7fa972be6a
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
47 lines
1.8 KiB
Python
Executable File
47 lines
1.8 KiB
Python
Executable File
#!/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 openpilot.common.params import Params
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from openpilot.system.manager.process_config import managed_processes, is_snpe_model, is_tinygrad_model, is_stock_model
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from openpilot.system.hardware import HARDWARE
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if __name__ == "__main__":
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CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10)
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params = Params()
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params.put("CarParams", CP.to_bytes())
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if use_snpe_modeld := is_snpe_model(False, params, CP):
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print("Using SNPE modeld")
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if use_tinygrad_modeld := is_tinygrad_model(False, params, CP):
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print("Using TinyGrad modeld")
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if use_stock_modeld := is_stock_model(False, params, CP):
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print("Using stock modeld")
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HARDWARE.set_power_save(False)
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procs = ['camerad', 'ui', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd']
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procs += ["modeld_snpe" if use_snpe_modeld else "modeld_tinygrad" if use_tinygrad_modeld else "modeld"]
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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['deviceState'].deviceState.deviceType = HARDWARE.get_device_type()
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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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