bpressed(CS, 'cancel')",
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"bpressed(CS, 'accelCruise')",
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"bpressed(CS, 'decelCruise')",
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"bpressed(CS, 'altButton1')",
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"'doorOpen' in CS.errors",
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"False"]
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while 1:
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CC = car.CarControl.new_message()
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# read CAN
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CS = CI.update(CC)
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while eval(states[state]) == True:
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state += 1
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print "IN STATE %d: waiting for %s" % (state, states[state])
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#print CS
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if __name__ == "__main__":
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test_loop()
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